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px4_log: Added documentation and handled unused variables
Added __attribute__ ((unused)) for variables used only for log output and flagged as unused if the message log level is compiled out. Signed-off-by: Mark Charlebois <charlebm@gmail.com>
This commit is contained in:
Mark Charlebois
+151
-27
@@ -38,12 +38,6 @@
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#pragma once
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#define __STDC_FORMAT_MACROS
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#include <inttypes.h>
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#include <stdint.h>
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#include <sys/cdefs.h>
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#include <stdio.h>
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#if defined(__PX4_ROS)
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#include <ros/console.h>
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@@ -55,6 +49,12 @@
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#else
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#define __STDC_FORMAT_MACROS
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#include <inttypes.h>
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#include <stdint.h>
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#include <sys/cdefs.h>
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#include <stdio.h>
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__BEGIN_DECLS
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__EXPORT extern uint64_t hrt_absolute_time(void);
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@@ -67,26 +67,29 @@ __EXPORT extern uint64_t hrt_absolute_time(void);
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__EXPORT extern const char *__px4_log_level_str[5];
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__EXPORT extern unsigned int __px4_log_level_current;
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// __px4_log_level_current will be initialized to PX4_LOG_LEVEL_AT_RUN_TIME
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#define PX4_LOG_LEVEL_AT_RUN_TIME _PX4_LOG_LEVEL_WARN
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#define _PX4_LOG_LEVEL_STR(level) __px4_log_level_str[level];
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/****************************************************************************
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* Implementation of log section formatting based on printf
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*
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* To write to a specific stream for each message type, open the streams and
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* set __px4__log_startline to something like:
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* if (level <= __px4_log_level_current) printf(_px4_fd[level],
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*
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* Additional behavior can be added using "{\" for __px4__log_startline and
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* "}" for __px4__log_endline and any other required setup or teardown steps
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****************************************************************************/
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#if defined(__PX4_ROS)
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#define __px4__log_startline(level) if (level <= __px4_log_level_current) ROS_WARN(
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#else
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#define __px4__log_startline(level) if (level <= __px4_log_level_current) printf(
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#endif
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#define __px4__log_timestamp_fmt "%-10" PRIu64
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#define __px4__log_timestamp_fmt "%-10" PRIu64 " "
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#define __px4__log_timestamp_arg ,hrt_absolute_time()
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#define __px4__log_level_fmt "%-5s "
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#define __px4__log_level_arg(level) ,__px4_log_level_str[level]
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#define __px4__log_thread_fmt "%ld "
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#define __px4__log_thread_fmt "%#X "
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#define __px4__log_thread_arg ,pthread_self()
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#define __px4__log_file_and_line_fmt " (file %s line %d)"
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#define __px4__log_file_and_line_fmt " (file %s line %u)"
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#define __px4__log_file_and_line_arg , __FILE__, __LINE__
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#define __px4__log_end_fmt "\n"
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#define __px4__log_endline )
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@@ -95,8 +98,20 @@ __EXPORT extern unsigned int __px4_log_level_current;
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* Output format macros
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* Use these to implement the code level macros below
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****************************************************************************/
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/****************************************************************************
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* __px4_log_omit:
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* Compile out the message
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****************************************************************************/
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#define __px4_log_omit(level, FMT, ...) { }
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/****************************************************************************
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* __px4_log:
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* Convert a message in the form:
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* PX4_WARN("val is %d", val);
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* to
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* printf("%-5s val is %d\n", __px4_log_level_str[3], val);
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****************************************************************************/
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#define __px4_log(level, FMT, ...) \
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__px4__log_startline(level)\
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__px4__log_level_fmt \
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@@ -105,49 +120,132 @@ __EXPORT extern unsigned int __px4_log_level_current;
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__px4__log_level_arg(level), ##__VA_ARGS__\
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__px4__log_endline
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/****************************************************************************
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* __px4_log_timestamp:
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* Convert a message in the form:
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* PX4_WARN("val is %d", val);
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* to
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* printf("%-5s %10lu val is %d\n", __px4_log_level_str[3],
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* hrt_absolute_time(), val);
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****************************************************************************/
