mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-07-16 19:30:35 +08:00
Daniel Agar
93 lines
3.2 KiB
C++
93 lines
3.2 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2022 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#pragma once
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#include <px4_platform_common/log.h>
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#include <uavcan/uavcan.hpp>
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#include <uavcan/protocol/debug/LogMessage.hpp>
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class UavcanLogMessage
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{
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public:
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UavcanLogMessage(uavcan::INode &node) : _sub_logmessage(node) {}
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~UavcanLogMessage() = default;
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int init()
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{
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int res = _sub_logmessage.start(LogMessageCbBinder(this, &UavcanLogMessage::logmessage_sub_cb));
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if (res < 0) {
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PX4_ERR("LogMessage sub failed %i", res);
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return res;
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}
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return 0;
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}
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private:
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typedef uavcan::MethodBinder < UavcanLogMessage *,
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void (UavcanLogMessage::*)(const uavcan::ReceivedDataStructure<uavcan::protocol::debug::LogMessage> &) >
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LogMessageCbBinder;
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void logmessage_sub_cb(const uavcan::ReceivedDataStructure<uavcan::protocol::debug::LogMessage> &msg)
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{
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int px4_level = _PX4_LOG_LEVEL_INFO;
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switch (msg.level.value) {
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case uavcan::protocol::debug::LogLevel::DEBUG:
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px4_level = _PX4_LOG_LEVEL_DEBUG;
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break;
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case uavcan::protocol::debug::LogLevel::INFO:
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px4_level = _PX4_LOG_LEVEL_INFO;
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break;
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case uavcan::protocol::debug::LogLevel::WARNING:
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px4_level = _PX4_LOG_LEVEL_WARN;
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break;
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case uavcan::protocol::debug::LogLevel::ERROR:
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px4_level = _PX4_LOG_LEVEL_ERROR;
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break;
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}
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char module_name_buffer[80];
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snprintf(module_name_buffer, sizeof(module_name_buffer), "uavcan:%d:%s", msg.getSrcNodeID().get(), msg.source.c_str());
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px4_log_modulename(px4_level, module_name_buffer, msg.text.c_str());
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}
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uavcan::Subscriber<uavcan::protocol::debug::LogMessage, LogMessageCbBinder> _sub_logmessage;
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};
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