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platforms: px4 log build string then print (fputs)

This commit is contained in:
Daniel Agar 2021-01-08 17:28:08 -05:00 committed by Lorenz Meier
parent 0c58d12216
commit 9e112dd48b
5 changed files with 139 additions and 69 deletions
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10
.vscode/cmake-variants.yaml vendored
View File

@ -6,6 +6,16 @@ CONFIG:
buildType: RelWithDebInfo
settings:
CONFIG: px4_sitl_default
px4_sitl_asan:
short: px4_sitl (AddressSanitizer)
buildType: AddressSanitizer
settings:
CONFIG: px4_sitl_default
px4_sitl_ubsan:
short: px4_sitl (UndefinedBehaviorSanitizer)
buildType: UndefinedBehaviorSanitizer
settings:
CONFIG: px4_sitl_default
px4_sitl_replay:
short: px4_sitl_replay
buildType: RelWithDebInfo

12
ROMFS/px4fmu_common/init.d-posix/rcS
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@ -46,10 +46,10 @@ else
# shellcheck disable=SC2012
REQUESTED_AUTOSTART=$(ls "$SCRIPT_DIR/airframes" | sed -n 's/^\([0-9][0-9]*\)_'${PX4_SIM_MODEL}'$/\1/p')
if [ -z "$REQUESTED_AUTOSTART" ]; then
echo "Error: Unknown model $PX4_SIM_MODEL (not found by name on $SCRIPT_DIR/airframes)"
echo "ERROR [init] Unknown model $PX4_SIM_MODEL (not found by name on $SCRIPT_DIR/airframes)"
exit 1
else
echo "Info: found model autostart file as SYS_AUTOSTART=$REQUESTED_AUTOSTART"
echo "INFO [init] found model autostart file as SYS_AUTOSTART=$REQUESTED_AUTOSTART"
fi
fi
@ -63,12 +63,12 @@ if [ -f $PARAM_FILE ]
then
if param load
then
echo "[param] Loaded: $PARAM_FILE"
echo "INFO [init] Loaded: $PARAM_FILE"
else
echo "[param] FAILED loading $PARAM_FILE"
echo "ERROR [init] FAILED loading $PARAM_FILE"
fi
else
echo "[param] parameter file not found, creating $PARAM_FILE"
echo "INFO [init] parameter file not found, creating $PARAM_FILE"
fi
# exit early when the minimal shell is requested
@ -192,7 +192,7 @@ do
esac
done
if [ ! -e "$autostart_file" ]; then
echo "Error: no autostart file found ($autostart_file)"
echo "ERROR [init] no autostart file found ($autostart_file)"
exit 1
fi

10
platforms/common/include/px4_platform_common/log.h
View File

@ -127,7 +127,6 @@ __END_DECLS
__BEGIN_DECLS
__EXPORT extern const char *__px4_log_level_str[_PX4_LOG_LEVEL_PANIC + 1];
__EXPORT extern const char *__px4_log_level_color[_PX4_LOG_LEVEL_PANIC + 1];
__EXPORT void px4_log_modulename(int level, const char *moduleName, const char *fmt, ...)
__attribute__((format(printf, 3, 4)));
__EXPORT void px4_log_raw(int level, const char *fmt, ...)
@ -168,15 +167,6 @@ __END_DECLS
#define __px4__log_file_and_line_arg , __FILE__, __LINE__
#define __px4__log_end_fmt "\n"
#define PX4_ANSI_COLOR_RED "\x1b[31m"
#define PX4_ANSI_COLOR_GREEN "\x1b[32m"
#define PX4_ANSI_COLOR_YELLOW "\x1b[33m"
#define PX4_ANSI_COLOR_BLUE "\x1b[34m"
#define PX4_ANSI_COLOR_MAGENTA "\x1b[35m"
#define PX4_ANSI_COLOR_CYAN "\x1b[36m"
#define PX4_ANSI_COLOR_GRAY "\x1B[37m"
#define PX4_ANSI_COLOR_RESET "\x1b[0m"
#ifdef __PX4_POSIX
#define PX4_LOG_COLORIZED_OUTPUT //if defined and output is a tty, colorize the output according to the log level
#endif /* __PX4_POSIX */

