From ffdc9d629cfa78223a23d193bc244b0cd2486e20 Mon Sep 17 00:00:00 2001
From: Mark Charlebois <charlebm@gmail.com>
Date: Tue, 19 May 2015 09:19:24 -0700
Subject: [PATCH] POSIX: Improved logging
The warnx and warn calls map to PX4_WARN.
Calls to errx or err genrtate a compile error.
The px4_log.h file implements a new log format:
For DEBUG and INFO:
<level> <msg>
For ERROR and WARN:
<level> <msg> (file filepath line linenum)
The verbosity can be changed by setting the macro to use
either linux_log or linux_log_verbose in px4_log.h
Signed-off-by: Mark Charlebois <charlebm@gmail.com>
---
src/drivers/device/device_posix.cpp | 2 +-
src/drivers/device/sim.cpp | 8 +-
src/drivers/device/vdev.cpp | 57 +++++++------
src/drivers/device/vdev_posix.cpp | 20 ++---
src/drivers/led/led.cpp | 2 +-
src/modules/simulator/simulator.cpp | 14 ++--
src/modules/simulator/simulator_mavlink.cpp | 4 +-
src/modules/systemlib/err.h | 10 +++
src/modules/systemlib/module.mk | 5 +-
.../posix/drivers/accelsim/accelsim.cpp | 2 +-
src/platforms/posix/drivers/barosim/baro.cpp | 81 +++++++++----------
.../posix/drivers/barosim/baro_sim.cpp | 6 +-
.../posix/drivers/gyrosim/gyrosim.cpp | 4 +-
.../posix/drivers/tonealrmsim/tone_alarm.cpp | 2 +-
.../posix/px4_layer/px4_posix_tasks.cpp | 23 +++++-
src/platforms/px4_log.h | 31 ++++---
.../qurt/px4_layer/px4_qurt_tasks.cpp | 2 +-
17 files changed, 157 insertions(+), 116 deletions(-)
diff --git a/src/drivers/device/device_posix.cpp b/src/drivers/device/device_posix.cpp
index 34382263ac..771bee2471 100644
--- a/src/drivers/device/device_posix.cpp
+++ b/src/drivers/device/device_posix.cpp
@@ -83,7 +83,7 @@ Device::log(const char *fmt, ...)
{
va_list ap;
- printf("[%s] ", _name);
+ PX4_INFO("[%s] ", _name);
va_start(ap, fmt);
vprintf(fmt, ap);
va_end(ap);
diff --git a/src/drivers/device/sim.cpp b/src/drivers/device/sim.cpp
index 4e952409eb..787a3826c9 100644
--- a/src/drivers/device/sim.cpp
+++ b/src/drivers/device/sim.cpp
@@ -63,7 +63,7 @@ SIM::SIM(const char *name,
_devname(devname)
{
- PX4_DBG("SIM::SIM name = %s devname = %s", name, devname);
+ PX4_DEBUG("SIM::SIM name = %s devname = %s", name, devname);
// fill in _device_id fields for a SIM device
_device_id.devid_s.bus_type = DeviceBusType_SIM;
_device_id.devid_s.bus = bus;
@@ -99,16 +99,16 @@ int
SIM::transfer(const uint8_t *send, unsigned send_len, uint8_t *recv, unsigned recv_len)
{
if (send_len > 0) {
- PX4_DBG("SIM: sending %d bytes", send_len);
+ PX4_DEBUG("SIM: sending %d bytes", send_len);
}
if (recv_len > 0) {
- PX4_DBG("SIM: receiving %d bytes", recv_len);
+ PX4_DEBUG("SIM: receiving %d bytes", recv_len);
// TODO - write data to recv;
}
- PX4_DBG("I2C SIM: transfer_4 on %s", _devname);
+ PX4_DEBUG("I2C SIM: transfer_4 on %s", _devname);
return PX4_OK;
}
diff --git a/src/drivers/device/vdev.cpp b/src/drivers/device/vdev.cpp
index 9efdb63e8a..50fe6ed697 100644
--- a/src/drivers/device/vdev.cpp
+++ b/src/drivers/device/vdev.cpp
@@ -84,12 +84,14 @@ VDev::VDev(const char *name,
_registered(false),
_open_count(0)
{
+ PX4_DEBUG("VDev::VDev");
for (unsigned i = 0; i < _max_pollwaiters; i++)
_pollset[i] = nullptr;
}
VDev::~VDev()
{
+ PX4_DEBUG("VDev::~VDev");
if (_registered)
unregister_driver(_devname);
}
@@ -97,6 +99,7 @@ VDev::~VDev()
int
VDev::register_class_devname(const char *class_devname)
{
+ PX4_DEBUG("VDev::register_class_devname");
if (class_devname == nullptr) {
return -EINVAL;
}
@@ -121,6 +124,7 @@ VDev::register_class_devname(const char *class_devname)
