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QuRT logging improvements (#24462)

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- Made general improvements to the QURT platform message logging so that module name is printed both in mini-dm and on apps side terminal
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Eric Katzfey 2025-03-10 15:59:52 -07:00 committed by GitHub
parent 7e0d04e446
commit 5a05444bad
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GPG Key ID: B5690EEEBB952194
9 changed files with 45 additions and 26 deletions
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32
platforms/common/include/px4_platform_common/log.h
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@ -70,33 +70,33 @@ __END_DECLS
/**************************************************************************** /****************************************************************************
* Messages that should never be filtered or compiled out * Messages that should never be filtered or compiled out
****************************************************************************/ ****************************************************************************/
#define PX4_INFO(FMT, ...) qurt_log(_PX4_LOG_LEVEL_INFO, __FILE__, __LINE__, FMT, ##__VA_ARGS__) #define PX4_INFO(FMT, ...) qurt_log_module(_PX4_LOG_LEVEL_INFO, MODULE_NAME, __FILE__, __LINE__, FMT, ##__VA_ARGS__)
#define PX4_INFO_RAW(FMT, ...) qurt_log_raw(FMT, ##__VA_ARGS__) #define PX4_INFO_RAW(FMT, ...) qurt_log_raw(FMT, ##__VA_ARGS__)
#if defined(TRACE_BUILD) #if defined(TRACE_BUILD)
/**************************************************************************** /****************************************************************************
* Extremely Verbose settings for a Trace build * Extremely Verbose settings for a Trace build
****************************************************************************/ ****************************************************************************/
#define PX4_PANIC(FMT, ...) qurt_log(_PX4_LOG_LEVEL_PANIC, __FILE__, __LINE__, FMT, ##__VA_ARGS__) #define PX4_PANIC(FMT, ...) qurt_log_module(_PX4_LOG_LEVEL_PANIC, MODULE_NAME, __FILE__, __LINE__, FMT, ##__VA_ARGS__)
#define PX4_ERR(FMT, ...) qurt_log(_PX4_LOG_LEVEL_ERROR, __FILE__, __LINE__, FMT, ##__VA_ARGS__) #define PX4_ERR(FMT, ...) qurt_log_module(_PX4_LOG_LEVEL_ERROR, MODULE_NAME, __FILE__, __LINE__, FMT, ##__VA_ARGS__)
#define PX4_WARN(FMT, ...) qurt_log(_PX4_LOG_LEVEL_WARN, __FILE__, __LINE__, FMT, ##__VA_ARGS__) #define PX4_WARN(FMT, ...) qurt_log_module(_PX4_LOG_LEVEL_WARN, MODULE_NAME, __FILE__, __LINE__, FMT, ##__VA_ARGS__)
#define PX4_DEBUG(FMT, ...) qurt_log(_PX4_LOG_LEVEL_DEBUG, __FILE__, __LINE__, FMT, ##__VA_ARGS__) #define PX4_DEBUG(FMT, ...) qurt_log_module(_PX4_LOG_LEVEL_DEBUG, MODULE_NAME, __FILE__, __LINE__, FMT, ##__VA_ARGS__)
#elif defined(DEBUG_BUILD) #elif defined(DEBUG_BUILD)
/**************************************************************************** /****************************************************************************
* Verbose settings for a Debug build * Verbose settings for a Debug build
****************************************************************************/ ****************************************************************************/
#define PX4_PANIC(FMT, ...) qurt_log(_PX4_LOG_LEVEL_PANIC, __FILE__, __LINE__, FMT, ##__VA_ARGS__) #define PX4_PANIC(FMT, ...) qurt_log_module(_PX4_LOG_LEVEL_PANIC, MODULE_NAME, __FILE__, __LINE__, FMT, ##__VA_ARGS__)
#define PX4_ERR(FMT, ...) qurt_log(_PX4_LOG_LEVEL_ERROR, __FILE__, __LINE__, FMT, ##__VA_ARGS__) #define PX4_ERR(FMT, ...) qurt_log_module(_PX4_LOG_LEVEL_ERROR, MODULE_NAME, __FILE__, __LINE__, FMT, ##__VA_ARGS__)
#define PX4_WARN(FMT, ...) qurt_log(_PX4_LOG_LEVEL_WARN, __FILE__, __LINE__, FMT, ##__VA_ARGS__) #define PX4_WARN(FMT, ...) qurt_log_module(_PX4_LOG_LEVEL_WARN, MODULE_NAME, __FILE__, __LINE__, FMT, ##__VA_ARGS__)
#define PX4_DEBUG(FMT, ...) qurt_log(_PX4_LOG_LEVEL_DEBUG, __FILE__, __LINE__, FMT, ##__VA_ARGS__) #define PX4_DEBUG(FMT, ...) qurt_log_module(_PX4_LOG_LEVEL_DEBUG, MODULE_NAME, __FILE__, __LINE__, FMT, ##__VA_ARGS__)
#elif defined(RELEASE_BUILD) #elif defined(RELEASE_BUILD)
/**************************************************************************** /****************************************************************************
* Non-verbose settings for a Release build to minimize strings in build * Non-verbose settings for a Release build to minimize strings in build
****************************************************************************/ ****************************************************************************/
#define PX4_PANIC(FMT, ...) qurt_log(_PX4_LOG_LEVEL_PANIC, __FILE__, __LINE__, FMT, ##__VA_ARGS__) #define PX4_PANIC(FMT, ...) qurt_log_module(_PX4_LOG_LEVEL_PANIC, MODULE_NAME, __FILE__, __LINE__, FMT, ##__VA_ARGS__)
#define PX4_ERR(FMT, ...) qurt_log(_PX4_LOG_LEVEL_ERROR, __FILE__, __LINE__, FMT, ##__VA_ARGS__) #define PX4_ERR(FMT, ...) qurt_log_module(_PX4_LOG_LEVEL_ERROR, MODULE_NAME, __FILE__, __LINE__, FMT, ##__VA_ARGS__)
#define PX4_WARN(FMT, ...) __px4_log_omit(_PX4_LOG_LEVEL_WARN, 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__) #define PX4_DEBUG(FMT, ...) __px4_log_omit(_PX4_LOG_LEVEL_DEBUG, FMT, ##__VA_ARGS__)
@ -104,14 +104,14 @@ __END_DECLS
/**************************************************************************** /****************************************************************************
* Medium verbose settings for a default build * Medium verbose settings for a default build
****************************************************************************/ ****************************************************************************/
#define PX4_PANIC(FMT, ...) qurt_log(_PX4_LOG_LEVEL_PANIC, __FILE__, __LINE__, FMT, ##__VA_ARGS__) #define PX4_PANIC(FMT, ...) qurt_log_module(_PX4_LOG_LEVEL_PANIC, MODULE_NAME, __FILE__, __LINE__, FMT, ##__VA_ARGS__)
#define PX4_ERR(FMT, ...) qurt_log(_PX4_LOG_LEVEL_ERROR, __FILE__, __LINE__, FMT, ##__VA_ARGS__) #define PX4_ERR(FMT, ...) qurt_log_module(_PX4_LOG_LEVEL_ERROR, MODULE_NAME, __FILE__, __LINE__, FMT, ##__VA_ARGS__)
#define PX4_WARN(FMT, ...) qurt_log(_PX4_LOG_LEVEL_WARN, __FILE__, __LINE__, FMT, ##__VA_ARGS__) #define PX4_WARN(FMT, ...) qurt_log_module(_PX4_LOG_LEVEL_WARN, MODULE_NAME, __FILE__, __LINE__, FMT, ##__VA_ARGS__)
#define PX4_DEBUG(FMT, ...) __px4_log_omit(_PX4_LOG_LEVEL_DEBUG, FMT, ##__VA_ARGS__) #define PX4_DEBUG(FMT, ...) __px4_log_omit(_PX4_LOG_LEVEL_DEBUG, FMT, ##__VA_ARGS__)
#endif #endif
#define PX4_LOG_NAMED(name, FMT, ...) qurt_log( _PX4_LOG_LEVEL_INFO, __FILE__, __LINE__, "%s " FMT, name, ##__VA_ARGS__) #define PX4_LOG_NAMED(name, FMT, ...) qurt_log_module( _PX4_LOG_LEVEL_INFO, MODULE_NAME, __FILE__, __LINE__, "%s " FMT, name, ##__VA_ARGS__)
#define PX4_LOG_NAMED_COND(name, cond, FMT, ...) if( cond ) qurt_log( _PX4_LOG_LEVEL_INFO, __FILE__, __LINE__, "%s " FMT, name, ##__VA_ARGS__) #define PX4_LOG_NAMED_COND(name, cond, FMT, ...) if( cond ) qurt_log_module( _PX4_LOG_LEVEL_INFO, MODULE_NAME, __FILE__, __LINE__, "%s " FMT, name, ##__VA_ARGS__)
#else #else