172
platforms/common/px4_log.cpp
View File

@ -45,6 +45,7 @@
#include <px4_daemon/server_io.h>
#endif
#include <lib/mathlib/mathlib.h>
#include <uORB/uORB.h>
#include <uORB/topics/log_message.h>
#include <drivers/drv_hrt.h>
@ -52,68 +53,119 @@
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 };
#define PX4_ANSI_COLOR_RED "\x1b[31m"
#define PX4_ANSI_COLOR_GREEN "\x1b[32m"
#define PX4_ANSI_COLOR_YELLOW "\x1b[33m"
#define PX4_ANSI_COLOR_BLUE "\x1b[34m"
#define PX4_ANSI_COLOR_MAGENTA "\x1b[35m"
#define PX4_ANSI_COLOR_CYAN "\x1b[36m"
#define PX4_ANSI_COLOR_GRAY "\x1B[37m"
#define PX4_ANSI_COLOR_RESET "\x1b[0m"
static constexpr const char *__px4_log_level_color[_PX4_LOG_LEVEL_PANIC + 1] {
PX4_ANSI_COLOR_GREEN, // DEBUG
PX4_ANSI_COLOR_RESET, // INFO
PX4_ANSI_COLOR_YELLOW, // WARN
PX4_ANSI_COLOR_RED, // ERROR
PX4_ANSI_COLOR_RED // PANIC
};
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();
// we need to advertise with a valid message
log_message_s log_message{};
log_message.severity = 6; // info
strcpy((char *)log_message.text, "initialized uORB logging");
log_message.timestamp = hrt_absolute_time();
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, ...)
__EXPORT void px4_log_modulename(int level, const char *module_name, const char *fmt, ...)
{
static constexpr ssize_t max_length = sizeof(log_message_s::text);
FILE *out = stdout;
#if defined(PX4_LOG_COLORIZED_OUTPUT)
bool use_color = true;
#endif // PX4_LOG_COLORIZED_OUTPUT
#ifdef __PX4_POSIX
out = get_stdout(&use_color);
#endif
#if defined(__PX4_POSIX)
bool isatty_ = false;
out = get_stdout(&isatty_);
#ifndef PX4_LOG_COLORIZED_OUTPUT
use_color = false;
#endif
#if defined(PX4_LOG_COLORIZED_OUTPUT)
use_color = isatty_;
#endif // PX4_LOG_COLORIZED_OUTPUT
#endif // PX4_POSIX
if (level >= _PX4_LOG_LEVEL_INFO) {
if (use_color) { fputs(__px4_log_level_color[level], out); }
char buf[max_length + 1]; // same length as log_message_s::text, but add newline
ssize_t pos = 0;
fprintf(out, __px4__log_level_fmt __px4__log_level_arg(level));
#if defined(PX4_LOG_COLORIZED_OUTPUT)
if (use_color) { fputs(PX4_ANSI_COLOR_GRAY, out); }
if (use_color) {
pos += sprintf(buf + pos, "%s", __px4_log_level_color[level]);
}
fprintf(out, __px4__log_modulename_pfmt, moduleName);
#endif // PX4_LOG_COLORIZED_OUTPUT
if (use_color) { fputs(__px4_log_level_color[level], out); }
pos += snprintf(buf + pos, math::max(max_length - pos, (ssize_t)0), __px4__log_level_fmt, __px4_log_level_str[level]);
#if defined(PX4_LOG_COLORIZED_OUTPUT)
if (use_color) {
pos += snprintf(buf + pos, math::max(max_length - pos, (ssize_t)0), PX4_ANSI_COLOR_GRAY);
}
#endif // PX4_LOG_COLORIZED_OUTPUT
pos += snprintf(buf + pos, math::max(max_length - pos, (ssize_t)0), __px4__log_modulename_pfmt, module_name);
#if defined(PX4_LOG_COLORIZED_OUTPUT)
if (use_color) {
pos += snprintf(buf + pos, math::max(max_length - pos, (ssize_t)0), "%s", __px4_log_level_color[level]);
}
#endif // PX4_LOG_COLORIZED_OUTPUT
va_list argptr;
va_start(argptr, fmt);
vfprintf(out, fmt, argptr);