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#define __px4_log_timestamp(level, FMT, ...) \
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__px4__log_startline(level)\
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__px4__log_timestamp_fmt\
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__px4__log_level_fmt\
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__px4__log_timestamp_fmt\
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FMT\
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__px4__log_end_fmt\
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__px4__log_level_arg(level)\
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__px4__log_timestamp_arg\
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__px4__log_level_arg(level), ##__VA_ARGS__\
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, ##__VA_ARGS__\
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__px4__log_endline
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/****************************************************************************
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* __px4_log_timestamp_thread:
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* Convert a message in the form:
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* PX4_WARN("val is %d", val);
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* to
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* printf("%-5s %10lu %#X val is %d\n", __px4_log_level_str[3],
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* hrt_absolute_time(), pthread_self(), val);
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****************************************************************************/
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#define __px4_log_timestamp_thread(level, FMT, ...) \
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__px4__log_startline(level)\
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__px4__log_level_fmt\
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__px4__log_timestamp_fmt\
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__px4__log_thread_fmt\
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FMT\
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__px4__log_end_fmt\
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__px4__log_level_arg(level)\
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__px4__log_timestamp_arg\
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__px4__log_thread_arg\
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, ##__VA_ARGS__\
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__px4__log_endline
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/****************************************************************************
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* __px4_log_file_and_line:
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* Convert a message in the form:
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* PX4_WARN("val is %d", val);
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* to
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* printf("%-5s val is %d (file %s line %u)\n",
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* __px4_log_level_str[3], val, __FILE__, __LINE__);
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****************************************************************************/
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#define __px4_log_file_and_line(level, FMT, ...) \
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__px4__log_startline(level)\
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__px4__log_timestamp_fmt\
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__px4__log_level_fmt\
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__px4__log_timestamp_fmt\
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FMT\
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__px4__log_file_and_line_fmt\
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__px4__log_end_fmt\
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__px4__log_level_arg(level)\
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__px4__log_timestamp_arg\
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__px4__log_level_arg(level), ##__VA_ARGS__\
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, ##__VA_ARGS__\
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__px4__log_file_and_line_arg\
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__px4__log_endline
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/****************************************************************************
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* __px4_log_timestamp_file_and_line:
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* Convert a message in the form:
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* PX4_WARN("val is %d", val);
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* to
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* printf("%-5s %-10lu val is %d (file %s line %u)\n",
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* __px4_log_level_str[3], hrt_absolute_time(),
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* val, __FILE__, __LINE__);
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****************************************************************************/
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#define __px4_log_timestamp_file_and_line(level, FMT, ...) \
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__px4__log_startline(level)\
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__px4__log_timestamp_fmt\
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__px4__log_level_fmt\
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__px4__log_timestamp_fmt\
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FMT\
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__px4__log_file_and_line_fmt\
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__px4__log_end_fmt\
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__px4__log_level_arg(level)\
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__px4__log_timestamp_arg\
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__px4__log_level_arg(level) , ##__VA_ARGS__\
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, ##__VA_ARGS__\
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__px4__log_file_and_line_arg\
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__px4__log_endline
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/****************************************************************************
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* __px4_log_thread_file_and_line:
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* Convert a message in the form:
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* PX4_WARN("val is %d", val);
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* to
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* printf("%-5s %#X val is %d (file %s line %u)\n",
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* __px4_log_level_str[3], pthread_self(),
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* val, __FILE__, __LINE__);
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****************************************************************************/
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#define __px4_log_thread_file_and_line(level, FMT, ...) \
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__px4__log_startline(level)\
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__px4__log_thread_fmt\
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__px4__log_level_fmt\
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__px4__log_thread_fmt\
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FMT\
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__px4__log_file_and_line_fmt\
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__px4__log_end_fmt\
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__px4__log_level_arg(level)\
