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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/px4io/px4io.cpp
+18 -18
View File
@@ -592,10 +592,10 @@ PX4IO::detect()
if (protocol != PX4IO_PROTOCOL_VERSION) {
if (protocol == _io_reg_get_error) {
log("IO not installed");
DEVICE_LOG("IO not installed");
} else {
log("IO version error");
DEVICE_LOG("IO version error");
mavlink_log_emergency(_mavlink_fd, "IO VERSION MISMATCH, PLEASE UPGRADE SOFTWARE!");
}
@@ -603,7 +603,7 @@ PX4IO::detect()
}
}
log("IO found");
DEVICE_LOG("IO found");
return 0;
}
@@ -667,7 +667,7 @@ PX4IO::init()
(_max_transfer < 16) || (_max_transfer > 255) ||
(_max_rc_input < 1) || (_max_rc_input > 255)) {
log("config read error");
DEVICE_LOG("config read error");
mavlink_log_emergency(_mavlink_fd, "[IO] config read fail, abort.");
return -1;
}
@@ -796,7 +796,7 @@ PX4IO::init()
/* re-send if necessary */
if (!safety.armed) {
orb_publish(ORB_ID(vehicle_command), pub, &cmd);
log("re-sending arm cmd");
DEVICE_LOG("re-sending arm cmd");
}
/* keep waiting for state change for 2 s */
@@ -822,7 +822,7 @@ PX4IO::init()
ret = io_disable_rc_handling();
if (ret != OK) {
log("failed disabling RC handling");
DEVICE_LOG("failed disabling RC handling");
return ret;
}
@@ -851,7 +851,7 @@ PX4IO::init()
ret = register_driver(PWM_OUTPUT0_DEVICE_PATH, &fops, 0666, (void *)this);
if (ret == OK) {
log("default PWM output device");
DEVICE_LOG("default PWM output device");
_primary_pwm_device = true;
}
@@ -864,7 +864,7 @@ PX4IO::init()
nullptr);
if (_task < 0) {
debug("task start failed: %d", errno);
DEVICE_DEBUG("task start failed: %d", errno);
return -errno;
}
@@ -1162,7 +1162,7 @@ PX4IO::task_main()
unlock();
out:
debug("exiting");
DEVICE_DEBUG("exiting");
/* clean up the alternate device node */
if (_primary_pwm_device)
@@ -1473,7 +1473,7 @@ PX4IO::io_set_rc_config()
ret = io_reg_set(PX4IO_PAGE_RC_CONFIG, offset, regs, PX4IO_P_RC_CONFIG_STRIDE);
if (ret != OK) {
log("rc config upload failed");
DEVICE_LOG("rc config upload failed");
break;
}
@@ -1851,14 +1851,14 @@ PX4IO::io_reg_set(uint8_t page, uint8_t offset, const uint16_t *values, unsigned
{
/* range check the transfer */
if (num_values > ((_max_transfer) / sizeof(*values))) {
debug("io_reg_set: too many registers (%u, max %u)", num_values, _max_transfer / 2);
DEVICE_DEBUG("io_reg_set: too many registers (%u, max %u)", num_values, _max_transfer / 2);
return -EINVAL;
}
int ret = _interface->write((page << 8) | offset, (void *)values, num_values);
if (ret != (int)num_values) {
debug("io_reg_set(%u,%u,%u): error %d", page, offset, num_values, ret);
DEVICE_DEBUG("io_reg_set(%u,%u,%u): error %d", page, offset, num_values, ret);
return -1;
}
@@ -1876,14 +1876,14 @@ PX4IO::io_reg_get(uint8_t page, uint8_t offset, uint16_t *values, unsigned num_v
{
/* range check the transfer */
if (num_values > ((_max_transfer) / sizeof(*values))) {
debug("io_reg_get: too many registers (%u, max %u)", num_values, _max_transfer / 2);
DEVICE_DEBUG("io_reg_get: too many registers (%u, max %u)", num_values, _max_transfer / 2);
return -EINVAL;
}
int ret = _interface->read((page << 8) | offset, reinterpret_cast<void *>(values), num_values);
if (ret != (int)num_values) {
debug("io_reg_get(%u,%u,%u): data error %d", page, offset, num_values, ret);
DEVICE_DEBUG("io_reg_get(%u,%u,%u): data error %d", page, offset, num_values, ret);
return -1;
}
@@ -2030,7 +2030,7 @@ PX4IO::mixer_send(const char *buf, unsigned buflen, unsigned retries)
}
if (ret) {
log("mixer send error %d", ret);
DEVICE_LOG("mixer send error %d", ret);
return ret;
}
@@ -2060,7 +2060,7 @@ PX4IO::mixer_send(const char *buf, unsigned buflen, unsigned retries)
retries--;
log("mixer sent");
DEVICE_LOG("mixer sent");
} while (retries > 0 && (!(io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_FLAGS) & PX4IO_P_STATUS_FLAGS_MIXER_OK)));
@@ -2070,7 +2070,7 @@ PX4IO::mixer_send(const char *buf, unsigned buflen, unsigned retries)
return 0;
}
log("mixer rejected by IO");
DEVICE_LOG("mixer rejected by IO");
mavlink_log_info(_mavlink_fd, "[IO] mixer upload fail");
/* load must have failed for some reason */
@@ -2702,7 +2702,7 @@ PX4IO::ioctl(file * filep, int cmd, unsigned long arg)
if (ret != OK)
return ret;
if (io_crc != arg) {
debug("crc mismatch 0x%08x 0x%08x", (unsigned)io_crc, arg);
DEVICE_DEBUG("crc mismatch 0x%08x 0x%08x", (unsigned)io_crc, arg);
return -EINVAL;
}
break;