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178 lines
6.3 KiB
C
178 lines
6.3 KiB
C
/****************************************************************************
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*
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* Copyright (C) 2015 Mark Charlebois. 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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/**
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* @file px4_log.h
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* Platform dependant logging/debug implementation
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*/
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#pragma once
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#define __STDC_FORMAT_MACROS
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#include <inttypes.h>
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#include <stdint.h>
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#include <sys/cdefs.h>
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#include <stdio.h>
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#if defined(__PX4_ROS)
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#define PX4_PANIC(...) ROS_WARN(__VA_ARGS__)
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#define PX4_ERR(...) ROS_WARN(__VA_ARGS__)
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#define PX4_WARN(...) ROS_WARN(__VA_ARGS__)
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#define PX4_INFO(...) ROS_WARN(__VA_ARGS__)
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#define PX4_DEBUG(...)
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#else
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__BEGIN_DECLS
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__EXPORT extern uint64_t hrt_absolute_time(void);
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#define _PX4_LOG_LEVEL_ALWAYS 0
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#define _PX4_LOG_LEVEL_PANIC 1
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#define _PX4_LOG_LEVEL_ERROR 2
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#define _PX4_LOG_LEVEL_WARN 3
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#define _PX4_LOG_LEVEL_DEBUG 4
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__EXPORT extern const char *__px4_log_level_str[5];
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__EXPORT extern unsigned int __px4_log_level_current;
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#define PX4_LOG_LEVEL_AT_RUN_TIME _PX4_LOG_LEVEL_WARN
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#define _PX4_LOG_LEVEL_STR(level) __px4_log_level_str[level];
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/****************************************************************************
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* Implementation of log section formatting based on printf
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****************************************************************************/
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#if defined(__PX4_ROS)
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#define __px4__log_startline(level) if (level <= __px4_log_level_current) ROS_WARN(
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#else
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#define __px4__log_startline(level) if (level <= __px4_log_level_current) printf(
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#endif
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#define __px4__log_timestamp_fmt "%-10" PRIu64
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#define __px4__log_timestamp_arg ,hrt_absolute_time()
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#define __px4__log_level_fmt "%-5s "
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#define __px4__log_level_arg(level) ,__px4_log_level_str[level]
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#define __px4__log_thread_fmt "%ld "
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#define __px4__log_thread_arg ,pthread_self()
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#define __px4__log_file_and_line_fmt " (file %s line %d)"
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#define __px4__log_file_and_line_arg , __FILE__, __LINE__
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#define __px4__log_end_fmt "\n"
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#define __px4__log_endline )
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/****************************************************************************
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* Output format macros
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* Use these to implement the code level macros below
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****************************************************************************/
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#define __px4_log_omit(level, FMT, ...) { }
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#define __px4_log(level, FMT, ...) \
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__px4__log_startline(level)\
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__px4__log_level_fmt \
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FMT\
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__px4__log_end_fmt \
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__px4__log_level_arg(level), ##__VA_ARGS__\
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__px4__log_endline
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#define __px4_log_timestamp(level, FMT, ...) \
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__px4__log_startline(level)\
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__px4__log_timestamp_fmt\
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__px4__log_level_fmt\
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FMT\
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__px4__log_end_fmt\
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__px4__log_timestamp_arg\
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__px4__log_level_arg(level), ##__VA_ARGS__\
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__px4__log_endline
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#define __px4_log_file_and_line(level, FMT, ...) \
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__px4__log_startline(level)\
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__px4__log_timestamp_fmt\
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__px4__log_level_fmt\
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FMT\
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__px4__log_file_and_line_fmt\
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__px4__log_end_fmt\
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__px4__log_timestamp_arg\
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__px4__log_level_arg(level), ##__VA_ARGS__\
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__px4__log_file_and_line_arg\
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__px4__log_endline
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#define __px4_log_timestamp_file_and_line(level, FMT, ...) \
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__px4__log_startline(level)\
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__px4__log_timestamp_fmt\
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__px4__log_level_fmt\
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FMT\
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__px4__log_file_and_line_fmt\
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__px4__log_end_fmt\
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__px4__log_timestamp_arg\
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__px4__log_level_arg(level) , ##__VA_ARGS__\
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__px4__log_file_and_line_arg\
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__px4__log_endline
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#define __px4_log_thread_file_and_line(level, FMT, ...) \
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__px4__log_startline(level)\
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__px4__log_thread_fmt\
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__px4__log_level_fmt\
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FMT\
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__px4__log_file_and_line_fmt\
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__px4__log_end_fmt\
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__px4__log_thread_arg\
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__px4__log_level_arg(level) , ##__VA_ARGS__\
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__px4__log_file_and_line_arg\
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__px4__log_endline
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/****************************************************************************
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* Code level macros
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* These are the log APIs that should be used by the code
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****************************************************************************/
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#define PX4_LOG(FMT, ...) __px4_log(_PX4_LOG_LEVEL_ALWAYS, FMT, __VA_ARGS__)
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#if defined(DEBUG_BUILD)
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#define PX4_PANIC(FMT, ...) __px4_log_timestamp_file_and_line(_PX4_LOG_LEVEL_PANIC, FMT, ##__VA_ARGS__)
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#define PX4_ERR(FMT, ...) __px4_log_timestamp_file_and_line(_PX4_LOG_LEVEL_ERROR, FMT, ##__VA_ARGS__)
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#define PX4_WARN(FMT, ...) __px4_log_timestamp_file_and_line(_PX4_LOG_LEVEL_WARN, FMT, ##__VA_ARGS__)
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#define PX4_DEBUG(FMT, ...) __px4_log_timestamp(_PX4_LOG_LEVEL_DEBUG, FMT, __VA_ARGS__)
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#else
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#define PX4_PANIC(FMT, ...) __px4_log_file_and_line(_PX4_LOG_LEVEL_PANIC, FMT, ##__VA_ARGS__)
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#define PX4_ERR(FMT, ...) __px4_log_file_and_line(_PX4_LOG_LEVEL_ERROR, FMT, ##__VA_ARGS__)
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#define PX4_WARN(FMT, ...) __px4_log_file_and_line(_PX4_LOG_LEVEL_WARN, FMT, ##__VA_ARGS__)
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#define PX4_INFO(FMT, ...) __px4_log(_PX4_LOG_LEVEL_WARN, FMT, ##__VA_ARGS__)
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#define PX4_DEBUG(FMT, ...) __px4_log_omit(_PX4_LOG_LEVEL_DEBUG, FMT, ##__VA_ARGS__)
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#endif
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__END_DECLS
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#endif
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