POSIX: Changed px4_debug.h to px4_log.h

Also changed use of printf to PX4_WARN or PX4_INFO in posix and
qurt tests.

Signed-off-by: Mark Charlebois <charlebm@gmail.com>

src/drivers/device/vdev_posix.cpp

@@ -48,8 +48,6 @@
 #include <pthread.h>
 #include <unistd.h>
 
-#define PX4_DEBUG(...)  
-
 using namespace device;
 
 extern "C" {

src/modules/simulator/simulator.cpp

@@ -36,7 +36,7 @@
  * A device simulator
  */
 
-#include <px4_debug.h>
+#include <px4_log.h>
 #include <px4_tasks.h>
 #include <px4_time.h>
 #include <systemlib/err.h>

src/platforms/posix/px4_layer/px4_posix_tasks.cpp

@@ -37,7 +37,7 @@
  * Implementation of existing task API for Linux
  */
 
-#include <px4_debug.h>
+#include <px4_log.h>
 #include <unistd.h>
 #include <stdio.h>
 #include <stdlib.h>

src/platforms/posix/tests/hello/hello_start_posix.cpp

@@ -57,14 +57,14 @@ int hello_main(int argc, char *argv[])
 {
 	
 	if (argc < 2) {
-		printf("usage: hello {start|stop|status}\n");
+		PX4_WARN("usage: hello {start|stop|status}\n");
 		return 1;
 	}
 
 	if (!strcmp(argv[1], "start")) {
 
 		if (HelloExample::appState.isRunning()) {
-			printf("already running\n");
+			PX4_INFO("already running\n");
 			/* this is not an error */
 			return 0;
 		}
@@ -86,15 +86,15 @@ int hello_main(int argc, char *argv[])
 
 	if (!strcmp(argv[1], "status")) {
 		if (HelloExample::appState.isRunning()) {
-			printf("is running\n");
+			PX4_INFO("is running\n");
 
 		} else {
-			printf("not started\n");
+			PX4_INFO("not started\n");
 		}
 
 		return 0;
 	}
 
-	printf("usage: hello_main {start|stop|status}\n");
+	PX4_WARN("usage: hello_main {start|stop|status}\n");
 	return 1;
 }

src/platforms/posix/tests/vcdev_test/vcdevtest_example.cpp

@@ -59,7 +59,7 @@ static int writer_main(int argc, char *argv[])
 
 	int fd = px4_open(TESTDEV, PX4_F_RDONLY);
 	if (fd < 0) {
-		printf("--- Open failed %d %d", fd, px4_errno);
+		PX4_INFO("--- Open failed %d %d", fd, px4_errno);
 		return -px4_errno;
 	}
 
@@ -67,14 +67,14 @@ static int writer_main(int argc, char *argv[])
 	int i=0;
 	while (i<3) {
 		// Wait for 3 seconds
-		printf("--- Sleeping for 4 sec\n");
+		PX4_INFO("--- Sleeping for 4 sec\n");
 		ret = sleep(4);
 		if (ret < 0) {
-			printf("--- sleep failed %d %d\n", ret, errno);
+			PX4_INFO("--- sleep failed %d %d\n", ret, errno);
 			return ret;
 		}
 
-		printf("--- writing to fd\n");
+		PX4_INFO("--- writing to fd\n");
 		ret = px4_write(fd, buf, 1);
 	++i;
 	}
@@ -110,16 +110,16 @@ static int test_pub_block(int fd, unsigned long blocked)
 {
 	int ret = px4_ioctl(fd, DEVIOCSPUBBLOCK, blocked);
 	if (ret < 0) {
-		printf("ioctl PX4_DEVIOCSPUBBLOCK failed %d %d", ret, px4_errno);
+		PX4_INFO("ioctl PX4_DEVIOCSPUBBLOCK failed %d %d", ret, px4_errno);
 		return -px4_errno;
 	}
 
 	ret = px4_ioctl(fd, DEVIOCGPUBBLOCK, 0);
 	if (ret < 0) {
-		printf("ioctl PX4_DEVIOCGPUBBLOCK failed %d %d", ret, px4_errno);
+		PX4_INFO("ioctl PX4_DEVIOCGPUBBLOCK failed %d %d", ret, px4_errno);
 		return -px4_errno;
 	}
-	printf("pub_blocked = %d %s\n", ret, (unsigned long)ret == blocked ? "PASS" : "FAIL");
+	PX4_INFO("pub_blocked = %d %s\n", ret, (unsigned long)ret == blocked ? "PASS" : "FAIL");
 