int
VDev::register_driver(const char *name, void *data)
{
+ PX4_DEBUG("VDev::register_driver");
int ret = -ENOSPC;
if (name == NULL || data == NULL)
@@ -136,7 +140,7 @@ VDev::register_driver(const char *name, void *data)
for (int i=0;i<PX4_MAX_DEV; ++i) {
if (devmap[i] == NULL) {
devmap[i] = new px4_dev_t(name, (void *)data);
- debug("Registered DEV %s", name);
+ PX4_DEBUG("Registered DEV %s", name);
ret = PX4_OK;
break;
}
@@ -147,6 +151,7 @@ VDev::register_driver(const char *name, void *data)
int
VDev::unregister_driver(const char *name)
{
+ PX4_DEBUG("VDev::unregister_driver");
int ret = -ENOSPC;
if (name == NULL)
@@ -156,7 +161,7 @@ VDev::unregister_driver(const char *name)
if (devmap[i] && (strcmp(name, devmap[i]->name) == 0)) {
delete devmap[i];
devmap[i] = NULL;
- debug("Unregistered DEV %s", name);
+ PX4_DEBUG("Unregistered DEV %s", name);
ret = PX4_OK;
break;
}
@@ -167,12 +172,13 @@ VDev::unregister_driver(const char *name)
int
VDev::unregister_class_devname(const char *class_devname, unsigned class_instance)
{
+ PX4_DEBUG("VDev::unregister_class_devname");
char name[32];
snprintf(name, sizeof(name), "%s%u", class_devname, class_instance);
for (int i=0;i<PX4_MAX_DEV; ++i) {
if (devmap[i] && strcmp(devmap[i]->name,name) == 0) {
delete devmap[i];
- debug("Unregistered class DEV %s", name);
+ PX4_DEBUG("Unregistered class DEV %s", name);
devmap[i] = NULL;
return PX4_OK;
}
@@ -183,6 +189,8 @@ VDev::unregister_class_devname(const char *class_devname, unsigned class_instanc
int
VDev::init()
{
+ PX4_DEBUG("VDev::init");
+
// base class init first
int ret = Device::init();
@@ -209,9 +217,9 @@ out:
int
VDev::open(file_t *filep)
{
+ PX4_DEBUG("VDev::open");
int ret = PX4_OK;
- debug("VDev::open");
lock();
/* increment the open count */
_open_count++;
@@ -233,14 +241,14 @@ VDev::open(file_t *filep)
int
VDev::open_first(file_t *filep)
{
- debug("VDev::open_first");
+ PX4_DEBUG("VDev::open_first");
return PX4_OK;
}
int
VDev::close(file_t *filep)
{
- debug("VDev::close");
+ PX4_DEBUG("VDev::close");
int ret = PX4_OK;
lock();
@@ -265,36 +273,37 @@ VDev::close(file_t *filep)
int
VDev::close_last(file_t *filep)
{
- debug("VDev::close_last");
+ PX4_DEBUG("VDev::close_last");
return PX4_OK;
}
ssize_t
VDev::read(file_t *filep, char *buffer, size_t buflen)
{
- debug("VDev::read");
+ PX4_DEBUG("VDev::read");
return -ENOSYS;
}
ssize_t
VDev::write(file_t *filep, const char *buffer, size_t buflen)
{
- debug("VDev::write");
+ PX4_DEBUG("VDev::write");
return -ENOSYS;
}
off_t
VDev::seek(file_t *filep, off_t offset, int whence)
{
+ PX4_DEBUG("VDev::seek");
return -ENOSYS;
}
int
VDev::ioctl(file_t *filep, int cmd, unsigned long arg)
{
+ PX4_DEBUG("VDev::ioctl");
int ret = -ENOTTY;
- debug("VDev::ioctl");
switch (cmd) {
/* fetch a pointer to the driver's private data */
@@ -311,7 +320,7 @@ VDev::ioctl(file_t *filep, int cmd, unsigned long arg)
break;
case DEVIOCGDEVICEID:
ret = (int)_device_id.devid;
- printf("IOCTL DEVIOCGDEVICEID %d\n", ret);
+ PX4_INFO("IOCTL DEVIOCGDEVICEID %d", ret);
default:
break;
}
@@ -322,8 +331,8 @@ VDev::ioctl(file_t *filep, int cmd, unsigned long arg)
int
VDev::poll(file_t *filep, px4_pollfd_struct_t *fds, bool setup)
{
+ PX4_DEBUG("VDev::Poll %s", setup ? "setup" : "teardown");
int ret = PX4_OK;
- debug("VDev::Poll %s", setup ? "setup" : "teardown");
/*
* Lock against pollnotify() (and possibly other callers)
@@ -336,7 +345,7 @@ VDev::poll(file_t *filep, px4_pollfd_struct_t *fds, bool setup)
* benefit.
