Merge pull request #2406 from mcharleb/logging-v3

Improved logging with both compile and runtime level filtering

src/drivers/device/device_posix.cpp

@@ -85,11 +85,10 @@ Device::log(const char *fmt, ...)
 
 	PX4_INFO("[%s] ", _name);
 	va_start(ap, fmt);
-        PX4_INFO( fmt, ap );
+	vprintf(fmt, ap);
-	//vprintf(fmt, ap);
 	va_end(ap);
-	//printf("\n");
+	printf("\n");
-	//fflush(stdout);
+	fflush(stdout);
 }
 
 void
@@ -98,14 +97,12 @@ Device::debug(const char *fmt, ...)
 	va_list	ap;
 
 	if (_debug_enabled) {
-		PX4_INFO("<%s> ", _name);
+		printf("<%s> ", _name);
-		//printf("<%s> ", _name);
 		va_start(ap, fmt);
-		//vprintf(fmt, ap);
+		vprintf(fmt, ap);
-		PX4_INFO(fmt, ap);
 		va_end(ap);
-		//printf("\n");
+		printf("\n");
-		//fflush(stdout);
+		fflush(stdout);
 	}
 }
 

src/modules/commander/state_machine_helper.cpp

@@ -268,14 +268,15 @@ arming_state_transition(struct vehicle_status_s *status,		///< current vehicle s
 	}
 
 	if (ret == TRANSITION_DENIED) {
-		const char * str = "INVAL: %s - %s";
+#define		WARNSTR "INVAL: %s - %s"
 		/* only print to console here by default as this is too technical to be useful during operation */
-		warnx(str, state_names[status->arming_state], state_names[new_arming_state]);
+		warnx(WARNSTR, state_names[status->arming_state], state_names[new_arming_state]);
 
 		/* print to MAVLink if we didn't provide any feedback yet */
 		if (!feedback_provided) {
-			mavlink_log_critical(mavlink_fd, str, state_names[status->arming_state], state_names[new_arming_state]);
+			mavlink_log_critical(mavlink_fd, WARNSTR, state_names[status->arming_state], state_names[new_arming_state]);
 		}
+#undef WARNSTR
 	}
 
 	return ret;

src/platforms/common/module.mk

@@ -2,5 +2,6 @@
 # Common OS porting APIs
 #
 
-SRCS		 = px4_getopt.c
+SRCS		 = px4_getopt.c \
+		   px4_log.c
 

src/platforms/common/px4_log.c

@@ -0,0 +1,5 @@
+#include <px4_log.h>
+
+__EXPORT int __px4_log_level_current = PX4_LOG_LEVEL_AT_RUN_TIME;
+
+__EXPORT const char *__px4_log_level_str[_PX4_LOG_LEVEL_DEBUG+1] = { "INFO", "PANIC", "ERROR", "WARN", "DEBUG" };

src/platforms/px4_log.h

@@ -33,91 +33,276 @@
 
 /**
  * @file px4_log.h
- * Platform dependant logging/debug
+ * Platform dependant logging/debug implementation
  */
 
 #pragma once
 
-#define __px4_log_omit(level, ...)   { }
+#if defined(__PX4_ROS)
 
