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Revamped debug macros

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Created px4_debug,h to define:

PX4_DBG
PX4_INFO
PX4_WARN
PX4_ERR

These enable OS specific mappings to be made, filtering, etc.

Signed-off-by: Mark Charlebois <charlebm@gmail.com>
This commit is contained in:
Mark Charlebois
2015-04-27 21:58:54 -07:00
parent 6ab25ae890
commit 09718fa324
10 changed files with 325 additions and 221 deletions
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src/platforms/posix/drivers/barosim/baro.cpp
+62 -59
View File
@@ -250,7 +250,7 @@ int
BAROSIM::init()
{
int ret;
warnx("BAROSIM::init");
PX4_WARN("BAROSIM::init");
ret = VDev::init();
if (ret != OK) {
@@ -280,7 +280,7 @@ BAROSIM::init()
/* do temperature first */
if (OK != measure()) {
ret = -EIO;
warnx("temp measure failed");
PX4_WARN("temp measure failed");
break;
}
@@ -288,14 +288,14 @@ BAROSIM::init()
if (OK != collect()) {
ret = -EIO;
warnx("temp collect failed");
PX4_WARN("temp collect failed");
break;
}
/* now do a pressure measurement */
if (OK != measure()) {
ret = -EIO;
warnx("pressure collect failed");
PX4_WARN("pressure collect failed");
break;
}
@@ -303,7 +303,7 @@ BAROSIM::init()
if (OK != collect()) {
ret = -EIO;
warnx("pressure collect failed");
PX4_WARN("pressure collect failed");
break;
}
@@ -316,9 +316,9 @@ BAROSIM::init()
&_orb_class_instance, (is_external()) ? ORB_PRIO_HIGH : ORB_PRIO_DEFAULT);
if (_baro_topic == (orb_advert_t)(-1)) {
warnx("failed to create sensor_baro publication");
PX4_WARN("failed to create sensor_baro publication");
}
//warnx("sensor_baro publication %ld", _baro_topic);
//PX4_WARN("sensor_baro publication %ld", _baro_topic);
} while (0);
@@ -728,7 +728,7 @@ BAROSIM::collect()
orb_publish(ORB_ID(sensor_baro), _baro_topic, &report);
}
else {
printf("BAROSIM::collect _baro_topic not initialized\n");
PX4_ERR("BAROSIM::collect _baro_topic not initialized");
}
}
@@ -754,23 +754,23 @@ BAROSIM::print_info()
perf_print_counter(_sample_perf);
perf_print_counter(_comms_errors);
perf_print_counter(_buffer_overflows);
printf("poll interval: %u ticks\n", _measure_ticks);
PX4_INFO("poll interval: %u ticks", _measure_ticks);
_reports->print_info("report queue");
printf("TEMP: %ld\n", (long)_TEMP);
printf("SENS: %lld\n", (long long)_SENS);
printf("OFF: %lld\n", (long long)_OFF);
printf("P: %.3f\n", (double)_P);
printf("T: %.3f\n", (double)_T);
printf("MSL pressure: %10.4f\n", (double)(_msl_pressure / 100.f));
PX4_INFO("TEMP: %ld", (long)_TEMP);
PX4_INFO("SENS: %lld", (long long)_SENS);
PX4_INFO("OFF: %lld", (long long)_OFF);
PX4_INFO("P: %.3f", (double)_P);
PX4_INFO("T: %.3f", (double)_T);
PX4_INFO("MSL pressure: %10.4f", (double)(_msl_pressure / 100.f));
printf("factory_setup %u\n", _prom.factory_setup);
printf("c1_pressure_sens %u\n", _prom.c1_pressure_sens);
printf("c2_pressure_offset %u\n", _prom.c2_pressure_offset);
printf("c3_temp_coeff_pres_sens %u\n", _prom.c3_temp_coeff_pres_sens);
printf("c4_temp_coeff_pres_offset %u\n", _prom.c4_temp_coeff_pres_offset);
printf("c5_reference_temp %u\n", _prom.c5_reference_temp);
printf("c6_temp_coeff_temp %u\n", _prom.c6_temp_coeff_temp);
printf("serial_and_crc %u\n", _prom.serial_and_crc);
PX4_INFO("factory_setup %u", _prom.factory_setup);