*/
fds->priv = (void *)filep;
- debug("VDev::poll: fds->priv = %p", filep);
+ PX4_DEBUG("VDev::poll: fds->priv = %p", filep);
/*
* Handle setup requests.
@@ -371,7 +380,7 @@ VDev::poll(file_t *filep, px4_pollfd_struct_t *fds, bool setup)
void
VDev::poll_notify(pollevent_t events)
{
- debug("VDev::poll_notify events = %0x", events);
+ PX4_DEBUG("VDev::poll_notify events = %0x", events);
/* lock against poll() as well as other wakeups */
lock();
@@ -386,14 +395,14 @@ VDev::poll_notify(pollevent_t events)
void
VDev::poll_notify_one(px4_pollfd_struct_t *fds, pollevent_t events)
{
- debug("VDev::poll_notify_one");
+ PX4_DEBUG("VDev::poll_notify_one");
int value;
sem_getvalue(fds->sem, &value);
/* update the reported event set */
fds->revents |= fds->events & events;
- debug(" Events fds=%p %0x %0x %0x %d",fds, fds->revents, fds->events, events, value);
+ PX4_DEBUG(" Events fds=%p %0x %0x %0x %d",fds, fds->revents, fds->events, events, value);
/* if the state is now interesting, wake the waiter if it's still asleep */
/* XXX semcount check here is a vile hack; counting semphores should not be abused as cvars */
@@ -404,7 +413,7 @@ VDev::poll_notify_one(px4_pollfd_struct_t *fds, pollevent_t events)
pollevent_t
VDev::poll_state(file_t *filep)
{
- debug("VDev::poll_notify");
+ PX4_DEBUG("VDev::poll_notify");
/* by default, no poll events to report */
return 0;
}
@@ -415,7 +424,7 @@ VDev::store_poll_waiter(px4_pollfd_struct_t *fds)
/*
* Look for a free slot.
*/
- debug("VDev::store_poll_waiter");
+ PX4_DEBUG("VDev::store_poll_waiter");
for (unsigned i = 0; i < _max_pollwaiters; i++) {
if (nullptr == _pollset[i]) {
@@ -432,7 +441,7 @@ VDev::store_poll_waiter(px4_pollfd_struct_t *fds)
int
VDev::remove_poll_waiter(px4_pollfd_struct_t *fds)
{
- debug("VDev::remove_poll_waiter");
+ PX4_DEBUG("VDev::remove_poll_waiter");
for (unsigned i = 0; i < _max_pollwaiters; i++) {
if (fds == _pollset[i]) {
@@ -442,13 +451,13 @@ VDev::remove_poll_waiter(px4_pollfd_struct_t *fds)
}
}
- puts("poll: bad fd state");
+ PX4_WARN("poll: bad fd state");
return -EINVAL;
}
VDev *VDev::getDev(const char *path)
{
- printf("VDev::getDev\n");
+ PX4_DEBUG("VDev::getDev");
int i=0;
for (; i<PX4_MAX_DEV; ++i) {
//if (devmap[i]) {
@@ -464,7 +473,7 @@ VDev *VDev::getDev(const char *path)
void VDev::showDevices()
{
int i=0;
- printf("Devices:\n");
+ PX4_INFO("Devices:\n");
for (; i<PX4_MAX_DEV; ++i) {
if (devmap[i] && strncmp(devmap[i]->name, "/dev/", 5) == 0) {
printf(" %s\n", devmap[i]->name);
@@ -475,7 +484,7 @@ void VDev::showDevices()
void VDev::showTopics()
{
int i=0;
- printf("Devices:\n");
+ PX4_INFO("Devices:\n");
for (; i<PX4_MAX_DEV; ++i) {
if (devmap[i] && strncmp(devmap[i]->name, "/obj/", 5) == 0) {
printf(" %s\n", devmap[i]->name);
@@ -486,7 +495,7 @@ void VDev::showTopics()
void VDev::showFiles()
{
int i=0;
- printf("Files:\n");
+ PX4_INFO("Files:\n");
for (; i<PX4_MAX_DEV; ++i) {
if (devmap[i] && strncmp(devmap[i]->name, "/obj/", 5) != 0 &&
strncmp(devmap[i]->name, "/dev/", 5) != 0) {
diff --git a/src/drivers/device/vdev_posix.cpp b/src/drivers/device/vdev_posix.cpp
index fdd2e73210..0e94e88dfe 100644
--- a/src/drivers/device/vdev_posix.cpp
+++ b/src/drivers/device/vdev_posix.cpp
@@ -71,7 +71,7 @@ static void *timer_handler(void *data)
usleep(td->ts.tv_nsec/1000);
sem_post(&(td->sem));
- PX4_DEBUG("timer_handler: Timer expired\n");
+ PX4_DEBUG("timer_handler: Timer expired");
return 0;
}
@@ -87,7 +87,7 @@ inline bool valid_fd(int fd)
int px4_open(const char *path, int flags, ...)