-#define __px4_log(level, ...)   { \
+#include <ros/console.h>
-	printf("%-5s ", level);\
+#define PX4_PANIC(...)	ROS_WARN(__VA_ARGS__)
-	printf(__VA_ARGS__);\
+#define PX4_ERR(...)	ROS_WARN(__VA_ARGS__)
-	printf("\n");\
-}
-#define __px4_log_verbose(level, ...)   { \
-	printf("%-5s ", level);\
-	printf(__VA_ARGS__);\
-	printf(" (file %s line %d)\n", __FILE__, __LINE__);\
-}
-#if defined(__PX4_QURT)
-#include <stdio.h>
-#define FARF printf
-
-#define __FARF_omit(level, ...)   { }
-#define __FARF_log(level, ...)   { \
-	FARF("%-5s ", level);\
-	FARF(__VA_ARGS__);\
-	FARF("\n");\
-}
-#define __FARF_log_verbose(level, ...)   { \
-	FARF("%-5s ", level);\
-	FARF(__VA_ARGS__);\
-	FARF(" (file %s line %d)\n", __FILE__, __LINE__);\
-}
-
-#define PX4_DEBUG(...)	__FARF_omit("DEBUG", __VA_ARGS__)
-#define PX4_INFO(...) 	__FARF_log("INFO", __VA_ARGS__)
-#define PX4_WARN(...) 	__FARF_log_verbose("WARN", __VA_ARGS__)
-#define PX4_ERR(...)	__FARF_log_verbose("ERROR", __VA_ARGS__)
-
-#elif defined(__PX4_LINUX)
-#include <stdio.h>
-#include <pthread.h>
-
-#define __px4_log_threads(level, ...)   { \
-	printf("%-5s %ld ", level, pthread_self());\
-	printf(__VA_ARGS__);\
-	printf(" (file %s line %d)\n", __FILE__, __LINE__);\
-}
-
-#define PX4_DEBUG(...) 	__px4_log_omit("DEBUG", __VA_ARGS__)
-#define PX4_INFO(...) 	__px4_log("INFO",  __VA_ARGS__)
-#define PX4_WARN(...) 	__px4_log_verbose("WARN",  __VA_ARGS__)
-#define PX4_ERR(...)	__px4_log_verbose("ERROR", __VA_ARGS__)
-
-#elif defined(__PX4_DARWIN)
-#include <stdio.h>
-#include <pthread.h>
-
-#define __px4_log_threads(level, ...)   { \
-	printf("%-5s %ld ", level, pthread_self());\
-	printf(__VA_ARGS__);\
-	printf(" (file %s line %d)\n", __FILE__, __LINE__);\
-}
-
-#define PX4_DEBUG(...) 	__px4_log_omit("DEBUG", __VA_ARGS__)
-#define PX4_INFO(...) 	__px4_log("INFO",  __VA_ARGS__)
-#define PX4_WARN(...) 	__px4_log_verbose("WARN",  __VA_ARGS__)
-#define PX4_ERR(...)	__px4_log_verbose("ERROR", __VA_ARGS__)
-
-#elif defined(__PX4_ROS)
-
-#define PX4_DBG(...) 
-#define PX4_INFO(...)	ROS_WARN(__VA_ARGS__)
 #define PX4_WARN(...) 	ROS_WARN(__VA_ARGS__)
-#define PX4_ERR(...) 	ROS_WARN(__VA_ARGS__)
+#define PX4_INFO(...) 	ROS_WARN(__VA_ARGS__)
-
+#define PX4_DEBUG(...) 	
-#elif defined(__PX4_NUTTX)
-#include <systemlib/err.h>
-
-#define PX4_DBG(...) 
-#define PX4_INFO(...)	warnx(__VA_ARGS__)
-#define PX4_WARN(...)	warnx(__VA_ARGS__)
-#define PX4_ERR(...) 	warnx(__VA_ARGS__)
 
