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147 lines
4.4 KiB
C
147 lines
4.4 KiB
C
/****************************************************************************
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*
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* Copyright (c) 2012-2016 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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/**
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* @file mavlink_log.h
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* MAVLink text logging.
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*
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* @author Lorenz Meier <lorenz@px4.io>
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* @author Julian Oes <julian@oes.ch>
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*/
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#pragma once
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#include <uORB/uORB.h>
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/**
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* The maximum string length supported.
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*/
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#define MAVLINK_LOG_MAXLEN 50
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#ifdef __cplusplus
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extern "C" {
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#endif
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__EXPORT void mavlink_vasprintf(int severity, orb_advert_t *mavlink_log_pub, const char *fmt, ...);
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#ifdef __cplusplus
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}
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#endif
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#define _MSG_PRIO_DEBUG 7
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#define _MSG_PRIO_INFO 6
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#define _MSG_PRIO_NOTICE 5
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#define _MSG_PRIO_WARNING 4
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#define _MSG_PRIO_ERROR 3
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#define _MSG_PRIO_CRITICAL 2
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#define _MSG_PRIO_ALERT 1
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#define _MSG_PRIO_EMERGENCY 0
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/*
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* The va_args implementation here is not beautiful, but obviously we run into the same issues
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* the GCC devs saw, and are using their solution:
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*
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* http://gcc.gnu.org/onlinedocs/cpp/Variadic-Macros.html
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*/
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/**
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* Send a mavlink emergency message.
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*
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* @param _pub Pointer to the uORB advert;
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* @param _text The text to log;
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*/
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#define mavlink_log_emergency(_pub, _text, ...) mavlink_vasprintf(_MSG_PRIO_EMERGENCY, _pub, _text, ##__VA_ARGS__);
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/**
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* Send a mavlink critical message.
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*
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* @param _pub Pointer to the uORB advert;
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* @param _text The text to log;
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*/
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#define mavlink_log_critical(_pub, _text, ...) mavlink_vasprintf(_MSG_PRIO_CRITICAL, _pub, _text, ##__VA_ARGS__);
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/**
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* Send a mavlink info message.
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*
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* @param _pub Pointer to the uORB advert;
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* @param _text The text to log;
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*/
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#define mavlink_log_info(_pub, _text, ...) mavlink_vasprintf(_MSG_PRIO_INFO, _pub, _text, ##__VA_ARGS__);
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/**
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* Send a mavlink emergency message and print to console.
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*
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* @param _pub Pointer to the uORB advert;
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* @param _text The text to log;
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*/
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#define mavlink_and_console_log_emergency(_pub, _text, ...) \
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do { \
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mavlink_log_emergency(_pub, _text, ##__VA_ARGS__); \
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PX4_ERR(_text, ##__VA_ARGS__); \
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} while(0);
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/**
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* Send a mavlink critical message and print to console.
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*
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* @param _pub Pointer to the uORB advert;
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* @param _text The text to log;
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*/
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#define mavlink_and_console_log_critical(_pub, _text, ...) \
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do { \
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mavlink_log_critical(_pub, _text, ##__VA_ARGS__); \
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PX4_WARN(_text, ##__VA_ARGS__); \
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} while(0);
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/**
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* Send a mavlink emergency message and print to console.
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*
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* @param _pub Pointer to the uORB advert;
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* @param _text The text to log;
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*/
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#define mavlink_and_console_log_info(_pub, _text, ...) \
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do { \
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mavlink_log_info(_pub, _text, ##__VA_ARGS__); \
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PX4_INFO(_text, ##__VA_ARGS__); \
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} while(0);
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struct mavlink_logmessage {
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char text[MAVLINK_LOG_MAXLEN + 1];
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unsigned char severity;
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};
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struct mavlink_logbuffer {
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unsigned int start;
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unsigned int size;
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int count;
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struct mavlink_logmessage *elems;
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};
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