{
- printf("px4_open\n");
+ PX4_DEBUG("px4_open");
VDev *dev = VDev::getDev(path);
int ret = 0;
int i;
@@ -103,7 +103,7 @@ int px4_open(const char *path, int flags, ...)
va_end(p);
// Create the file
- warnx("Creating virtual file %s\n", path);
+ PX4_DEBUG("Creating virtual file %s", path);
dev = VFile::createFile(path, mode);
}
if (dev) {
@@ -136,7 +136,7 @@ int px4_close(int fd)
int ret;
if (valid_fd(fd)) {
VDev *dev = (VDev *)(filemap[fd]->vdev);
- PX4_DEBUG("px4_close fd = %d\n", fd);
+ PX4_DEBUG("px4_close fd = %d", fd);
ret = dev->close(filemap[fd]);
filemap[fd] = NULL;
}
@@ -155,7 +155,7 @@ ssize_t px4_read(int fd, void *buffer, size_t buflen)
int ret;
if (valid_fd(fd)) {
VDev *dev = (VDev *)(filemap[fd]->vdev);
- PX4_DEBUG("px4_read fd = %d\n", fd);
+ PX4_DEBUG("px4_read fd = %d", fd);
ret = dev->read(filemap[fd], (char *)buffer, buflen);
}
else {
@@ -173,7 +173,7 @@ ssize_t px4_write(int fd, const void *buffer, size_t buflen)
int ret;
if (valid_fd(fd)) {
VDev *dev = (VDev *)(filemap[fd]->vdev);
- PX4_DEBUG("px4_write fd = %d\n", fd);
+ PX4_DEBUG("px4_write fd = %d", fd);
ret = dev->write(filemap[fd], (const char *)buffer, buflen);
}
else {
@@ -188,7 +188,7 @@ ssize_t px4_write(int fd, const void *buffer, size_t buflen)
int px4_ioctl(int fd, int cmd, unsigned long arg)
{
- PX4_DEBUG("px4_ioctl fd = %d\n", fd);
+ PX4_DEBUG("px4_ioctl fd = %d", fd);
int ret = 0;
if (valid_fd(fd)) {
VDev *dev = (VDev *)(filemap[fd]->vdev);
@@ -212,7 +212,7 @@ int px4_poll(px4_pollfd_struct_t *fds, nfds_t nfds, int timeout)
unsigned int i;
struct timespec ts;
- PX4_DEBUG("Called px4_poll timeout = %d\n", timeout);
+ PX4_DEBUG("Called px4_poll timeout = %d", timeout);
sem_init(&sem, 0, 0);
// For each fd
@@ -226,7 +226,7 @@ int px4_poll(px4_pollfd_struct_t *fds, nfds_t nfds, int timeout)
if (valid_fd(fds[i].fd))
{
VDev *dev = (VDev *)(filemap[fds[i].fd]->vdev);;
- PX4_DEBUG("px4_poll: VDev->poll(setup) %d\n", fds[i].fd);
+ PX4_DEBUG("px4_poll: VDev->poll(setup) %d", fds[i].fd);
ret = dev->poll(filemap[fds[i].fd], &fds[i], true);
if (ret < 0)
@@ -270,7 +270,7 @@ int px4_poll(px4_pollfd_struct_t *fds, nfds_t nfds, int timeout)
if (valid_fd(fds[i].fd))
{
VDev *dev = (VDev *)(filemap[fds[i].fd]->vdev);;
- PX4_DEBUG("px4_poll: VDev->poll(teardown) %d\n", fds[i].fd);
+ PX4_DEBUG("px4_poll: VDev->poll(teardown) %d", fds[i].fd);
ret = dev->poll(filemap[fds[i].fd], &fds[i], false);
if (ret < 0)
diff --git a/src/drivers/led/led.cpp b/src/drivers/led/led.cpp
index 428a542f15..69c72b5b53 100644
--- a/src/drivers/led/led.cpp
+++ b/src/drivers/led/led.cpp
@@ -89,7 +89,7 @@ LED::~LED()
int
LED::init()
{
- printf("Initializing LED\n");
+ debug("LED::init");
#ifdef __PX4_NUTTX
CDev::init();
#else
diff --git a/src/modules/simulator/simulator.cpp b/src/modules/simulator/simulator.cpp
index 1920724fdf..83e3fd8d76 100644
--- a/src/modules/simulator/simulator.cpp
+++ b/src/modules/simulator/simulator.cpp
@@ -81,7 +81,7 @@ int Simulator::start(int argc, char *argv[])
int ret = 0;
_instance = new Simulator();
if (_instance) {
- PX4_INFO("Simulator started\n");
+ PX4_INFO("Simulator started");
drv_led_start();
if (argv[2][1] == 's') {
#ifndef __PX4_QURT
@@ -92,7 +92,7 @@ int Simulator::start(int argc, char *argv[])