 #else
 
-#error "Target platform unknown"
+#define __STDC_FORMAT_MACROS
+#include <inttypes.h>
+#include <stdint.h>
+#include <sys/cdefs.h>
+#include <stdio.h>
+
+__BEGIN_DECLS
+__EXPORT extern uint64_t hrt_absolute_time(void);
+
+// Used to silence unused variable warning
+static inline void do_nothing(int level, ...)
+{
+	(void)level;
+}
+
+#define _PX4_LOG_LEVEL_ALWAYS		0
+#define _PX4_LOG_LEVEL_PANIC		1
+#define _PX4_LOG_LEVEL_ERROR		2
+#define _PX4_LOG_LEVEL_WARN		3
+#define _PX4_LOG_LEVEL_DEBUG		4
+
+__EXPORT extern const char *__px4_log_level_str[5];
+__EXPORT extern int __px4_log_level_current;
+
+// __px4_log_level_current will be initialized to PX4_LOG_LEVEL_AT_RUN_TIME
+#define PX4_LOG_LEVEL_AT_RUN_TIME	_PX4_LOG_LEVEL_WARN
+
+/****************************************************************************
+ * Implementation of log section formatting based on printf
+ *
+ * To write to a specific stream for each message type, open the streams and
+ * set __px4__log_startline to something like:
+ * 	if (level <= __px4_log_level_current) printf(_px4_fd[level], 
+ *
+ * Additional behavior can be added using "{\" for __px4__log_startline and
+ * "}" for __px4__log_endline and any other required setup or teardown steps
+ ****************************************************************************/
+#define __px4__log_startline(level)	if (level <= __px4_log_level_current) printf(
+
+#define __px4__log_timestamp_fmt	"%-10" PRIu64 " "
+#define __px4__log_timestamp_arg 	,hrt_absolute_time()
+#define __px4__log_level_fmt		"%-5s "
+#define __px4__log_level_arg(level)	,__px4_log_level_str[level]
+#define __px4__log_thread_fmt		"%#X "
+#define __px4__log_thread_arg		,pthread_self()
+
+#define __px4__log_file_and_line_fmt 	" (file %s line %u)"
+#define __px4__log_file_and_line_arg 	, __FILE__, __LINE__
+#define __px4__log_end_fmt 		"\n"
+#define __px4__log_endline 		)
+
+/****************************************************************************
+ * Output format macros
+ * Use these to implement the code level macros below
+ ****************************************************************************/
+
+/****************************************************************************
+ * __px4_log_omit:
+ * Compile out the message
+ ****************************************************************************/
+#define __px4_log_omit(level, FMT, ...)   do_nothing(level, ##__VA_ARGS__)
+
+/****************************************************************************
+ * __px4_log:
+ * Convert a message in the form:
+ * 	PX4_WARN("val is %d", val);
+ * to
+ * 	printf("%-5s val is %d\n", __px4_log_level_str[3], val);
+ ****************************************************************************/
+#define __px4_log(level, FMT, ...) \
+	__px4__log_startline(level)\
+	__px4__log_level_fmt \
+	FMT\
+	__px4__log_end_fmt \
+	__px4__log_level_arg(level), ##__VA_ARGS__\
+	__px4__log_endline
+
+/****************************************************************************
+ * __px4_log_timestamp:
+ * Convert a message in the form:
+ * 	PX4_WARN("val is %d", val);
+ * to
+ * 	printf("%-5s %10lu val is %d\n", __px4_log_level_str[3],
+ *		hrt_absolute_time(), val);
+ ****************************************************************************/
+#define __px4_log_timestamp(level, FMT, ...) \
+	__px4__log_startline(level)\
+	__px4__log_level_fmt\
+	__px4__log_timestamp_fmt\
+	FMT\
+	__px4__log_end_fmt\
+	__px4__log_level_arg(level)\
+	__px4__log_timestamp_arg\
+	, ##__VA_ARGS__\
+	__px4__log_endline
+
+/****************************************************************************
+ * __px4_log_timestamp_thread:
+ * Convert a message in the form:
+ * 	PX4_WARN("val is %d", val);
+ * to
+ * 	printf("%-5s %10lu %#X val is %d\n", __px4_log_level_str[3],
+ *		hrt_absolute_time(), pthread_self(), val);
+ ****************************************************************************/
+#define __px4_log_timestamp_thread(level, FMT, ...) \
+	__px4__log_startline(level)\
+	__px4__log_level_fmt\
+	__px4__log_timestamp_fmt\
+	__px4__log_thread_fmt\
+	FMT\
+	__px4__log_end_fmt\
+	__px4__log_level_arg(level)\
+	__px4__log_timestamp_arg\
+	__px4__log_thread_arg\
+	, ##__VA_ARGS__\
+	__px4__log_endline
+
+/****************************************************************************
+ * __px4_log_file_and_line:
+ * Convert a message in the form:
+ * 	PX4_WARN("val is %d", val);
+ * to
+ * 	printf("%-5s val is %d (file %s line %u)\n", 
+ *		__px4_log_level_str[3], val, __FILE__, __LINE__);
+ ****************************************************************************/
+#define __px4_log_file_and_line(level, FMT, ...) \
+	__px4__log_startline(level)\
+	__px4__log_level_fmt\
+	__px4__log_timestamp_fmt\
+	FMT\
+	__px4__log_file_and_line_fmt\
+	__px4__log_end_fmt\
+	__px4__log_level_arg(level)\
+	__px4__log_timestamp_arg\
+	, ##__VA_ARGS__\
+	__px4__log_file_and_line_arg\
+	__px4__log_endline
+
+/****************************************************************************
+ * __px4_log_timestamp_file_and_line:
+ * Convert a message in the form:
+ * 	PX4_WARN("val is %d", val);
+ * to
+ * 	printf("%-5s %-10lu val is %d (file %s line %u)\n", 
