From eaef0db7d6c90f4060006f2bb45008b45c1da5c9 Mon Sep 17 00:00:00 2001
From: Mark Charlebois <charlebm@gmail.com>
Date: Tue, 19 May 2015 11:53:19 -0700
Subject: [PATCH] Logging fixes and enhancements

Made the logging macros generic so they can be used for multiple targets.

Fixed toolchain_native.mk so err.h is included from src/systemlib for posix.

Reduced debug output for uORB.

Signed-off-by: Mark Charlebois <charlebm@gmail.com>
---
 makefiles/toolchain_native.mk                 |  1 +
 src/modules/uORB/uORBDevices_posix.cpp        |  2 +-
 src/platforms/px4_log.h                       | 48 ++++++++-----------
 .../qurt/px4_layer/px4_qurt_tasks.cpp         | 20 ++------
 4 files changed, 27 insertions(+), 44 deletions(-)

diff --git a/makefiles/toolchain_native.mk b/makefiles/toolchain_native.mk
index 7c42ee4ba1..0b8223bfd0 100644
--- a/makefiles/toolchain_native.mk
+++ b/makefiles/toolchain_native.mk
@@ -122,6 +122,7 @@ endif
 ARCHDEFINES		+= -DCONFIG_ARCH_BOARD_$(CONFIG_BOARD) \
 			-D__PX4_LINUX -D__PX4_POSIX \
 			-Dnoreturn_function= \
+			-I$(PX4_BASE)/src/modules/systemlib \
 			-I$(PX4_BASE)/src/lib/eigen \
 			-I$(PX4_BASE)/src/platforms/posix/include \
 			-I$(PX4_BASE)/mavlink/include/mavlink \
diff --git a/src/modules/uORB/uORBDevices_posix.cpp b/src/modules/uORB/uORBDevices_posix.cpp
index e3530926e1..c80824d39b 100644
--- a/src/modules/uORB/uORBDevices_posix.cpp
+++ b/src/modules/uORB/uORBDevices_posix.cpp
@@ -443,7 +443,7 @@ uORB::DeviceMaster::DeviceMaster(Flavor f) :
   _flavor(f)
 {
   // enable debug() calls
-  _debug_enabled = true;
+  //_debug_enabled = true;
 
 }
 
diff --git a/src/platforms/px4_log.h b/src/platforms/px4_log.h
index 2dd849f24a..07438a4ec4 100644
--- a/src/platforms/px4_log.h
+++ b/src/platforms/px4_log.h
@@ -38,39 +38,35 @@
 
 #pragma once
 
-#if defined(__PX4_QURT)
+#define __px4_log_omit(level, ...)   { }
 
-__BEGIN_DECLS
-extern void qurt_log(const char *fmt, ...);
-__END_DECLS
-
-#include <stdio.h>
-
-#define qurt_log(...)   {printf(__VA_ARGS__); printf("\n");}
-#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)
-#include <stdio.h>
-
-#define linux_log(level, ...)   { \
+#define __px4_log(level, ...)   { \
 	printf("%-5s ", level);\
 	printf(__VA_ARGS__);\
 	printf("\n");\
 }
-#define linux_log_verbose(level, ...)   { \
+#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 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_LINUX)
+#include <stdio.h>
+
 //#define PX4_DEBUG(...)	{ }
-#define PX4_DEBUG(...) 	{ linux_log("DEBUG", __VA_ARGS__); }
-#define PX4_INFO(...) 	{ linux_log("INFO",  __VA_ARGS__); }
-#define PX4_WARN(...) 	{ linux_log_verbose("WARN",  __VA_ARGS__); }
-#define PX4_ERR(...)	{ linux_log_verbose("ERROR", __VA_ARGS__); }
+#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)
 
@@ -80,7 +76,6 @@ __END_DECLS
 #define PX4_ERR(...) 	ROS_WARN(__VA_ARGS__)
 
 #elif defined(__PX4_NUTTX)
-
 #include <systemlib/err.h>
 
 #define PX4_DBG(...) 
@@ -90,9 +85,6 @@ __END_DECLS
 
 #else
 
-#define PX4_DBG(...) 
-#define PX4_WARN(...) 
-#define PX4_INFO(...) 
-#define PX4_ERR(...) 
+#error "Target platform unknown"
 
 #endif
diff --git a/src/platforms/qurt/px4_layer/px4_qurt_tasks.cpp b/src/platforms/qurt/px4_layer/px4_qurt_tasks.cpp
index bbd1366ec2..d688f1104a 100644
--- a/src/platforms/qurt/px4_layer/px4_qurt_tasks.cpp
+++ b/src/platforms/qurt/px4_layer/px4_qurt_tasks.cpp
@@ -104,7 +104,7 @@ px4_task_t px4_task_spawn_cmd(const char *name, int scheduler, int priority, int
 	unsigned long structsize;
 	char * p = (char *)argv;
 
-	printf("Creating %s\n", name);
+	PX4_DEBUG("Creating %s\n", name);
         pthread_t task;
 	pthread_attr_t attr;
 	struct sched_param param;
@@ -128,7 +128,7 @@ px4_task_t px4_task_spawn_cmd(const char *name, int scheduler, int priority, int
 	taskdata->argc = argc;
 
 	for (i=0; i<argc; i++) {
-		printf("arg %d %s\n", i, argv[i]);
+		PX4_DEBUG("arg %d %s\n", i, argv[i]);
 		taskdata->argv[i] = (char *)offset;
 		strcpy((char *)offset, argv[i]);
 		offset+=strlen(argv[i])+1;
@@ -165,17 +165,7 @@ px4_task_t px4_task_spawn_cmd(const char *name, int scheduler, int priority, int
         rv = pthread_create (&task, &attr, &entry_adapter, (void *) taskdata);
 	if (rv != 0) {
 
-		if (rv == EPERM) {
-			//printf("WARNING: NOT RUNING AS ROOT, UNABLE TO RUN REALTIME THREADS\n");
-        		rv = pthread_create (&task, NULL, &entry_adapter, (void *) taskdata);
-			if (rv != 0) {
-				PX4_ERR("px4_task_spawn_cmd: failed to create thread %d %d\n", rv, errno);
-				return (rv < 0) ? rv : -rv;
-			}
-		}
-		else {
-			return (rv < 0) ? rv : -rv;
-		}
+		return (rv < 0) ? rv : -rv;
 	}
 
 	for (i=0; i<PX4_MAX_TASKS; ++i) {
@@ -232,7 +222,7 @@ void px4_task_exit(int ret)
 		PX4_ERR("px4_task_exit: self task not found!");
 	}
 	else {
-		PX4_DBG("px4_task_exit: %s", taskmap[i].name.c_str());
+		PX4_DEBUG("px4_task_exit: %s", taskmap[i].name.c_str());
 	}
 
 	//pthread_exit((void *)(unsigned long)ret);
@@ -242,7 +232,7 @@ int px4_task_kill(px4_task_t id, int sig)
 {
 	int rv = 0;
 	pthread_t pid;
-	PX4_DBG("Called px4_task_kill %d", sig);
+	PX4_DEBUG("Called px4_task_kill %d", sig);
 
 	if (id < PX4_MAX_TASKS && taskmap[id].pid != 0)
 		pid = taskmap[id].pid;