}
}
else {
- PX4_WARN("Simulator creation failed\n");
+ PX4_WARN("Simulator creation failed");
ret = 1;
}
return ret;
@@ -150,7 +150,7 @@ void Simulator::publishSensorsCombined() {
gyro.timestamp = time_last;
mag.timestamp = time_last;
// publish the sensor values
- //printf("Publishing SensorsCombined\n");
+ //PX4_DEBUG("Publishing SensorsCombined\n");
orb_publish(ORB_ID(sensor_combined), _sensor_combined_pub, &sensors);
orb_publish(ORB_ID(sensor_baro), _baro_pub, &baro);
orb_publish(ORB_ID(sensor_accel), _accel_pub, &baro);
@@ -225,14 +225,14 @@ bool static _led_state[2] = { false , false };
__EXPORT void led_init()
{
- PX4_DBG("LED_INIT\n");
+ PX4_DEBUG("LED_INIT");
}
__EXPORT void led_on(int led)
{
if (led == 1 || led == 0)
{
- PX4_DBG("LED%d_ON", led);
+ PX4_DEBUG("LED%d_ON", led);
_led_state[led] = true;
}
}
@@ -241,7 +241,7 @@ __EXPORT void led_off(int led)
{
if (led == 1 || led == 0)
{
- PX4_DBG("LED%d_OFF", led);
+ PX4_DEBUG("LED%d_OFF", led);
_led_state[led] = false;
}
}
@@ -251,7 +251,7 @@ __EXPORT void led_toggle(int led)
if (led == 1 || led == 0)
{
_led_state[led] = !_led_state[led];
- PX4_DBG("LED%d_TOGGLE: %s\n", led, _led_state[led] ? "ON" : "OFF");
+ PX4_DEBUG("LED%d_TOGGLE: %s", led, _led_state[led] ? "ON" : "OFF");
}
}
diff --git a/src/modules/simulator/simulator_mavlink.cpp b/src/modules/simulator/simulator_mavlink.cpp
index 9b6efb5102..ed4a6343fe 100644
--- a/src/modules/simulator/simulator_mavlink.cpp
+++ b/src/modules/simulator/simulator_mavlink.cpp
@@ -335,7 +335,7 @@ void Simulator::updateSamples()
int serial_fd = open(PIXHAWK_DEVICE, O_RDWR);
if (serial_fd < 0) {
- PX4_WARN("failed to open %s\n", PIXHAWK_DEVICE);
+ PX4_WARN("failed to open %s", PIXHAWK_DEVICE);
}
// tell the device to stream some messages
@@ -343,7 +343,7 @@ void Simulator::updateSamples()
int w = ::write(serial_fd, command, sizeof(command));
if (w <= 0) {
- PX4_WARN("failed to send streaming command to %s\n", PIXHAWK_DEVICE);
+ PX4_WARN("failed to send streaming command to %s", PIXHAWK_DEVICE);
}
char serial_buf[1024];
diff --git a/src/modules/systemlib/err.h b/src/modules/systemlib/err.h
index af90c25600..05401128ef 100644
--- a/src/modules/systemlib/err.h
+++ b/src/modules/systemlib/err.h
@@ -65,6 +65,7 @@
#ifndef _SYSTEMLIB_ERR_H
#define _SYSTEMLIB_ERR_H
+#include <px4_log.h>
#include <stdarg.h>
#include "visibility.h"
@@ -72,6 +73,14 @@ __BEGIN_DECLS
__EXPORT const char *getprogname(void);
+#ifdef __PX4_POSIX
+
+#define err(...) ERROR
+#define errx(...) ERROR
+#define warn(...) PX4_WARN(__VA_ARGS__)
+#define warnx(...) PX4_WARN(__VA_ARGS__)
+
+#else
__EXPORT void err(int eval, const char *fmt, ...) __attribute__((noreturn, format(printf, 2, 3)));
__EXPORT void verr(int eval, const char *fmt, va_list) __attribute__((noreturn, format(printf, 2, 0)));
__EXPORT void errc(int eval, int code, const char *fmt, ...) __attribute__((noreturn, format(printf, 3, 4)));
@@ -84,6 +93,7 @@ __EXPORT void warnc(int code, const char *fmt, ...) __attribute__((format(print
__EXPORT void vwarnc(int code, const char *fmt, va_list) __attribute__((format(printf, 2, 0)));
__EXPORT void warnx(const char *fmt, ...) __attribute__((format(printf, 1, 2)));
__EXPORT void vwarnx(const char *fmt, va_list) __attribute__((format(printf, 1, 0)));
+#endif