+ *		__px4_log_level_str[3], hrt_absolute_time(),
+ *		val, __FILE__, __LINE__);
+ ****************************************************************************/
+#define __px4_log_timestamp_file_and_line(level, FMT, ...) \
+	__px4__log_startline(level)\
+	__px4__log_level_fmt\
+	__px4__log_timestamp_fmt\
+	FMT\
+	__px4__log_file_and_line_fmt\
+	__px4__log_end_fmt\
+	__px4__log_level_arg(level)\
+	__px4__log_timestamp_arg\
+	, ##__VA_ARGS__\
+	__px4__log_file_and_line_arg\
+	__px4__log_endline
+
+/****************************************************************************
+ * __px4_log_thread_file_and_line:
+ * Convert a message in the form:
+ * 	PX4_WARN("val is %d", val);
+ * to
+ * 	printf("%-5s %#X val is %d (file %s line %u)\n", 
+ *		__px4_log_level_str[3], pthread_self(), 
+ *		val, __FILE__, __LINE__);
+ ****************************************************************************/
+#define __px4_log_thread_file_and_line(level, FMT, ...) \
+	__px4__log_startline(level)\
+	__px4__log_level_fmt\
+	__px4__log_thread_fmt\
+	FMT\
+	__px4__log_file_and_line_fmt\
+	__px4__log_end_fmt\
+	__px4__log_level_arg(level)\
+	__px4__log_thread_arg\
+	, ##__VA_ARGS__\
+	__px4__log_file_and_line_arg\
+	__px4__log_endline
+
+/****************************************************************************
+ * __px4_log_timestamp_thread_file_and_line:
+ * Convert a message in the form:
+ * 	PX4_WARN("val is %d", val);
+ * to
+ * 	printf("%-5s %-10lu %#X val is %d (file %s line %u)\n", 
+ *		__px4_log_level_str[3], hrt_absolute_time(), 
+ *		pthread_self(), val, __FILE__, __LINE__);
+ ****************************************************************************/
+#define __px4_log_timestamp_thread_file_and_line(level, FMT, ...) \
+	__px4__log_startline(level)\
+	__px4__log_level_fmt\
+	__px4__log_timestamp_fmt\
+	__px4__log_thread_fmt\
+	FMT\
+	__px4__log_file_and_line_fmt\
+	__px4__log_end_fmt\
+	__px4__log_level_arg(level)\
+	__px4__log_timestamp_arg\
+	__px4__log_thread_arg\
+	, ##__VA_ARGS__\
+	__px4__log_file_and_line_arg\
+	__px4__log_endline
+
+
+/****************************************************************************
+ * Code level macros
+ * These are the log APIs that should be used by the code
+ ****************************************************************************/
+
+/****************************************************************************
+ * Messages that should never be filtered or compiled out
+ ****************************************************************************/
+#define PX4_LOG(FMT, ...) 	__px4_log(_PX4_LOG_LEVEL_ALWAYS, FMT, ##__VA_ARGS__)
+#define PX4_INFO(FMT, ...) 	__px4_log(_PX4_LOG_LEVEL_ALWAYS, FMT, ##__VA_ARGS__)
+
+#if defined(TRACE_BUILD)
+/****************************************************************************
+ * Extremely Verbose settings for a Trace build
+ ****************************************************************************/
+#define PX4_PANIC(FMT, ...)	__px4_log_timestamp_thread_file_and_line(_PX4_LOG_LEVEL_PANIC, FMT, ##__VA_ARGS__)
+#define PX4_ERR(FMT, ...)	__px4_log_timestamp_thread_file_and_line(_PX4_LOG_LEVEL_ERROR, FMT, ##__VA_ARGS__)
+#define PX4_WARN(FMT, ...) 	__px4_log_timestamp_thread_file_and_line(_PX4_LOG_LEVEL_WARN,  FMT, ##__VA_ARGS__)
+#define PX4_DEBUG(FMT, ...) 	__px4_log_timestamp_thread(_PX4_LOG_LEVEL_DEBUG, FMT, __VA_ARGS__)
+
+#elif defined(DEBUG_BUILD)
+/****************************************************************************
+ * Verbose settings for a Debug build
+ ****************************************************************************/
+#define PX4_PANIC(FMT, ...)	__px4_log_timestamp_file_and_line(_PX4_LOG_LEVEL_PANIC, FMT, ##__VA_ARGS__)
+#define PX4_ERR(FMT, ...)	__px4_log_timestamp_file_and_line(_PX4_LOG_LEVEL_ERROR, FMT, ##__VA_ARGS__)
+#define PX4_WARN(FMT, ...) 	__px4_log_timestamp_file_and_line(_PX4_LOG_LEVEL_WARN,  FMT, ##__VA_ARGS__)
+#define PX4_DEBUG(FMT, ...) 	__px4_log_timestamp(_PX4_LOG_LEVEL_DEBUG, FMT, __VA_ARGS__)
+
+#elif defined(RELEASE_BUILD)
+/****************************************************************************
+ * Non-verbose settings for a Release build to minimize strings in build
+ ****************************************************************************/
+#define PX4_PANIC(FMT, ...)	__px4_log_file_and_line(_PX4_LOG_LEVEL_PANIC, FMT, ##__VA_ARGS__)
+#define PX4_ERR(FMT, ...)	__px4_log_file_and_line(_PX4_LOG_LEVEL_ERROR, FMT, ##__VA_ARGS__)
+#define PX4_WARN(FMT, ...) 	__px4_log_omit(_PX4_LOG_LEVEL_WARN,  FMT, ##__VA_ARGS__)
+#define PX4_DEBUG(FMT, ...) 	__px4_log_omit(_PX4_LOG_LEVEL_DEBUG, FMT, ##__VA_ARGS__)
+
+#else
+/****************************************************************************
+ * Medium verbose settings for a default build
+ ****************************************************************************/
+#define PX4_PANIC(FMT, ...)	__px4_log_file_and_line(_PX4_LOG_LEVEL_PANIC, FMT, ##__VA_ARGS__)
+#define PX4_ERR(FMT, ...)	__px4_log_file_and_line(_PX4_LOG_LEVEL_ERROR, FMT, ##__VA_ARGS__)
+#define PX4_WARN(FMT, ...) 	__px4_log_file_and_line(_PX4_LOG_LEVEL_WARN,  FMT, ##__VA_ARGS__)
+#define PX4_DEBUG(FMT, ...) 	__px4_log_omit(_PX4_LOG_LEVEL_DEBUG, FMT, ##__VA_ARGS__)
 