PX4_INFO("c1_pressure_sens %u", _prom.c1_pressure_sens);
PX4_INFO("c2_pressure_offset %u", _prom.c2_pressure_offset);
PX4_INFO("c3_temp_coeff_pres_sens %u", _prom.c3_temp_coeff_pres_sens);
PX4_INFO("c4_temp_coeff_pres_offset %u", _prom.c4_temp_coeff_pres_offset);
PX4_INFO("c5_reference_temp %u", _prom.c5_reference_temp);
PX4_INFO("c6_temp_coeff_temp %u", _prom.c6_temp_coeff_temp);
PX4_INFO("serial_and_crc %u", _prom.serial_and_crc);
}
/**
@@ -855,7 +855,7 @@ bool
start_bus(struct barosim_bus_option &bus)
{
if (bus.dev != nullptr) {
warnx("bus option already started");
PX4_ERR("bus option already started");
return false;
}
@@ -863,7 +863,7 @@ start_bus(struct barosim_bus_option &bus)
device::Device *interface = bus.interface_constructor(prom_buf, bus.busnum);
if (interface->init() != OK) {
delete interface;
warnx("no device on bus %u", (unsigned)bus.busid);
PX4_ERR("no device on bus %u", (unsigned)bus.busid);
return false;
}
@@ -871,7 +871,7 @@ start_bus(struct barosim_bus_option &bus)
if (bus.dev != nullptr && OK != bus.dev->init()) {
delete bus.dev;
bus.dev = NULL;
warnx("bus init failed %p", bus.dev);
PX4_ERR("bus init failed %p", bus.dev);
return false;
}
@@ -879,12 +879,12 @@ start_bus(struct barosim_bus_option &bus)
/* set the poll rate to default, starts automatic data collection */
if (fd == -1) {
warnx("can't open baro device");
PX4_ERR("can't open baro device");
return false;
}
if (px4_ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
px4_close(fd);
warnx("failed setting default poll rate");
PX4_ERR("failed setting default poll rate");
return false;
}
@@ -907,7 +907,7 @@ start()
started |= start_bus(bus_options[0]);
if (!started) {
warnx("driver start failed");
PX4_ERR("driver start failed");
return 1;
}
@@ -933,7 +933,7 @@ test()
fd = px4_open(bus.devpath, O_RDONLY);
if (fd < 0) {
warn("open failed (try 'barosim start' if the driver is not running)");
PX4_ERR("open failed (try 'barosim start' if the driver is not running)");
return 1;
}
@@ -941,25 +941,27 @@ test()
sz = px4_read(fd, &report, sizeof(report));
if (sz != sizeof(report)) {
warn("immediate read failed");
PX4_ERR("immediate read failed");
return 1;
}
warnx("single read");
warnx("pressure: %10.4f", (double)report.pressure);
warnx("altitude: %11.4f", (double)report.altitude);
warnx("temperature: %8.4f", (double)report.temperature);
warnx("time: %lld", (long long)report.timestamp);
PX4_INFO("single read");
PX4_INFO("pressure: %10.4f", (double)report.pressure);
PX4_INFO("altitude: %11.4f", (double)report.altitude);
PX4_INFO("temperature: %8.4f", (double)report.temperature);
PX4_INFO("time: %lld", (long long)report.timestamp);
/* set the queue depth to 10 */
if (OK != px4_ioctl(fd, SENSORIOCSQUEUEDEPTH, 10)) {
warnx("failed to set queue depth");
PX4_ERR("failed to set queue depth");
px4_close(fd);
return 1;
}
/* start the sensor polling at 2Hz */
if (OK != px4_ioctl(fd, SENSORIOCSPOLLRATE, 2)) {
warnx("failed to set 2Hz poll rate");
PX4_ERR("failed to set 2Hz poll rate");
px4_close(fd);
return 1;
}
@@ -973,26 +975,27 @@ test()
ret = px4_poll(&fds, 1, 2000);
if (ret != 1) {
warnx("timed out waiting for sensor data");
PX4_WARN("timed out waiting for sensor data");
}
/* now go get it */
sz = px4_read(fd, &report, sizeof(report));
if (sz != sizeof(report)) {
warn("periodic read failed");