21
platforms/qurt/include/qurt_log.h
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@ -37,6 +37,10 @@
#include <stdint.h> #include <stdint.h>
#include <px4_platform_common/defines.h> #include <px4_platform_common/defines.h>
#define BASE_BUFFER_SIZE 256
#define MAX_MODULE_NAME_SIZE 32
#define MODULE_BUFFER_SIZE (BASE_BUFFER_SIZE + MAX_MODULE_NAME_SIZE)
__BEGIN_DECLS __BEGIN_DECLS
extern void qurt_log_to_apps(int level, const char *message); extern void qurt_log_to_apps(int level, const char *message);
@ -44,22 +48,27 @@ extern void qurt_log_to_apps(int level, const char *message);
// Defining hap_debug // Defining hap_debug
void HAP_debug(const char *msg, int level, const char *filename, int line); void HAP_debug(const char *msg, int level, const char *filename, int line);
static __inline void qurt_log(int level, const char *file, int line, static __inline void qurt_log_module(int level, const char *module, const char *file, int line,
const char *format, ...) const char *format, ...)
{ {
char buf[256]; char buf[BASE_BUFFER_SIZE];
va_list args; va_list args;
va_start(args, format); va_start(args, format);
vsnprintf(buf, sizeof(buf), format, args); vsnprintf(buf, sizeof(buf), format, args);
va_end(args); va_end(args);
HAP_debug(buf, level, file, line);
qurt_log_to_apps(level, buf); char module_buf[MODULE_BUFFER_SIZE];
snprintf(module_buf, MAX_MODULE_NAME_SIZE, "[%s] ", module);
strcat(module_buf, buf);
HAP_debug(module_buf, level, file, line);
qurt_log_to_apps(level, module_buf);
} }
static __inline void qurt_log_raw(const char *format, ...) static __inline void qurt_log_raw(const char *format, ...)
{ {
char buf[256]; char buf[BASE_BUFFER_SIZE];
va_list args; va_list args;
va_start(args, format); va_start(args, format);
vsnprintf(buf, sizeof(buf), format, args); vsnprintf(buf, sizeof(buf), format, args);