 #endif
+__END_DECLS
+#endif

unittests/CMakeLists.txt

@@ -75,6 +75,7 @@ endfunction()
 
 add_library( px4_platform 
 #                           ${PX_SRC}/platforms/common/px4_getopt.c
+                           ${PX_SRC}/platforms/common/px4_log.c
                            ${PX_SRC}/platforms/posix/px4_layer/px4_posix_impl.cpp
                            ${PX_SRC}/platforms/posix/px4_layer/px4_posix_tasks.cpp
                            ${PX_SRC}/platforms/posix/px4_layer/work_lock.c
@@ -130,22 +131,27 @@ add_gtest(mixer_test)
 
 # conversion_test
 add_executable(conversion_test conversion_test.cpp ${PX_SRC}/systemcmds/tests/test_conv.cpp)
+target_link_libraries( conversion_test px4_platform )
 add_gtest(conversion_test)
 
 # sbus2_test
 add_executable(sbus2_test sbus2_test.cpp hrt.cpp)
+target_link_libraries( sbus2_test px4_platform )
 add_gtest(sbus2_test)
 
 # st24_test
 add_executable(st24_test st24_test.cpp hrt.cpp ${PX_SRC}/lib/rc/st24.c)
+target_link_libraries( st24_test px4_platform )
 add_gtest(st24_test)
 
 # sumd_test
 add_executable(sumd_test sumd_test.cpp hrt.cpp ${PX_SRC}/lib/rc/sumd.c)
+target_link_libraries( sumd_test px4_platform )
 add_gtest(sumd_test)
 
 # sf0x_test
 add_executable(sf0x_test sf0x_test.cpp ${PX_SRC}/drivers/sf0x/sf0x_parser.cpp)
+target_link_libraries( sf0x_test px4_platform )
 add_gtest(sf0x_test)
 
 # param_test