mavlink_log.h
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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.h
* MAVLink text logging.
*
* @author Lorenz Meier <lorenz@px4.io>
* @author Julian Oes <julian@oes.ch>
*/
#pragma once
#include <px4_log.h>
#include <uORB/uORB.h>
/**
* The maximum string length supported.
*/
#define MAVLINK_LOG_MAXLEN 50
#ifdef __cplusplus
extern "C" {
#endif
__EXPORT void mavlink_vasprintf(int severity, orb_advert_t *mavlink_log_pub, const char *fmt, ...);
#ifdef __cplusplus
}
#endif
#define _MSG_PRIO_DEBUG 7
#define _MSG_PRIO_INFO 6
#define _MSG_PRIO_NOTICE 5
#define _MSG_PRIO_WARNING 4
#define _MSG_PRIO_ERROR 3
#define _MSG_PRIO_CRITICAL 2
#define _MSG_PRIO_ALERT 1
#define _MSG_PRIO_EMERGENCY 0
/*
* The va_args implementation here is not beautiful, but obviously we run into the same issues
* the GCC devs saw, and are using their solution:
*
* http://gcc.gnu.org/onlinedocs/cpp/Variadic-Macros.html
*/
/**
* Send a mavlink info message (also printed to console).
*
* @param _pub Pointer to the uORB advert;
* @param _text The text to log;
*/
#define mavlink_log_info(_pub, _text, ...) \
do { \
mavlink_vasprintf(_MSG_PRIO_INFO, _pub, _text, ##__VA_ARGS__); \
PX4_INFO(_text, ##__VA_ARGS__); \
} while(0);
/**
* Send a mavlink warning message and print to console.
*
* @param _pub Pointer to the uORB advert;
* @param _text The text to log;
*/
#define mavlink_log_warning(_pub, _text, ...) \
do { \
mavlink_vasprintf(_MSG_PRIO_WARNING, _pub, _text, ##__VA_ARGS__); \
PX4_WARN(_text, ##__VA_ARGS__); \
} while(0);
/**
* Send a mavlink emergency message and print to console.
*
* @param _pub Pointer to the uORB advert;
* @param _text The text to log;
*/
#define mavlink_log_emergency(_pub, _text, ...) \
do { \
mavlink_vasprintf(_MSG_PRIO_EMERGENCY, _pub, _text, ##__VA_ARGS__); \
PX4_ERR(_text, ##__VA_ARGS__); \
} while(0);
/**
* Send a mavlink critical message and print to console.
*
* @param _pub Pointer to the uORB advert;
* @param _text The text to log;
*/
#define mavlink_log_critical(_pub, _text, ...) \
do { \
mavlink_vasprintf(_MSG_PRIO_CRITICAL, _pub, _text, ##__VA_ARGS__); \
PX4_WARN(_text, ##__VA_ARGS__); \
} while(0);