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__px4__log_thread_arg\
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__px4__log_level_arg(level) , ##__VA_ARGS__\
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, ##__VA_ARGS__\
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__px4__log_file_and_line_arg\
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__px4__log_endline
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/****************************************************************************
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* __px4_log_timestamp_thread_file_and_line:
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* Convert a message in the form:
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* PX4_WARN("val is %d", val);
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* to
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* printf("%-5s %-10lu %#X val is %d (file %s line %u)\n",
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* __px4_log_level_str[3], hrt_absolute_time(),
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* pthread_self(), val, __FILE__, __LINE__);
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****************************************************************************/
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#define __px4_log_timestamp_thread_file_and_line(level, FMT, ...) \
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__px4__log_startline(level)\
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__px4__log_level_fmt\
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__px4__log_timestamp_fmt\
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__px4__log_thread_fmt\
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FMT\
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__px4__log_file_and_line_fmt\
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__px4__log_end_fmt\
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__px4__log_level_arg(level)\
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__px4__log_timestamp_arg\
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__px4__log_thread_arg\
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, ##__VA_ARGS__\
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__px4__log_file_and_line_arg\
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__px4__log_endline
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@@ -156,21 +254,47 @@ __EXPORT extern unsigned int __px4_log_level_current;
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* Code level macros
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* These are the log APIs that should be used by the code
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****************************************************************************/
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#define PX4_LOG(FMT, ...) __px4_log(_PX4_LOG_LEVEL_ALWAYS, FMT, __VA_ARGS__)
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#if defined(DEBUG_BUILD)
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/****************************************************************************
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* Messages that should never be filtered or compiled out
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****************************************************************************/
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#define PX4_LOG(FMT, ...) __px4_log(_PX4_LOG_LEVEL_ALWAYS, FMT, ##__VA_ARGS__)
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#define PX4_INFO(FMT, ...) __px4_log(_PX4_LOG_LEVEL_ALWAYS, FMT, ##__VA_ARGS__)
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#if defined(TRACE_BUILD)
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/****************************************************************************
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* Extremely Verbose settings for a Trace build
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****************************************************************************/
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#define PX4_PANIC(FMT, ...) __px4_log_timestamp_thread_file_and_line(_PX4_LOG_LEVEL_PANIC, FMT, ##__VA_ARGS__)
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#define PX4_ERR(FMT, ...) __px4_log_timestamp_thread_file_and_line(_PX4_LOG_LEVEL_ERROR, FMT, ##__VA_ARGS__)
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#define PX4_WARN(FMT, ...) __px4_log_timestamp_thread_file_and_line(_PX4_LOG_LEVEL_WARN, FMT, ##__VA_ARGS__)
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#define PX4_DEBUG(FMT, ...) __px4_log_timestamp_thread(_PX4_LOG_LEVEL_DEBUG, FMT, __VA_ARGS__)
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#elif defined(DEBUG_BUILD)
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/****************************************************************************
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* Verbose settings for a Debug build
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****************************************************************************/
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#define PX4_PANIC(FMT, ...) __px4_log_timestamp_file_and_line(_PX4_LOG_LEVEL_PANIC, FMT, ##__VA_ARGS__)
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#define PX4_ERR(FMT, ...) __px4_log_timestamp_file_and_line(_PX4_LOG_LEVEL_ERROR, FMT, ##__VA_ARGS__)
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#define PX4_WARN(FMT, ...) __px4_log_timestamp_file_and_line(_PX4_LOG_LEVEL_WARN, FMT, ##__VA_ARGS__)
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#define PX4_DEBUG(FMT, ...) __px4_log_timestamp(_PX4_LOG_LEVEL_DEBUG, FMT, __VA_ARGS__)
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#else
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#elif defined(RELEASE_BUILD)
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/****************************************************************************
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* Non-verbose settings for a Release build to minimize strings in build
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****************************************************************************/
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#define PX4_PANIC(FMT, ...) __px4_log_file_and_line(_PX4_LOG_LEVEL_PANIC, FMT, ##__VA_ARGS__)
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#define PX4_ERR(FMT, ...) __px4_log_file_and_line(_PX4_LOG_LEVEL_ERROR, FMT, ##__VA_ARGS__)
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#define PX4_WARN(FMT, ...) __px4_log_omit(_PX4_LOG_LEVEL_WARN, FMT, ##__VA_ARGS__)
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#define PX4_DEBUG(FMT, ...) __px4_log_omit(_PX4_LOG_LEVEL_DEBUG, FMT, ##__VA_ARGS__)
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#else
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/****************************************************************************
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* Medium verbose settings for a default build
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****************************************************************************/
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#define PX4_PANIC(FMT, ...) __px4_log_file_and_line(_PX4_LOG_LEVEL_PANIC, FMT, ##__VA_ARGS__)
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#define PX4_ERR(FMT, ...) __px4_log_file_and_line(_PX4_LOG_LEVEL_ERROR, FMT, ##__VA_ARGS__)
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#define PX4_WARN(FMT, ...) __px4_log_file_and_line(_PX4_LOG_LEVEL_WARN, FMT, ##__VA_ARGS__)
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#define PX4_INFO(FMT, ...) __px4_log(_PX4_LOG_LEVEL_WARN, FMT, ##__VA_ARGS__)
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#define PX4_DEBUG(FMT, ...) __px4_log_omit(_PX4_LOG_LEVEL_DEBUG, FMT, ##__VA_ARGS__)
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#endif
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