 	return 0;
 }
@@ -131,29 +131,29 @@ int VCDevExample::main()
 	_node = new VCDevNode();
 
 	if (_node == 0) {
-		printf("Failed to allocate VCDevNode\n");
+		PX4_INFO("Failed to allocate VCDevNode\n");
 		return -ENOMEM;
 	}
 
 	if (_node->init() != PX4_OK) {
-		printf("Failed to init VCDevNode\n");
+		PX4_INFO("Failed to init VCDevNode\n");
 		return 1;
 	}
 
 	int fd = px4_open(TESTDEV, PX4_F_RDONLY);
 
 	if (fd < 0) {
-		printf("Open failed %d %d", fd, px4_errno);
+		PX4_INFO("Open failed %d %d", fd, px4_errno);
 		return -px4_errno;
 	}
 
 	void *p = 0;
 	int ret = px4_ioctl(fd, DIOC_GETPRIV, (unsigned long)&p);
 	if (ret < 0) {
-		printf("ioctl DIOC_GETPRIV failed %d %d", ret, px4_errno);
+		PX4_INFO("ioctl DIOC_GETPRIV failed %d %d", ret, px4_errno);
 		return -px4_errno;
 	}
-	printf("priv data = %p %s\n", p, p == (void *)_node ? "PASS" : "FAIL");
+	PX4_INFO("priv data = %p %s\n", p, p == (void *)_node ? "PASS" : "FAIL");
 
 	ret = test_pub_block(fd, 1);
 	if (ret < 0)
@@ -174,32 +174,32 @@ int VCDevExample::main()
 				       (char* const*)NULL);
 
 	while (!appState.exitRequested() && i<13) {
-		printf("=====================\n");
-		printf("====  sleeping 2 sec ====\n");
+		PX4_INFO("=====================\n");
+		PX4_INFO("====  sleeping 2 sec ====\n");
 		sleep(2);
 
 		fds[0].fd = fd;
 		fds[0].events = POLLIN;
 		fds[0].revents = 0;
 
-		printf("==== Calling Poll\n");
+		PX4_INFO("==== Calling Poll\n");
 		ret = px4_poll(fds, 1, 1000);
-		printf("==== Done poll\n");
+		PX4_INFO("==== Done poll\n");
 		if (ret < 0) {
-			printf("==== poll failed %d %d\n", ret, px4_errno);
+			PX4_INFO("==== poll failed %d %d\n", ret, px4_errno);
 			px4_close(fd);
 		} 
 		else if (i > 0) {
 			if (ret == 0)
-				printf("==== Nothing to read - PASS\n");
+				PX4_INFO("==== Nothing to read - PASS\n");
 			else
-				printf("==== poll returned %d\n", ret);
+				PX4_INFO("==== poll returned %d\n", ret);
 		}
 		else if (i == 0) {
 			if (ret == 1) 
-				printf("==== %d to read - %s\n", ret, fds[0].revents & POLLIN ? "PASS" : "FAIL");
+				PX4_INFO("==== %d to read - %s\n", ret, fds[0].revents & POLLIN ? "PASS" : "FAIL");
 			else
-				printf("==== %d to read - FAIL\n", ret);
+				PX4_INFO("==== %d to read - FAIL\n", ret);
 		
 		}
 		++i;

src/platforms/posix/tests/wqueue/wqueue_main.cpp

@@ -37,6 +37,7 @@
  *
  * @author Mark Charlebois <charlebm@gmail.com>
  */
+#include <px4_log.h>
 #include <px4_middleware.h>
 #include <px4_app.h>
 #include "wqueue_test.h"
@@ -46,10 +47,10 @@ int PX4_MAIN(int argc, char **argv)
 {
 	px4::init(argc, argv, "wqueue_test");
 
-	printf("wqueue hello\n");
+	PX4_INFO("wqueue hello\n");
 	WQueueTest wq;
 	wq.main();
 