PX4_ERR("periodic read failed");
px4_close(fd);
return 1;
}
warnx("periodic read %u", i);
warnx("pressure: %10.4f", (double)report.pressure);
warnx("altitude: %11.4f", (double)report.altitude);
warnx("temperature: %8.4f", (double)report.temperature);
warnx("time: %lld", (long long)report.timestamp);
PX4_INFO("periodic read %u", i);
PX4_INFO("pressure: %10.4f", (double)report.pressure);
PX4_INFO("altitude: %11.4f", (double)report.altitude);
PX4_INFO("temperature: %8.4f", (double)report.temperature);
PX4_INFO("time: %lld", (long long)report.timestamp);
}
px4_close(fd);
warnx("PASS");
PX4_INFO("PASS");
return 0;
}
@@ -1007,17 +1010,17 @@ reset()
fd = px4_open(bus.devpath, O_RDONLY);
if (fd < 0) {
warn("failed ");
PX4_ERR("failed ");
return 1;
}
if (px4_ioctl(fd, SENSORIOCRESET, 0) < 0) {
warn("driver reset failed");
PX4_ERR("driver reset failed");
return 1;
}
if (px4_ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
warn("driver poll restart failed");
PX4_ERR("driver poll restart failed");
return 1;
}
return 0;
@@ -1032,7 +1035,7 @@ info()
for (uint8_t i=0; i<NUM_BUS_OPTIONS; i++) {
struct barosim_bus_option &bus = bus_options[i];
if (bus.dev != nullptr) {
warnx("%s", bus.devpath);
PX4_INFO("%s", bus.devpath);
bus.dev->print_info();
}
}
@@ -1055,13 +1058,13 @@ calibrate(unsigned altitude)
fd = px4_open(bus.devpath, O_RDONLY);
if (fd < 0) {
warn("open failed (try 'barosim start' if the driver is not running)");
PX4_ERR("open failed (try 'barosim start' if the driver is not running)");
return 1;
}
/* start the sensor polling at max */
if (OK != px4_ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_MAX)) {
warnx("failed to set poll rate");
PX4_ERR("failed to set poll rate");
return 1;
}
@@ -1079,7 +1082,7 @@ calibrate(unsigned altitude)
ret = px4_poll(&fds, 1, 1000);
if (ret != 1) {
warnx("timed out waiting for sensor data");
PX4_ERR("timed out waiting for sensor data");
return 1;
}
@@ -1087,7 +1090,7 @@ calibrate(unsigned altitude)
sz = px4_read(fd, &report, sizeof(report));
if (sz != sizeof(report)) {
warn("sensor read failed");
PX4_ERR("sensor read failed");
return 1;
}
@@ -1103,17 +1106,17 @@ calibrate(unsigned altitude)
const float g = 9.80665f; /* gravity constant in m/s/s */
const float R = 287.05f; /* ideal gas constant in J/kg/K */
warnx("averaged pressure %10.4fkPa at %um", (double)pressure, altitude);
PX4_INFO("averaged pressure %10.4fkPa at %um", (double)pressure, altitude);
p1 = pressure * (powf(((T1 + (a * (float)altitude)) / T1), (g / (a * R))));
warnx("calculated MSL pressure %10.4fkPa", (double)p1);
PX4_INFO("calculated MSL pressure %10.4fkPa", (double)p1);
/* save as integer Pa */
p1 *= 1000.0f;
if (px4_ioctl(fd, BAROIOCSMSLPRESSURE, (unsigned long)p1) != OK) {
warn("BAROIOCSMSLPRESSURE");
PX4_WARN("BAROIOCSMSLPRESSURE");
return 1;
}
@@ -1124,7 +1127,7 @@ calibrate(unsigned altitude)
void
usage()
{
warnx("missing command: try 'start', 'info', 'test', 'test2', 'reset', 'calibrate <altitude>'");
PX4_WARN("missing command: try 'start', 'info', 'test', 'test2', 'reset', 'calibrate <altitude>'");
}
} // namespace
@@ -1170,7 +1173,7 @@ barosim_main(int argc, char *argv[])
*/
else if (!strcmp(verb, "calibrate")) {
if (argc < 3) {
warnx("missing altitude");
PX4_WARN("missing altitude");
barosim::usage();
return 1;
}