forked from Archive/PX4-Autopilot
84 lines
3.0 KiB
C
84 lines
3.0 KiB
C
/****************************************************************************
|
|
*
|
|
* Copyright (C) 2008-2012 PX4 Development Team. All rights reserved.
|
|
* Author: @author Lorenz Meier <lm@inf.ethz.ch>
|
|
*
|
|
* 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.
|
|
*/
|
|
|
|
#ifndef MAVLINK_LOG
|
|
#define MAVLINK_LOG
|
|
|
|
/*
|
|
* IOCTL interface for sending log messages.
|
|
*/
|
|
#include <sys/ioctl.h>
|
|
|
|
/*
|
|
* The mavlink log device node; must be opened before messages
|
|
* can be logged.
|
|
*/
|
|
#define MAVLINK_LOG_DEVICE "/dev/mavlink"
|
|
|
|
#define MAVLINK_IOC_SEND_TEXT_INFO _IOC(0x1100, 1)
|
|
#define MAVLINK_IOC_SEND_TEXT_CRITICAL _IOC(0x1100, 2)
|
|
#define MAVLINK_IOC_SEND_TEXT_EMERGENCY _IOC(0x1100, 3)
|
|
|
|
/**
|
|
* Send a mavlink emergency message.
|
|
*
|
|
* @param _fd A file descriptor returned from open(MAVLINK_LOG_DEVICE, 0);
|
|
* @param _text The text to log;
|
|
*/
|
|
#define mavlink_log_emergency(_fd, _text) ioctl(_fd, MAVLINK_IOC_SEND_TEXT_EMERGENCY, (unsigned long)_text);
|
|
|
|
/**
|
|
* Send a mavlink critical message.
|
|
*
|
|
* @param _fd A file descriptor returned from open(MAVLINK_LOG_DEVICE, 0);
|
|
* @param _text The text to log;
|
|
*/
|
|
#define mavlink_log_critical(_fd, _text) ioctl(_fd, MAVLINK_IOC_SEND_TEXT_CRITICAL, (unsigned long)_text);
|
|
|
|
/**
|
|
* Send a mavlink info message.
|
|
*
|
|
* @param _fd A file descriptor returned from open(MAVLINK_LOG_DEVICE, 0);
|
|
* @param _text The text to log;
|
|
*/
|
|
#define mavlink_log_info(_fd, _text) ioctl(_fd, MAVLINK_IOC_SEND_TEXT_INFO, (unsigned long)_text);
|
|
|
|
#endif
|
|
|