__END_DECLS
diff --git a/src/modules/systemlib/module.mk b/src/modules/systemlib/module.mk
index 0e023cf1b1..cb599e2052 100644
--- a/src/modules/systemlib/module.mk
+++ b/src/modules/systemlib/module.mk
@@ -35,7 +35,7 @@
# System utility library
#
-SRCS = err.c \
+SRCS = \
perf_counter.c \
param/param.c \
conversions.c \
@@ -55,7 +55,8 @@ SRCS = err.c \
circuit_breaker_params.c
ifeq ($(PX4_TARGET_OS),nuttx)
-SRCS += up_cxxinitialize.c
+SRCS += err.c \
+ up_cxxinitialize.c
endif
ifneq ($(PX4_TARGET_OS),qurt)
diff --git a/src/platforms/posix/drivers/accelsim/accelsim.cpp b/src/platforms/posix/drivers/accelsim/accelsim.cpp
index 42e9eb0b1c..f431231706 100644
--- a/src/platforms/posix/drivers/accelsim/accelsim.cpp
+++ b/src/platforms/posix/drivers/accelsim/accelsim.cpp
@@ -1331,7 +1331,7 @@ info()
return 1;
}
- PX4_DBG("state @ %p", g_dev);
+ PX4_DEBUG("state @ %p", g_dev);
//g_dev->print_info();
return 0;
diff --git a/src/platforms/posix/drivers/barosim/baro.cpp b/src/platforms/posix/drivers/barosim/baro.cpp
index 4a247f85bd..13021444c0 100644
--- a/src/platforms/posix/drivers/barosim/baro.cpp
+++ b/src/platforms/posix/drivers/barosim/baro.cpp
@@ -250,7 +250,7 @@ int
BAROSIM::init()
{
int ret;
- PX4_WARN("BAROSIM::init");
+ debug("BAROSIM::init");
ret = VDev::init();
if (ret != OK) {
@@ -401,59 +401,58 @@ BAROSIM::ioctl(device::file_t *filp, int cmd, unsigned long arg)
{
switch (cmd) {
- case SENSORIOCSPOLLRATE: {
- switch (arg) {
+ case SENSORIOCSPOLLRATE:
+ switch (arg) {
- /* switching to manual polling */
- case SENSOR_POLLRATE_MANUAL:
- stop_cycle();
- _measure_ticks = 0;
- return OK;
+ /* switching to manual polling */
+ case SENSOR_POLLRATE_MANUAL:
+ stop_cycle();
+ _measure_ticks = 0;
+ return OK;
- /* external signalling not supported */
- case SENSOR_POLLRATE_EXTERNAL:
+ /* external signalling not supported */
+ case SENSOR_POLLRATE_EXTERNAL:
- /* zero would be bad */
- case 0:
- return -EINVAL;
+ /* zero would be bad */
+ case 0:
+ return -EINVAL;
- /* set default/max polling rate */
- case SENSOR_POLLRATE_MAX:
- case SENSOR_POLLRATE_DEFAULT: {
- /* do we need to start internal polling? */
- bool want_start = (_measure_ticks == 0);
+ /* set default/max polling rate */
+ case SENSOR_POLLRATE_MAX:
+ case SENSOR_POLLRATE_DEFAULT: {
+ /* do we need to start internal polling? */
+ bool want_start = (_measure_ticks == 0);
- /* set interval for next measurement to minimum legal value */
- _measure_ticks = USEC2TICK(BAROSIM_CONVERSION_INTERVAL);
+ /* set interval for next measurement to minimum legal value */
+ _measure_ticks = USEC2TICK(BAROSIM_CONVERSION_INTERVAL);
- /* if we need to start the poll state machine, do it */
- if (want_start)
- start_cycle();
+ /* if we need to start the poll state machine, do it */
+ if (want_start)
+ start_cycle();
- return OK;
- }
+ return OK;
+ }
- /* adjust to a legal polling interval in Hz */
- default: {
- /* do we need to start internal polling? */
- bool want_start = (_measure_ticks == 0);
+ /* adjust to a legal polling interval in Hz */
+ default: {
+ /* do we need to start internal polling? */
+ bool want_start = (_measure_ticks == 0);
