POSIX: Improved logging

The warnx and warn calls map to PX4_WARN.
Calls to errx or err genrtate a compile error.

The px4_log.h file implements a new log format:

For DEBUG and INFO:
<level> <msg>

For ERROR and WARN:
<level> <msg> (file filepath line linenum)

The verbosity can be changed by setting the macro to use
either linux_log or linux_log_verbose in px4_log.h

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

src/modules/simulator/simulator.cpp

@@ -81,7 +81,7 @@ int Simulator::start(int argc, char *argv[])
 	int ret = 0;
 	_instance = new Simulator();
 	if (_instance) {
-		PX4_INFO("Simulator started\n");
+		PX4_INFO("Simulator started");
 		drv_led_start();
 		if (argv[2][1] == 's') {
 #ifndef __PX4_QURT
@@ -92,7 +92,7 @@ int Simulator::start(int argc, char *argv[])
 		}
 	}
 	else {
-		PX4_WARN("Simulator creation failed\n");
+		PX4_WARN("Simulator creation failed");
 		ret = 1;
 	}
 	return ret;
@@ -150,7 +150,7 @@ void Simulator::publishSensorsCombined() {
 			gyro.timestamp = time_last;
 			mag.timestamp = time_last;
 			// publish the sensor values
-			//printf("Publishing SensorsCombined\n");
+			//PX4_DEBUG("Publishing SensorsCombined\n");
 			orb_publish(ORB_ID(sensor_combined), _sensor_combined_pub, &sensors);
 			orb_publish(ORB_ID(sensor_baro), _baro_pub, &baro);
 			orb_publish(ORB_ID(sensor_accel), _accel_pub, &baro);
@@ -225,14 +225,14 @@ bool static _led_state[2] = { false , false };
 
 __EXPORT void led_init()
 {
-	PX4_DBG("LED_INIT\n");
+	PX4_DEBUG("LED_INIT");
 }
 
 __EXPORT void led_on(int led)
 {
 	if (led == 1 || led == 0)
 	{
-		PX4_DBG("LED%d_ON", led);
+		PX4_DEBUG("LED%d_ON", led);
 		_led_state[led] = true;
 	}
 }
@@ -241,7 +241,7 @@ __EXPORT void led_off(int led)
 {
 	if (led == 1 || led == 0)
 	{
-		PX4_DBG("LED%d_OFF", led);
+		PX4_DEBUG("LED%d_OFF", led);
 		_led_state[led] = false;
 	}
 }
@@ -251,7 +251,7 @@ __EXPORT void led_toggle(int led)
 	if (led == 1 || led == 0)
 	{
 		_led_state[led] = !_led_state[led];
-		PX4_DBG("LED%d_TOGGLE: %s\n", led, _led_state[led] ? "ON" : "OFF");
+		PX4_DEBUG("LED%d_TOGGLE: %s", led, _led_state[led] ? "ON" : "OFF");
 
 	}
 }

src/modules/simulator/simulator_mavlink.cpp

@@ -335,7 +335,7 @@ void Simulator::updateSamples()
 	int serial_fd = open(PIXHAWK_DEVICE, O_RDWR);
 
 	if (serial_fd < 0) {
-		PX4_WARN("failed to open %s\n", PIXHAWK_DEVICE);
+		PX4_WARN("failed to open %s", PIXHAWK_DEVICE);
 	}
 
 	// tell the device to stream some messages
@@ -343,7 +343,7 @@ void Simulator::updateSamples()
 	int w = ::write(serial_fd, command, sizeof(command));
 
 	if (w <= 0) {
-		PX4_WARN("failed to send streaming command to %s\n", PIXHAWK_DEVICE);
+		PX4_WARN("failed to send streaming command to %s", PIXHAWK_DEVICE);
 	}
 
 	char serial_buf[1024];

src/modules/systemlib/err.h

@@ -65,6 +65,7 @@
 #ifndef _SYSTEMLIB_ERR_H
 #define _SYSTEMLIB_ERR_H
 
+#include <px4_log.h>
 #include <stdarg.h>
 #include "visibility.h"
 
@@ -72,6 +73,14 @@ __BEGIN_DECLS
 
 __EXPORT const char *getprogname(void);
 
+#ifdef __PX4_POSIX
+
+#define err(...)					ERROR
+#define errx(...)					ERROR
+#define warn(...) 					PX4_WARN(__VA_ARGS__)
+#define warnx(...) 					PX4_WARN(__VA_ARGS__)
+
+#else
 __EXPORT void	err(int eval, const char *fmt, ...)		__attribute__((noreturn, format(printf, 2, 3)));
 __EXPORT void	verr(int eval, const char *fmt, va_list)	__attribute__((noreturn, format(printf, 2, 0)));
 __EXPORT void	errc(int eval, int code, const char *fmt, ...)	__attribute__((noreturn, format(printf, 3, 4)));
@@ -84,6 +93,7 @@ __EXPORT void	warnc(int code, const char *fmt, ...)		__attribute__((format(print
 __EXPORT void	vwarnc(int code, const char *fmt, va_list)	__attribute__((format(printf, 2, 0)));
 __EXPORT void	warnx(const char *fmt, ...)			__attribute__((format(printf, 1, 2)));
 __EXPORT void	vwarnx(const char *fmt, va_list)		__attribute__((format(printf, 1, 0)));
+#endif
 
 __END_DECLS
 

src/modules/systemlib/module.mk

@@ -35,7 +35,7 @@
 # System utility library
 #
 
-SRCS		 = err.c \
+SRCS		 = \
 		   perf_counter.c \
 		   param/param.c \
 		   conversions.c \
@@ -55,7 +55,8 @@ SRCS		 = err.c \
 		   circuit_breaker_params.c 
 
 ifeq ($(PX4_TARGET_OS),nuttx)
-SRCS		+= up_cxxinitialize.c 
+SRCS		+= err.c \
+		   up_cxxinitialize.c 
 endif
 
 ifneq ($(PX4_TARGET_OS),qurt)