-	printf("goodbye\n");
+	PX4_INFO("goodbye\n");
 	return 0;
 }

src/platforms/posix/tests/wqueue/wqueue_start_posix.cpp

@@ -39,6 +39,7 @@
  */
 #include "wqueue_test.h"
 #include <px4_app.h>
+#include <px4_log.h>
 #include <px4_tasks.h>
 #include <stdio.h>
 #include <string.h>
@@ -53,14 +54,14 @@ int wqueue_test_main(int argc, char *argv[])
 {
 	
 	if (argc < 2) {
-		printf("usage: wqueue_test {start|stop|status}\n");
+		PX4_INFO("usage: wqueue_test {start|stop|status}\n");
 		return 1;
 	}
 
 	if (!strcmp(argv[1], "start")) {
 
 		if (WQueueTest::appState.isRunning()) {
-			printf("already running\n");
+			PX4_INFO("already running\n");
 			/* this is not an error */
 			return 0;
 		}
@@ -82,15 +83,15 @@ int wqueue_test_main(int argc, char *argv[])
 
 	if (!strcmp(argv[1], "status")) {
 		if (WQueueTest::appState.isRunning()) {
-			printf("is running\n");
+			PX4_INFO("is running\n");
 
 		} else {
-			printf("not started\n");
+			PX4_INFO("not started\n");
 		}
 
 		return 0;
 	}
 
-	printf("usage: wqueue_test {start|stop|status}\n");
+	PX4_INFO("usage: wqueue_test {start|stop|status}\n");
 	return 1;
 }

src/platforms/px4_defines.h

@@ -39,7 +39,7 @@
 
 #pragma once
 
-#include <px4_debug.h>
+#include <px4_log.h>
 
 /* Get the name of the default value fiven the param name */
 #define PX4_PARAM_DEFAULT_VALUE_NAME(_name) PARAM_##_name##_DEFAULT

src/platforms/px4_log.h

@@ -32,13 +32,25 @@
  ****************************************************************************/
 
 /**
- * @file px4_debug.h
- * Platform dependant debug
+ * @file px4_log.h
+ * Platform dependant logging/debug
  */
 
 #pragma once
 
-#if defined(__PX4_LINUX) || defined(__PX4_QURT)
+#if defined(__PX4_QURT)
+
+__BEGIN_DECLS
+extern void qurt_log(const char *fmt, ...);
+__END_DECLS
+
+#define PX4_DBG(...)	qurt_log(__VA_ARGS__)
+#define PX4_DEBUG(...)	qurt_log(__VA_ARGS__)
+#define PX4_INFO(...) 	qurt_log(__VA_ARGS__)
+#define PX4_WARN(...) 	qurt_log(__VA_ARGS__)
+#define PX4_ERR(...)	{ qurt_log("ERROR file %s line %d:", __FILE__, __LINE__); qurt_log(__VA_ARGS__); }
+
+#elif defined(__PX4_LINUX)
 
 #if defined(__PX4_LINUX)
 #include <err.h>

src/platforms/qurt/px4_layer/px4_qurt_tasks.cpp

@@ -53,11 +53,13 @@
 #include <string>
 
 #include <px4_tasks.h>
+#include <px4_log.h>
 #include <hexagon_standalone.h>
 
 #define MAX_CMD_LEN 100
 
-#define PX4_MAX_TASKS 100
+#define PX4_MAX_TASKS 5
+
 struct task_entry
 {
 	int pid;
@@ -73,28 +75,28 @@ typedef struct
 {
 	px4_main_t entry;
 	int argc;
-	char *argv[];
-	// strings are allocated after the 
+	char * argv[];
+	// strings are allocated after  
 } pthdata_t;
 
 static void entry_adapter ( void *ptr )
 {
-	printf("entry_adapter\n");
 	pthdata_t *data = (pthdata_t *) ptr;
+	PX4_DEBUG("entry_adapter %p %p entry %p %d %p\n", ptr, data, data->entry, data->argc, data->argv[0]);
 