- /* convert hz to tick interval via microseconds */
- unsigned ticks = USEC2TICK(1000000 / arg);
+ /* convert hz to tick interval via microseconds */
+ unsigned ticks = USEC2TICK(1000000 / arg);
- /* check against maximum rate */
- if ((long)ticks < USEC2TICK(BAROSIM_CONVERSION_INTERVAL))
- return -EINVAL;
+ /* check against maximum rate */
+ if ((long)ticks < USEC2TICK(BAROSIM_CONVERSION_INTERVAL))
+ return -EINVAL;
- /* update interval for next measurement */
- _measure_ticks = ticks;
+ /* update interval for next measurement */
+ _measure_ticks = ticks;
- /* if we need to start the poll state machine, do it */
- if (want_start)
- start_cycle();
+ /* if we need to start the poll state machine, do it */
+ if (want_start)
+ start_cycle();
- return OK;
- }
+ return OK;
}
}
diff --git a/src/platforms/posix/drivers/barosim/baro_sim.cpp b/src/platforms/posix/drivers/barosim/baro_sim.cpp
index 7c267f6aaa..734c2bc286 100644
--- a/src/platforms/posix/drivers/barosim/baro_sim.cpp
+++ b/src/platforms/posix/drivers/barosim/baro_sim.cpp
@@ -205,16 +205,16 @@ BARO_SIM::transfer(const uint8_t *send, unsigned send_len,
PX4_DEBUG("BARO_SIM measurement requested");
}
else if (send_len != 1 || send[0] != 0 || recv_len != 3) {
- PX4_WARN("BARO_SIM::transfer invalid param %u %u %u\n", send_len, send[0], recv_len);
+ PX4_WARN("BARO_SIM::transfer invalid param %u %u %u", send_len, send[0], recv_len);
return 1;
}
else {
Simulator *sim = Simulator::getInstance();
if (sim == NULL) {
- PX4_ERR("Error BARO_SIM::transfer no simulator \n");
+ PX4_ERR("Error BARO_SIM::transfer no simulator");
return -ENODEV;
}
- PX4_DEBUG("BARO_SIM::transfer getting sample\n");
+ PX4_DEBUG("BARO_SIM::transfer getting sample");
sim->getBaroSample(recv, recv_len);
}
return 0;
diff --git a/src/platforms/posix/drivers/gyrosim/gyrosim.cpp b/src/platforms/posix/drivers/gyrosim/gyrosim.cpp
index e0d50ce25d..b253ab3b0d 100644
--- a/src/platforms/posix/drivers/gyrosim/gyrosim.cpp
+++ b/src/platforms/posix/drivers/gyrosim/gyrosim.cpp
@@ -669,11 +669,11 @@ GYROSIM::transfer(uint8_t *send, uint8_t *recv, unsigned len)
}
else if (cmd & DIR_READ)
{
- PX4_DBG("Reading %u bytes from register %u", len-1, reg);
+ PX4_DEBUG("Reading %u bytes from register %u", len-1, reg);
memcpy(&_regdata[reg-MPUREG_PRODUCT_ID], &send[1], len-1);
}
else {
- PX4_DBG("Writing %u bytes to register %u", len-1, reg);
+ PX4_DEBUG("Writing %u bytes to register %u", len-1, reg);
if (recv)
memcpy(&recv[1], &_regdata[reg-MPUREG_PRODUCT_ID], len-1);
}
diff --git a/src/platforms/posix/drivers/tonealrmsim/tone_alarm.cpp b/src/platforms/posix/drivers/tonealrmsim/tone_alarm.cpp
index 232da9cb2d..37f51ff607 100644
--- a/src/platforms/posix/drivers/tonealrmsim/tone_alarm.cpp
+++ b/src/platforms/posix/drivers/tonealrmsim/tone_alarm.cpp
@@ -350,7 +350,7 @@ ToneAlarm::start_note(unsigned note)
// Silence warning of unused var
do_something(period);
- PX4_DBG("ToneAlarm::start_note %u", period);
+ PX4_DEBUG("ToneAlarm::start_note %u", period);
}
void
diff --git a/src/platforms/posix/px4_layer/px4_posix_tasks.cpp b/src/platforms/posix/px4_layer/px4_posix_tasks.cpp
index c09845b79a..5a36313aed 100644
--- a/src/platforms/posix/px4_layer/px4_posix_tasks.cpp
+++ b/src/platforms/posix/px4_layer/px4_posix_tasks.cpp
