AP_HAL: turn panic() into a variadic method

Change the declaration on all HAL implementations so panic() in future
may implement a printf-like interface.

libraries/AP_HAL/Scheduler.h

@@ -56,7 +56,7 @@ public:
     virtual bool     system_initializing() = 0;
     virtual void     system_initialized() = 0;
 
-    virtual void     panic(const prog_char_t *errormsg) NORETURN = 0;
+    virtual void     panic(const prog_char_t *errormsg, ...) NORETURN = 0;
     virtual void     reboot(bool hold_in_bootloader) = 0;
 
     /**

libraries/AP_HAL_AVR/Scheduler.cpp

@@ -225,7 +225,7 @@ void AVRScheduler::system_initialized() {
     _initialized = true;
 }
 
-void AVRScheduler::panic(const prog_char_t* errormsg) {
+void AVRScheduler::panic(const prog_char_t* errormsg, ...) {
     /* Suspend timer processes. We still want the timer event to go off
      * to run the _failsafe code, however. */
     _timer_suspended = true;

libraries/AP_HAL_AVR/Scheduler.h

@@ -45,7 +45,7 @@ public:
     bool     system_initializing();
     void     system_initialized();
 
-    void     panic(const prog_char_t *errormsg) NORETURN;
+    void     panic(const prog_char_t *errormsg, ...) NORETURN;
     void     reboot(bool hold_in_bootloader);
 
     void     set_timer_speed(uint16_t timer_hz);

libraries/AP_HAL_Empty/Scheduler.cpp

@@ -69,7 +69,7 @@ bool EmptyScheduler::system_initializing() {
 void EmptyScheduler::system_initialized()
 {}
 
-void EmptyScheduler::panic(const prog_char_t *errormsg) {
+void EmptyScheduler::panic(const prog_char_t *errormsg, ...) {
     hal.console->println_P(errormsg);
     for(;;);
 }

libraries/AP_HAL_Empty/Scheduler.h

@@ -32,7 +32,7 @@ public:
     bool     system_initializing();
     void     system_initialized();
 
-    void     panic(const prog_char_t *errormsg) NORETURN;
+    void     panic(const prog_char_t *errormsg, ...) NORETURN;
     void     reboot(bool hold_in_bootloader);
 
 };

libraries/AP_HAL_FLYMAPLE/Scheduler.cpp

@@ -228,7 +228,7 @@ void FLYMAPLEScheduler::system_initialized()
     _initialized = true;
 }
 
-void FLYMAPLEScheduler::panic(const prog_char_t *errormsg) {
+void FLYMAPLEScheduler::panic(const prog_char_t *errormsg, ...) {
     /* Suspend timer processes. We still want the timer event to go off
      * to run the _failsafe code, however. */
     // REVISIT: not tested on FLYMAPLE

libraries/AP_HAL_FLYMAPLE/Scheduler.h

@@ -53,7 +53,7 @@ public:
     bool     system_initializing();
     void     system_initialized();
 
-    void     panic(const prog_char_t *errormsg) NORETURN;
+    void     panic(const prog_char_t *errormsg, ...) NORETURN;
     void     reboot(bool hold_in_bootloader);
 
 private:

libraries/AP_HAL_Linux/Scheduler.cpp

@@ -407,7 +407,7 @@ void *Scheduler::_io_thread(void* arg)
     return NULL;
 }
 
-void Scheduler::panic(const prog_char_t *errormsg)
+void Scheduler::panic(const prog_char_t *errormsg, ...)
 {
     write(1, errormsg, strlen(errormsg));
     write(1, "\n", 1);

libraries/AP_HAL_Linux/Scheduler.h

@@ -43,7 +43,7 @@ public:
     bool     system_initializing();
     void     system_initialized();
 
-    void     panic(const prog_char_t *errormsg) NORETURN;
+    void     panic(const prog_char_t *errormsg, ...) NORETURN;
     void     reboot(bool hold_in_bootloader);
 
     void     stop_clock(uint64_t time_usec);

libraries/AP_HAL_PX4/Scheduler.cpp

@@ -374,7 +374,7 @@ void *PX4Scheduler::_storage_thread(void)
     return NULL;
 }
 
-void PX4Scheduler::panic(const prog_char_t *errormsg) 
+void PX4Scheduler::panic(const prog_char_t *errormsg, ...)
 {
     write(1, errormsg, strlen(errormsg));
     write(1, "\n", 1);

libraries/AP_HAL_PX4/Scheduler.h

@@ -60,7 +60,7 @@ public:
     void     suspend_timer_procs();
     void     resume_timer_procs();
     void     reboot(bool hold_in_bootloader);
-    void     panic(const prog_char_t *errormsg) NORETURN;
+    void     panic(const prog_char_t *errormsg, ...) NORETURN;
 
     bool     in_timerprocess();
     bool     system_initializing();

libraries/AP_HAL_SITL/Scheduler.cpp

@@ -259,7 +259,7 @@ void SITLScheduler::_run_io_procs(bool called_from_isr)
     _in_io_proc = false;
 }
 
-void SITLScheduler::panic(const prog_char_t *errormsg) {
+void SITLScheduler::panic(const prog_char_t *errormsg, ...) {
     hal.console->println_P(errormsg);
     for(;;);
 }

libraries/AP_HAL_SITL/Scheduler.h

@@ -41,7 +41,7 @@ public:
     void     system_initialized();
 
     void     reboot(bool hold_in_bootloader);
-    void     panic(const prog_char_t *errormsg) NORETURN;
+    void     panic(const prog_char_t *errormsg, ...) NORETURN;
 
     bool     interrupts_are_blocked(void) {
         return _nested_atomic_ctr != 0;

libraries/AP_HAL_VRBRAIN/Scheduler.cpp

@@ -325,7 +325,7 @@ void *VRBRAINScheduler::_io_thread(void)
     return NULL;
 }
 
-void VRBRAINScheduler::panic(const prog_char_t *errormsg)
+void VRBRAINScheduler::panic(const prog_char_t *errormsg, ...)
 {
     write(1, errormsg, strlen(errormsg));
     write(1, "\n", 1);

libraries/AP_HAL_VRBRAIN/Scheduler.h

@@ -39,7 +39,7 @@ public:
     void     suspend_timer_procs();
     void     resume_timer_procs();
     void     reboot(bool hold_in_bootloader);
-    void     panic(const prog_char_t *errormsg) NORETURN;
+    void     panic(const prog_char_t *errormsg, ...) NORETURN;
 
     bool     in_timerprocess();
     bool     system_initializing();