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/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)