@@ -83,9 +83,9 @@ static void *entry_adapter ( void *ptr )
data->entry(data->argc, data->argv);
free(ptr);
- PX4_DBG("Before px4_task_exit");
+ PX4_DEBUG("Before px4_task_exit");
px4_task_exit(0);
- PX4_DBG("After px4_task_exit");
+ PX4_DEBUG("After px4_task_exit");
return NULL;
}
@@ -231,7 +231,7 @@ void px4_task_exit(int ret)
PX4_ERR("px4_task_exit: self task not found!");
}
else {
- PX4_DBG("px4_task_exit: %s", taskmap[i].name.c_str());
+ PX4_DEBUG("px4_task_exit: %s", taskmap[i].name.c_str());
}
pthread_exit((void *)(unsigned long)ret);
@@ -241,7 +241,7 @@ int px4_task_kill(px4_task_t id, int sig)
{
int rv = 0;
pthread_t pid;
- PX4_DBG("Called px4_task_kill %d", sig);
+ PX4_DEBUG("Called px4_task_kill %d", sig);
if (id < PX4_MAX_TASKS && taskmap[id].pid != 0)
pid = taskmap[id].pid;
@@ -271,3 +271,18 @@ void px4_show_tasks()
PX4_INFO(" No running tasks");
}
+
+__BEGIN_DECLS
+const char *getprogname()
+{
+ pthread_t pid = pthread_self();
+ for (int i=0; i<PX4_MAX_TASKS; i++)
+ {
+ if (taskmap[i].isused && taskmap[i].pid == pid)
+ {
+ return taskmap[i].name.c_str();
+ }
+ }
+ return "Unknown App";
+}
+__END_DECLS
diff --git a/src/platforms/px4_log.h b/src/platforms/px4_log.h
index 7d6f602083..2dd849f24a 100644
--- a/src/platforms/px4_log.h
+++ b/src/platforms/px4_log.h
@@ -44,6 +44,8 @@ __BEGIN_DECLS
extern void qurt_log(const char *fmt, ...);
__END_DECLS
+#include <stdio.h>
+
#define qurt_log(...) {printf(__VA_ARGS__); printf("\n");}
#define PX4_DBG(...) qurt_log(__VA_ARGS__)
#define PX4_DEBUG(...) qurt_log(__VA_ARGS__)
@@ -52,18 +54,23 @@ __END_DECLS
#define PX4_ERR(...) { qurt_log("ERROR file %s line %d:", __FILE__, __LINE__); qurt_log(__VA_ARGS__); }
#elif defined(__PX4_LINUX)
-
-#if defined(__PX4_LINUX)
-#include <err.h>
-#else
-#include <systemlib/err.h>
-#endif
-
-#define PX4_DBG(...)
-#define PX4_DEBUG(...)
-#define PX4_INFO(...) warnx(__VA_ARGS__)
-#define PX4_WARN(...) warnx(__VA_ARGS__)
-#define PX4_ERR(...) { warnx("ERROR file %s line %d:", __FILE__, __LINE__); warnx(__VA_ARGS__); }
+#include <stdio.h>
+
+#define linux_log(level, ...) { \
+ printf("%-5s ", level);\
+ printf(__VA_ARGS__);\
+ printf("\n");\
+}
+#define linux_log_verbose(level, ...) { \
+ printf("%-5s ", level);\
+ printf(__VA_ARGS__);\
+ printf(" (file %s line %d)\n", __FILE__, __LINE__);\
+}
+//#define PX4_DEBUG(...) { }
+#define PX4_DEBUG(...) { linux_log("DEBUG", __VA_ARGS__); }
+#define PX4_INFO(...) { linux_log("INFO", __VA_ARGS__); }
+#define PX4_WARN(...) { linux_log_verbose("WARN", __VA_ARGS__); }
+#define PX4_ERR(...) { linux_log_verbose("ERROR", __VA_ARGS__); }
#elif defined(__PX4_ROS)
diff --git a/src/platforms/qurt/px4_layer/px4_qurt_tasks.cpp b/src/platforms/qurt/px4_layer/px4_qurt_tasks.cpp
index 7490f1528c..bbd1366ec2 100644
--- a/src/platforms/qurt/px4_layer/px4_qurt_tasks.cpp
+++ b/src/platforms/qurt/px4_layer/px4_qurt_tasks.cpp
@@ -264,7 +264,7 @@ void px4_show_tasks()
for (idx=0; idx < PX4_MAX_TASKS; idx++)
{
if (taskmap[idx].isused) {
- PX4_INFO(" %-10s %u", taskmap[idx].name.c_str(), taskmap[idx].pid);
+ PX4_INFO(" %-10s %lu", taskmap[idx].name.c_str(), taskmap[idx].pid);
count++;
}
}
--
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