px4-firmware/platforms/common/px4_log.cpp

289 lines
8.4 KiB
C++

/****************************************************************************
*
* 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
* 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.
*
****************************************************************************/
#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>
#include <px4_platform_common/log_history.h>
#if defined(__PX4_POSIX)
#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>
#if defined(BOARD_ENABLE_LOG_HISTORY)
static LogHistory g_log_history;
#endif
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" };
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)
{
// 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);
}
__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
#if defined(__PX4_POSIX)
bool isatty_ = false;
out = get_stdout(&isatty_);
#if defined(PX4_LOG_COLORIZED_OUTPUT)
use_color = isatty_;
#endif // PX4_LOG_COLORIZED_OUTPUT
#endif // PX4_POSIX
if (level >= _PX4_LOG_LEVEL_INFO) {
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
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);
pos += vsnprintf(buf + pos, math::max(max_length - pos, (ssize_t)0), fmt, argptr);
va_end(argptr);
#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) - (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(BOARD_ENABLE_LOG_HISTORY)
#if defined(PX4_LOG_COLORIZED_OUTPUT)
// No color formatting for log history
if (use_color) {
pos = snprintf(buf, max_length, __px4__log_level_fmt, __px4_log_level_str[level]);
pos += snprintf(buf + pos, math::max(max_length - pos, (ssize_t)0), __px4__log_modulename_pfmt, module_name);
va_start(argptr, fmt);
pos += vsnprintf(buf + pos, math::max(max_length - pos, (ssize_t)0), fmt, argptr);
va_end(argptr);
pos += sprintf(buf + math::min(pos, max_length - (ssize_t)1), "\n");
buf[max_length] = 0; // ensure NULL termination
}
#endif
g_log_history.write(buf);
#endif // BOARD_ENABLE_LOG_HISTORY
#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
log_message_s log_message;
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];
ssize_t pos = snprintf((char *)log_message.text, max_length, __px4__log_modulename_pfmt, module_name);
va_list argptr;
va_start(argptr, fmt);
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 - 1] = 0; //ensure 0-termination
log_message.timestamp = hrt_absolute_time();
orb_publish(ORB_ID(log_message), orb_log_message_pub, &log_message);
}
}
__EXPORT void px4_log_raw(int level, const char *fmt, ...)
{
FILE *out = stdout;
#ifdef __PX4_POSIX
bool use_color = true;
out = get_stdout(&use_color);
#endif
if (level >= _PX4_LOG_LEVEL_INFO) {
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);
pos += vsnprintf(buf + pos, math::max(max_length - pos, (ssize_t)0), fmt, argptr);
va_end(argptr);
#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);
#if defined(BOARD_ENABLE_LOG_HISTORY)
#if defined(PX4_LOG_COLORIZED_OUTPUT)
// No color formatting for log history
if (use_color) {
va_start(argptr, fmt);
pos = vsnprintf(buf, max_length, fmt, argptr);
va_end(argptr);
if (pos > max_length) {
// preserve newline if necessary
if (fmt[strlen(fmt) - 1] == '\n') {
buf[max_length - 1] = '\n';
}
}
buf[max_length] = 0; // ensure NULL termination
}
#endif
g_log_history.write(buf);
#endif // BOARD_ENABLE_LOG_HISTORY
}
}
__EXPORT void px4_log_history(FILE *out)
{
#if defined(BOARD_ENABLE_LOG_HISTORY)
g_log_history.print(out);
#endif // BOARD_ENABLE_LOG_HISTORY
}