-	printf("data->entry = %p\n", data->entry);
+	PX4_DEBUG("data->entry = %p\n", data->entry);
 	data->entry(data->argc, data->argv);
 	free(ptr);
-	printf("after entry\n");
-	printf("Before px4_task_exit\n");
+	PX4_DEBUG("after entry\n");
+	PX4_DEBUG("Before px4_task_exit\n");
 	px4_task_exit(0); 
-	printf("After px4_task_exit\n");
+	PX4_DEBUG("After px4_task_exit\n");
 } 
 
 void
 px4_systemreset(bool to_bootloader)
 {
-	printf("Called px4_system_reset\n");
+	PX4_DEBUG("Called px4_system_reset\n");
 }
 
 px4_task_t px4_task_spawn_cmd(const char *name, int scheduler, int priority, int stack_size, px4_main_t entry, char * const *argv)
@@ -107,7 +109,7 @@ px4_task_t px4_task_spawn_cmd(const char *name, int scheduler, int priority, int
 	unsigned long structsize;
 	char * p = (char *)argv;
 
-	printf("px4_task_spawn_cmd entry = %p\n", entry);
+	PX4_DEBUG("px4_task_spawn_cmd entry = %p %p %s\n", entry, argv, argv[0]);
 	// Calculate argc
 	while (p != (char *)0) {
 		p = argv[argc];
@@ -116,20 +118,24 @@ px4_task_t px4_task_spawn_cmd(const char *name, int scheduler, int priority, int
 		++argc;
 		len += strlen(p)+1;
 	}
-	printf("arg %d %p\n", argc, argv);
+	PX4_DEBUG("arg %d %p\n", argc, argv);
         structsize = sizeof(pthdata_t)+(argc+1)*sizeof(char *);
 	pthdata_t *taskdata;
     
+	PX4_DEBUG("arg %d %p\n", argc, argv);
 	// not safe to pass stack data to the thread creation
 	taskdata = (pthdata_t *)malloc(structsize+len);
+	PX4_DEBUG("arg %d %p\n", argc, argv);
 	offset = ((unsigned long)taskdata)+structsize;
+	PX4_DEBUG("arg %d %p\n", argc, argv);
 
     	taskdata->entry = entry;
 	taskdata->argc = argc;
 
+	PX4_DEBUG("arg %d %p\n", argc, argv);
 	for (i=0; i<argc; i++) {
-		printf("TEST\n");
-		printf("arg %d %s\n", i, argv[i]);
+		PX4_DEBUG("TEST\n");
+		PX4_DEBUG("arg %d %s\n", i, argv[i]);
 		taskdata->argv[i] = (char *)offset;
 		strcpy((char *)offset, argv[i]);
 		offset+=strlen(argv[i])+1;
@@ -142,11 +148,11 @@ px4_task_t px4_task_spawn_cmd(const char *name, int scheduler, int priority, int
 			taskmap[i].pid = i+1;
 			taskmap[i].name = name;
 			taskmap[i].isused = true;
-			taskmap[i].sp = malloc(stack_size);
+			taskmap[i].sp = malloc(2048);
 			break;
 		}
 	}
-	printf("TEST2\n");
+	PX4_DEBUG("taskdata %p entry %p %d %p\n", taskdata, taskdata->entry, taskdata->argc, taskdata->argv[0]);
 	thread_create(entry_adapter, taskmap[i].sp, i+1, (void *) taskdata);
 
         return i+1;
@@ -154,7 +160,7 @@ px4_task_t px4_task_spawn_cmd(const char *name, int scheduler, int priority, int
 
 int px4_task_delete(px4_task_t id)
 {
-	printf("Called px4_task_delete\n");
+	PX4_DEBUG("Called px4_task_delete\n");
 	return -EINVAL;
 }
 
@@ -167,7 +173,7 @@ void px4_task_exit(int ret)
 
 int px4_task_kill(px4_task_t id, int sig)
 {
-	printf("Called px4_task_kill\n");
+	PX4_DEBUG("Called px4_task_kill\n");
 	return -EINVAL;
 }
 
@@ -176,16 +182,16 @@ void px4_show_tasks()
 	int idx;
 	int count = 0;
 
