mavlink_log.cpp
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/****************************************************************************
*
* Copyright (c) 2012-2016 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file mavlink_log.c
* MAVLink text logging.
*
* @author Lorenz Meier <lorenz@px4.io>
*/
#include <drivers/drv_hrt.h>
#include <px4_platform_common/posix.h>
#include <string.h>
#include <stdlib.h>
#include <stdio.h>
#include <stdarg.h>
#include <uORB/topics/mavlink_log.h>
#include "mavlink_log.h"
__EXPORT void mavlink_vasprintf(int severity, orb_advert_t *mavlink_log_pub, const char *fmt, ...)
{
// TODO: add compile check for maxlen
if (!fmt) {
return;
}
if (mavlink_log_pub == nullptr) {
return;
}
mavlink_log_s log_msg;
log_msg.severity = severity;
log_msg.timestamp = hrt_absolute_time();
va_list ap;
va_start(ap, fmt);
vsnprintf((char *)log_msg.text, sizeof(log_msg.text), fmt, ap);
va_end(ap);
if (*mavlink_log_pub != nullptr) {
orb_publish(ORB_ID(mavlink_log), *mavlink_log_pub, &log_msg);
} else {
*mavlink_log_pub = orb_advertise_queue(ORB_ID(mavlink_log), &log_msg, mavlink_log_s::ORB_QUEUE_LENGTH);
}
}