px4_autopilot/platforms/common/px4_log.cpp

/****************************************************************************
 *
 * Copyright (C) 2017-2018 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
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 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 *
 ****************************************************************************/

#include <assert.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>

#ifndef MODULE_NAME
#define MODULE_NAME "log"
#endif

#include <px4_platform_common/log.h>
#if defined(__PX4_POSIX)
#include <px4_daemon/server_io.h>
#endif

#include <uORB/uORB.h>
#include <uORB/topics/log_message.h>
#include <drivers/drv_hrt.h>

static orb_advert_t orb_log_message_pub = nullptr;

__EXPORT const char *__px4_log_level_str[_PX4_LOG_LEVEL_PANIC + 1] = { "DEBUG", "INFO", "WARN", "ERROR", "PANIC" };
__EXPORT const char *__px4_log_level_color[_PX4_LOG_LEVEL_PANIC + 1] =
{ PX4_ANSI_COLOR_GREEN, PX4_ANSI_COLOR_RESET, PX4_ANSI_COLOR_YELLOW, PX4_ANSI_COLOR_RED, PX4_ANSI_COLOR_RED };


void px4_log_initialize(void)
{
	assert(orb_log_message_pub == nullptr);

	/* we need to advertise with a valid message */
	struct log_message_s log_message;
	log_message.timestamp = hrt_absolute_time();
	log_message.severity = 6; //info
	strcpy((char *)log_message.text, "initialized uORB logging");

	orb_log_message_pub = orb_advertise_queue(ORB_ID(log_message), &log_message, log_message_s::ORB_QUEUE_LENGTH);

	if (!orb_log_message_pub) {
		PX4_ERR("failed to advertise log_message");
	}
}


__EXPORT void px4_log_modulename(int level, const char *moduleName, const char *fmt, ...)
{
	FILE *out = stdout;
	bool use_color = true;

#ifdef __PX4_POSIX
	out = get_stdout(&use_color);
#endif

#ifndef PX4_LOG_COLORIZED_OUTPUT
	use_color = false;
#endif

	if (level >= _PX4_LOG_LEVEL_INFO) {
		if (use_color) { fputs(__px4_log_level_color[level], out); }

		fprintf(out, __px4__log_level_fmt __px4__log_level_arg(level));

		if (use_color) { fputs(PX4_ANSI_COLOR_GRAY, out); }

		fprintf(out, __px4__log_modulename_pfmt, moduleName);

		if (use_color) { fputs(__px4_log_level_color[level], out); }

		va_list argptr;
		va_start(argptr, fmt);
		vfprintf(out, fmt, argptr);
		va_end(argptr);

		if (use_color) { fputs(PX4_ANSI_COLOR_RESET, out); }

		fputc('\n', out);
	}

	/* publish an orb log message */
	if (level >= _PX4_LOG_LEVEL_INFO && orb_log_message_pub) { //publish all messages

		struct log_message_s log_message;
		const unsigned max_length_pub = sizeof(log_message.text);
		log_message.timestamp = hrt_absolute_time();

		const uint8_t log_level_table[] = {
			7, /* _PX4_LOG_LEVEL_DEBUG */
			6, /* _PX4_LOG_LEVEL_INFO */
			4, /* _PX4_LOG_LEVEL_WARN */
			3, /* _PX4_LOG_LEVEL_ERROR */
			0  /* _PX4_LOG_LEVEL_PANIC */
		};
		log_message.severity = log_level_table[level];

		unsigned pos = 0;

		va_list argptr;

		pos += snprintf((char *)log_message.text + pos, max_length_pub - pos, __px4__log_modulename_pfmt, moduleName);
		va_start(argptr, fmt);
		pos += vsnprintf((char *)log_message.text + pos, max_length_pub - pos, fmt, argptr);
		va_end(argptr);
		log_message.text[max_length_pub - 1] = 0; //ensure 0-termination

		orb_publish(ORB_ID(log_message), orb_log_message_pub, &log_message);
	}

#ifdef CONFIG_ARCH_BOARD_PX4_SITL
	// Without flushing it's tricky to see stdout output when PX4 is started by
	// a script like for the MAVSDK tests.
	fflush(out);
#endif
}

__EXPORT void px4_log_raw(int level, const char *fmt, ...)
{
	FILE *out = stdout;
	bool use_color = true;

#ifdef __PX4_POSIX
	out = get_stdout(&use_color);
#endif

#ifndef PX4_LOG_COLORIZED_OUTPUT
	use_color = false;
#endif

	if (level >= _PX4_LOG_LEVEL_INFO) {
		if (use_color) { fputs(__px4_log_level_color[level], out); }

		va_list argptr;
		va_start(argptr, fmt);
		vfprintf(out, fmt, argptr);
		va_end(argptr);

		if (use_color) { fputs(PX4_ANSI_COLOR_RESET, out); }
	}
}