-	printf("Active Tasks:\n");
+	PX4_DEBUG("Active Tasks:\n");
 	for (idx=0; idx < PX4_MAX_TASKS; idx++)
 	{
 		if (taskmap[idx].isused) {
-			printf("   %-10s %d\n", taskmap[idx].name.c_str(), taskmap[idx].pid);
+			PX4_DEBUG("   %-10s %d\n", taskmap[idx].name.c_str(), taskmap[idx].pid);
 			count++;
 		}
 	}
 	if (count == 0)
-		printf("   No running tasks\n");
+		PX4_DEBUG("   No running tasks\n");
 
 }
 

src/platforms/qurt/px4_layer/work_thread.c

@@ -139,7 +139,7 @@ static void work_process(FAR struct wqueue_s *wqueue, int lock_id)
 
           work_unlock(lock_id);
 	  if (!worker) {
-             printf("MESSED UP: worker = 0\n");
+             PX4_WARN("MESSED UP: worker = 0\n");
           }
           else
             worker(arg);

src/platforms/qurt/tests/hello/hello_example.cpp

@@ -1,4 +1,3 @@
-
 /****************************************************************************
  *
  *   Copyright (C) 2015 Mark Charlebois. All rights reserved.
@@ -40,6 +39,7 @@
  */
 
 #include "hello_example.h"
+#include <px4_log.h>
 #include <unistd.h>
 #include <stdio.h>
 
@@ -52,7 +52,7 @@ int HelloExample::main()
 	int i=0;
 	while (!appState.exitRequested() && i<5) {
 
-		printf("  Doing work...\n");
+		PX4_DEBUG("  Doing work...\n");
 		++i;
 	}
 

src/platforms/qurt/tests/hello/hello_main.cpp

@@ -38,6 +38,7 @@
  * @author Mark Charlebois <charlebm@gmail.com>
  */
 #include <px4_middleware.h>
+#include <px4_log.h>
 #include <px4_app.h>
 #include "hello_example.h"
 #include <stdio.h>
@@ -46,10 +47,10 @@ int PX4_MAIN(int argc, char **argv)
 {
 	px4::init(argc, argv, "hello");
 
-	printf("hello\n");
+	PX4_DEBUG("hello\n");
 	HelloExample hello;
 	hello.main();
 
-	printf("goodbye\n");
+	PX4_DEBUG("goodbye\n");
 	return 0;
 }

src/platforms/qurt/tests/hello/hello_start_qurt.cpp

@@ -38,6 +38,7 @@
  * @author Mark Charlebois <mcharleb@gmail.com>
  */
 #include "hello_example.h"
+#include <px4_log.h>
 #include <px4_app.h>
 #include <px4_tasks.h>
 #include <stdio.h>
@@ -52,11 +53,11 @@ extern "C" __EXPORT int hello_main(int argc, char *argv[]);
 
 static void usage()
 {
-	printf("usage: hello {start|stop|status}\n");
+	PX4_DEBUG("usage: hello {start|stop|status}\n");
 }
 int hello_main(int argc, char *argv[])
 {
-	printf("argc = %d %s %s %p\n", argc, argv[0], argv[1], argv[2]);
+	PX4_DEBUG("argc = %d %s %s %p\n", argc, argv[0], argv[1], argv[2]);
 	if (argc < 2) {
 		usage();
 		return 1;
@@ -64,8 +65,9 @@ int hello_main(int argc, char *argv[])
 
 	if (!strcmp(argv[1], "start")) {
 
+		PX4_DEBUG("Starting\n");
 		if (HelloExample::appState.isRunning()) {
-			printf("already running\n");
+			PX4_DEBUG("already running\n");
 			/* this is not an error */
 			return 0;
 		}
@@ -73,7 +75,7 @@ int hello_main(int argc, char *argv[])
 		daemon_task = px4_task_spawn_cmd("hello",
 				       SCHED_DEFAULT,
 				       SCHED_PRIORITY_MAX - 5,
-				       2000,
+				       16000,
 				       PX4_MAIN,
 				       (char* const*)argv);
 
@@ -87,10 +89,10 @@ int hello_main(int argc, char *argv[])
 
 	if (!strcmp(argv[1], "status")) {
 		if (HelloExample::appState.isRunning()) {
-			printf("is running\n");
+			PX4_DEBUG("is running\n");
 
 		} else {
-			printf("not started\n");
+			PX4_DEBUG("not started\n");
 		}
 
 		return 0;