pos += vsnprintf(buf + pos, math::max(max_length - pos, (ssize_t)0), fmt, argptr);
va_end(argptr);
if (use_color) { fputs(PX4_ANSI_COLOR_RESET, out); }
#if defined(PX4_LOG_COLORIZED_OUTPUT)
fputc('\n', out);
if (use_color) {
// alway reset color
const ssize_t sz = math::min(pos, max_length - (ssize_t)strlen(PX4_ANSI_COLOR_RESET) - (ssize_t)1);
pos += sprintf(buf + sz, "%s\n", PX4_ANSI_COLOR_RESET);
} else
#endif // PX4_LOG_COLORIZED_OUTPUT
{
pos += sprintf(buf + math::min(pos, max_length - (ssize_t)1), "\n");
}
// ensure NULL termination (buffer is max_length + 1)
buf[max_length] = 0;
fputs(buf, out);
#if defined(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 // CONFIG_ARCH_BOARD_PX4_SITL
}
/* 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();
log_message_s log_message;
const uint8_t log_level_table[] = {
7, /* _PX4_LOG_LEVEL_DEBUG */
@ -124,47 +176,65 @@ __EXPORT void px4_log_modulename(int level, const char *moduleName, const char *
};
log_message.severity = log_level_table[level];
unsigned pos = 0;
ssize_t pos = snprintf((char *)log_message.text, max_length, __px4__log_modulename_pfmt, module_name);
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);
pos += vsnprintf((char *)log_message.text + pos, math::max(max_length - pos, (ssize_t)0), fmt, argptr);
va_end(argptr);
log_message.text[max_length_pub - 1] = 0; //ensure 0-termination
log_message.text[max_length - 1] = 0; //ensure 0-termination
log_message.timestamp = hrt_absolute_time();
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
bool use_color = true;
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); }
static constexpr ssize_t max_length = sizeof(log_message_s::text);
char buf[max_length + 1]; // same length as log_message_s::text, but add newline
ssize_t pos = 0;
#if defined(PX4_LOG_COLORIZED_OUTPUT)
if (use_color) {
pos += sprintf(buf + pos, "%s", __px4_log_level_color[level]);
}
#endif // PX4_LOG_COLORIZED_OUTPUT
va_list argptr;
va_start(argptr, fmt);
vfprintf(out, fmt, argptr);
pos += vsnprintf(buf + pos, math::max(max_length - pos, (ssize_t)0), fmt, argptr);
va_end(argptr);
if (use_color) { fputs(PX4_ANSI_COLOR_RESET, out); }
#if defined(PX4_LOG_COLORIZED_OUTPUT)
if (use_color) {
// alway reset color
const ssize_t sz = math::min(pos, max_length - (ssize_t)strlen(PX4_ANSI_COLOR_RESET));
pos += sprintf(buf + sz, "%s", PX4_ANSI_COLOR_RESET);
}
#endif // PX4_LOG_COLORIZED_OUTPUT
if (pos > max_length) {
// preserve newline if necessary
if (fmt[strlen(fmt) - 1] == '\n') {
buf[max_length - 1] = '\n';
}
}
// ensure NULL termination (buffer is max_length + 1)
buf[max_length] = 0;
fputs(buf, out);
}
}

2
platforms/posix/src/px4/common/main.cpp
View File

@ -371,7 +371,7 @@ int create_symlinks_if_needed(std::string &data_path)
}
PX4_INFO("Creating symlink %s -> %s", src_path.c_str(), dest_path.c_str());
PX4_INFO_RAW("Creating symlink %s -> %s\n", src_path.c_str(), dest_path.c_str());
// create sym-link
int ret = symlink(src_path.c_str(), dest_path.c_str());