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MAVLink: Use modern PX4 output format to enable system logging for errors.

This commit is contained in:
Lorenz Meier 2017-07-29 10:41:19 +02:00
parent 09f1373a08
commit 68d70cc8c0
1 changed files with 22 additions and 22 deletions
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44
src/modules/mavlink/mavlink_main.cpp
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@ -319,7 +319,7 @@ Mavlink::Mavlink() :
#endif
default:
warnx("instance ID is out of range");
PX4_WARN("instance ID is out of range");
px4_task_exit(1);
break;
}
@ -443,7 +443,7 @@ Mavlink::destroy_all_instances()
unsigned iterations = 0;
warnx("waiting for instances to stop");
PX4_INFO("waiting for instances to stop");
while (next_inst != nullptr) {
inst_to_del = next_inst;
@ -474,7 +474,7 @@ Mavlink::destroy_all_instances()
}
printf("\n");
warnx("all instances stopped");
PX4_INFO("all instances stopped");
return OK;
}
@ -785,7 +785,7 @@ int Mavlink::mavlink_open_uart(int baud, const char *uart_name)
/* Initialize the uart config */
if ((termios_state = tcgetattr(_uart_fd, &uart_config)) < 0) {
warnx("ERR GET CONF %s: %d\n", uart_name, termios_state);
PX4_ERR("ERR GET CONF %s: %d\n", uart_name, termios_state);
::close(_uart_fd);
return -1;
}
@ -798,7 +798,7 @@ int Mavlink::mavlink_open_uart(int baud, const char *uart_name)
/* Set baud rate */
if (cfsetispeed(&uart_config, speed) < 0 || cfsetospeed(&uart_config, speed) < 0) {
warnx("ERR SET BAUD %s: %d\n", uart_name, termios_state);
PX4_ERR("ERR SET BAUD %s: %d\n", uart_name, termios_state);
::close(_uart_fd);
return -1;
}
@ -1765,7 +1765,7 @@ Mavlink::task_main(int argc, char *argv[])
_baudrate = strtoul(myoptarg, nullptr, 10);
if (_baudrate < 9600 || _baudrate > 3000000) {
warnx("invalid baud rate '%s'", myoptarg);
PX4_ERR("invalid baud rate '%s'", myoptarg);
err_flag = true;
}
@ -1775,7 +1775,7 @@ Mavlink::task_main(int argc, char *argv[])
_datarate = strtoul(myoptarg, nullptr, 10);
if (_datarate < 10 || _datarate > MAX_DATA_RATE) {
warnx("invalid data rate '%s'", myoptarg);
PX4_ERR("invalid data rate '%s'", myoptarg);
err_flag = true;
}
@ -1796,7 +1796,7 @@ Mavlink::task_main(int argc, char *argv[])
set_protocol(UDP);
} else {
warnx("invalid data udp_port '%s'", myoptarg);
PX4_ERR("invalid data udp_port '%s'", myoptarg);
err_flag = true;
}
@ -1810,7 +1810,7 @@ Mavlink::task_main(int argc, char *argv[])
set_protocol(UDP);
} else {
warnx("invalid remote udp_port '%s'", myoptarg);
PX4_ERR("invalid remote udp_port '%s'", myoptarg);
err_flag = true;
}
@ -1823,7 +1823,7 @@ Mavlink::task_main(int argc, char *argv[])
_src_addr_initialized = true;
} else {
warnx("invalid partner ip '%s'", myoptarg);
PX4_ERR("invalid partner ip '%s'", myoptarg);
err_flag = true;
}
@ -1833,7 +1833,7 @@ Mavlink::task_main(int argc, char *argv[])
case 'u':
case 'o':
case 't':
warnx("UDP options not supported on this platform");
PX4_ERR("UDP options not supported on this platform");
err_flag = true;
break;
#endif
@ -1907,7 +1907,7 @@ Mavlink::task_main(int argc, char *argv[])
if (get_protocol() == SERIAL) {
if (Mavlink::instance_exists(_device_name, this)) {
warnx("%s already running", _device_name);
PX4_ERR("%s already running", _device_name);
return PX4_ERROR;
}
@ -1921,7 +1921,7 @@ Mavlink::task_main(int argc, char *argv[])
_uart_fd = mavlink_open_uart(_baudrate, _device_name);
if (_uart_fd < 0 && _mode != MAVLINK_MODE_CONFIG) {
warn("could not open %s", _device_name);
PX4_ERR("could not open %s", _device_name);
return PX4_ERROR;
} else if (_uart_fd < 0 && _mode == MAVLINK_MODE_CONFIG) {
@ -1931,7 +1931,7 @@ Mavlink::task_main(int argc, char *argv[])
} else if (get_protocol() == UDP) {
if (Mavlink::get_instance_for_network_port(_network_port) != nullptr) {
warnx("port %d already occupied", _network_port);
PX4_ERR("port %d already occupied", _network_port);
return PX4_ERROR;
}
@ -1949,7 +1949,7 @@ Mavlink::task_main(int argc, char *argv[])
* marker ring buffer approach.
*/
if (OK != message_buffer_init(2 * sizeof(mavlink_message_t) + 1)) {
warnx("msg buf:");
PX4_ERR("msg buf alloc fail");
return 1;
}
@ -2387,7 +2387,7 @@ Mavlink::task_main(int argc, char *argv[])
_mavlink_ulog = nullptr;
}
warnx("exiting channel %i", (int)_channel);
PX4_INFO("exiting channel %i", (int)_channel);
return OK;
}
@ -2454,7 +2454,7 @@ int Mavlink::start_helper(int argc, char *argv[])
/* out of memory */
res = -ENOMEM;
warnx("OUT OF MEM");
PX4_ERR("OUT OF MEM");
} else {
/* this will actually only return once MAVLink exits */
@ -2477,8 +2477,8 @@ Mavlink::start(int argc, char *argv[])
int ic = Mavlink::instance_count();
if (ic == Mavlink::MAVLINK_MAX_INSTANCES) {
warnx("Maximum MAVLink instance count of %d reached.",
(int)Mavlink::MAVLINK_MAX_INSTANCES);
PX4_ERR("Maximum MAVLink instance count of %d reached.",
(int)Mavlink::MAVLINK_MAX_INSTANCES);
return 1;
}
@ -2669,7 +2669,7 @@ Mavlink::stream_command(int argc, char *argv[])
inst = get_instance_for_network_port(network_port);
} else if (provided_device && provided_network_port) {
warnx("please provide either a device name or a network port");
PX4_WARN("please provide either a device name or a network port");
return 1;
}
@ -2681,10 +2681,10 @@ Mavlink::stream_command(int argc, char *argv[])
// If the link is not running we should complain, but not fall over
// because this is so easy to get wrong and not fatal. Warning is sufficient.
if (provided_device) {
warnx("mavlink for device %s is not running", device_name);
PX4_WARN("mavlink for device %s is not running", device_name);
} else {
warnx("mavlink for network on port %hu is not running", network_port);
PX4_WARN("mavlink for network on port %hu is not running", network_port);
}
return 1;