2
platforms/qurt/src/px4/SerialImpl.cpp
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@ -37,6 +37,8 @@
#include <drivers/device/qurt/uart.h> #include <drivers/device/qurt/uart.h>
#include <drivers/drv_hrt.h> #include <drivers/drv_hrt.h>
#define MODULE_NAME "SerialImpl"
namespace device namespace device
{ {

2
platforms/qurt/src/px4/drv_hrt.cpp
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@ -43,6 +43,8 @@
#include "hrt_work.h" #include "hrt_work.h"
#define MODULE_NAME "drv_hrt"
static constexpr unsigned HRT_INTERVAL_MIN = 50; static constexpr unsigned HRT_INTERVAL_MIN = 50;
static constexpr unsigned HRT_INTERVAL_MAX = 50000000; static constexpr unsigned HRT_INTERVAL_MAX = 50000000;

2
platforms/qurt/src/px4/main.cpp
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@ -44,6 +44,8 @@
#include "apps.h" #include "apps.h"
#define MODULE_NAME "main"
#define MAX_ARGS 8 // max number of whitespace separated args after app name #define MAX_ARGS 8 // max number of whitespace separated args after app name
__BEGIN_DECLS __BEGIN_DECLS

4
platforms/qurt/src/px4/tasks.cpp
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@ -41,6 +41,8 @@
#include <pthread.h> #include <pthread.h>
#include "hrt_work.h" #include "hrt_work.h"
#define MODULE_NAME "tasks"
#define PX4_TASK_STACK_SIZE 8192 #define PX4_TASK_STACK_SIZE 8192
#define PX4_TASK_MAX_NAME_LENGTH 32 #define PX4_TASK_MAX_NAME_LENGTH 32
#define PX4_TASK_MAX_ARGC 32 #define PX4_TASK_MAX_ARGC 32
@ -129,7 +131,7 @@ static px4_task_t px4_task_spawn_internal(const char *name, int priority, px4_ma
int task_index = 0; int task_index = 0;
char *p = (char *)argv; char *p = (char *)argv;
PX4_INFO("Creating pthread %s\n", name); PX4_INFO("Creating pthread %s", name);
if (task_mutex_initialized == false) { if (task_mutex_initialized == false) {
task_mutex_initialized = true; task_mutex_initialized = true;

2
platforms/qurt/unresolved_symbols.c
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@ -4,6 +4,8 @@
#include <qurt_alloc.h> #include <qurt_alloc.h>
#include <termios.h> #include <termios.h>
#define MODULE_NAME "unresolved_symbols"
__attribute__((visibility("default"))) void free(void *ptr) __attribute__((visibility("default"))) void free(void *ptr)
{ {
qurt_free(ptr); qurt_free(ptr);

2
src/drivers/qshell/qurt/qshell.cpp
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@ -160,7 +160,7 @@ int QShell::run_cmd(const std::vector<std::string> &appargs)
while (i < appargs.size() && appargs[i].c_str()[0] != '\0') { while (i < appargs.size() && appargs[i].c_str()[0] != '\0') {
arg[i] = (char *)appargs[i].c_str(); arg[i] = (char *)appargs[i].c_str();
PX4_INFO(" arg%d = '%s'\n", i, arg[i]); PX4_INFO(" arg%d = '%s'", i, arg[i]);
++i; ++i;
} }

4
src/modules/muorb/apps/uORBAppsProtobufChannel.cpp
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@ -56,10 +56,10 @@ void uORB::AppsProtobufChannel::ReceiveCallback(const char *topic,
if (_Debug) { PX4_INFO("Got Receive callback for topic %s", topic); } if (_Debug) { PX4_INFO("Got Receive callback for topic %s", topic); }
if (strcmp(topic, "slpi_debug") == 0) { if (strcmp(topic, "slpi_debug") == 0) {
PX4_INFO("SLPI: %s", (const char *) data); PX4_INFO("%s", (const char *) data);
} else if (strcmp(topic, "slpi_error") == 0) { } else if (strcmp(topic, "slpi_error") == 0) {
PX4_ERR("SLPI: %s", (const char *) data); PX4_ERR("%s", (const char *) data);
} else if (IS_MUORB_TEST(topic)) { } else if (IS_MUORB_TEST(topic)) {
// Validate the test data received // Validate the test data received