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Refactored debug() and log() in CDev

Browse Source 
These functions used vprintf which is not available on all platforms.
They also do not enable line and file debug output.

Changed to macros that preserve the output format.  Uses new macro that
can be used to implement per object, runtime selectable logging

Signed-off-by: Mark Charlebois <charlebm@gmail.com>
This commit is contained in:
Mark Charlebois
2015-08-11 12:07:06 -07:00
parent be58c6abd3
commit a589d15c52
47 changed files with 202 additions and 261 deletions
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src/drivers/px4fmu/fmu.cpp
+14 -14
View File
@@ -359,7 +359,7 @@ PX4FMU::init()
nullptr);
if (_task < 0) {
debug("task start failed: %d", errno);
DEVICE_DEBUG("task start failed: %d", errno);
return -errno;
}
@@ -384,7 +384,7 @@ PX4FMU::set_mode(Mode mode)
*/
switch (mode) {
case MODE_2PWM: // v1 multi-port with flow control lines as PWM
debug("MODE_2PWM");
DEVICE_DEBUG("MODE_2PWM");
/* default output rates */
_pwm_default_rate = 50;
@@ -398,7 +398,7 @@ PX4FMU::set_mode(Mode mode)
break;
case MODE_4PWM: // v1 multi-port as 4 PWM outs
debug("MODE_4PWM");
DEVICE_DEBUG("MODE_4PWM");
/* default output rates */
_pwm_default_rate = 50;
@@ -412,7 +412,7 @@ PX4FMU::set_mode(Mode mode)
break;
case MODE_6PWM: // v2 PWMs as 6 PWM outs
debug("MODE_6PWM");
DEVICE_DEBUG("MODE_6PWM");
/* default output rates */
_pwm_default_rate = 50;
@@ -427,7 +427,7 @@ PX4FMU::set_mode(Mode mode)
#ifdef CONFIG_ARCH_BOARD_AEROCORE
case MODE_8PWM: // AeroCore PWMs as 8 PWM outs
debug("MODE_8PWM");
DEVICE_DEBUG("MODE_8PWM");
/* default output rates */
_pwm_default_rate = 50;
_pwm_alt_rate = 50;
@@ -440,7 +440,7 @@ PX4FMU::set_mode(Mode mode)
#endif
case MODE_NONE:
debug("MODE_NONE");
DEVICE_DEBUG("MODE_NONE");
_pwm_default_rate = 10; /* artificially reduced output rate */
_pwm_alt_rate = 10;
@@ -462,7 +462,7 @@ PX4FMU::set_mode(Mode mode)
int
PX4FMU::set_pwm_rate(uint32_t rate_map, unsigned default_rate, unsigned alt_rate)
{
debug("set_pwm_rate %x %u %u", rate_map, default_rate, alt_rate);
DEVICE_DEBUG("set_pwm_rate %x %u %u", rate_map, default_rate, alt_rate);
for (unsigned pass = 0; pass < 2; pass++) {
for (unsigned group = 0; group < _max_actuators; group++) {
@@ -536,11 +536,11 @@ PX4FMU::subscribe()
_poll_fds_num = 0;
for (unsigned i = 0; i < actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS; i++) {
if (sub_groups & (1 << i)) {
debug("subscribe to actuator_controls_%d", i);
DEVICE_DEBUG("subscribe to actuator_controls_%d", i);
_control_subs[i] = orb_subscribe(_control_topics[i]);
}
if (unsub_groups & (1 << i)) {
debug("unsubscribe from actuator_controls_%d", i);
DEVICE_DEBUG("unsubscribe from actuator_controls_%d", i);
::close(_control_subs[i]);
_control_subs[i] = -1;
}
@@ -646,7 +646,7 @@ PX4FMU::task_main()
update_rate_in_ms = 100;
}
debug("adjusted actuator update interval to %ums", update_rate_in_ms);
DEVICE_DEBUG("adjusted actuator update interval to %ums", update_rate_in_ms);
for (unsigned i = 0; i < actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS; i++) {
if (_control_subs[i] > 0) {
orb_set_interval(_control_subs[i], update_rate_in_ms);
@@ -663,7 +663,7 @@ PX4FMU::task_main()
/* this would be bad... */
if (ret < 0) {
log("poll error %d", errno);
DEVICE_LOG("poll error %d", errno);
continue;
} else if (ret == 0) {
@@ -815,7 +815,7 @@ PX4FMU::task_main()
/* make sure servos are off */
up_pwm_servo_deinit();
log("stopping");
DEVICE_LOG("stopping");
/* note - someone else is responsible for restoring the GPIO config */
@@ -888,7 +888,7 @@ PX4FMU::ioctl(file *filp, int cmd, unsigned long arg)
break;
default:
debug("not in a PWM mode");
DEVICE_DEBUG("not in a PWM mode");
break;
}
@@ -1309,7 +1309,7 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg)
ret = _mixers->load_from_buf(buf, buflen);
if (ret != 0) {
debug("mixer load failed with %d", ret);
DEVICE_DEBUG("mixer load failed with %d", ret);
delete _mixers;
_mixers = nullptr;
_groups_required = 0;