forked from Archive/PX4-Autopilot
289 lines
8.4 KiB
C++
289 lines
8.4 KiB
C++
/****************************************************************************
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*
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* Copyright (C) 2017-2018 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#include <assert.h>
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#include <stdio.h>
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#include <stdlib.h>
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#include <string.h>
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#ifndef MODULE_NAME
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#define MODULE_NAME "log"
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#endif
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#include <px4_platform_common/log.h>
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#include <px4_platform_common/log_history.h>
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#if defined(__PX4_POSIX)
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#include <px4_daemon/server_io.h>
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#endif
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#include <lib/mathlib/mathlib.h>
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#include <uORB/uORB.h>
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#include <uORB/topics/log_message.h>
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#include <drivers/drv_hrt.h>
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#if defined(BOARD_ENABLE_LOG_HISTORY)
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static LogHistory g_log_history;
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#endif
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static orb_advert_t orb_log_message_pub = nullptr;
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__EXPORT const char *__px4_log_level_str[_PX4_LOG_LEVEL_PANIC + 1] = { "DEBUG", "INFO", "WARN", "ERROR", "PANIC" };
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static constexpr const char *__px4_log_level_color[_PX4_LOG_LEVEL_PANIC + 1] {
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PX4_ANSI_COLOR_GREEN, // DEBUG
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PX4_ANSI_COLOR_RESET, // INFO
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PX4_ANSI_COLOR_YELLOW, // WARN
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PX4_ANSI_COLOR_RED, // ERROR
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PX4_ANSI_COLOR_RED // PANIC
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};
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void px4_log_initialize(void)
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{
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// we need to advertise with a valid message
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log_message_s log_message{};
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log_message.severity = 6; // info
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strcpy((char *)log_message.text, "initialized uORB logging");
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log_message.timestamp = hrt_absolute_time();
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orb_log_message_pub = orb_advertise_queue(ORB_ID(log_message), &log_message, log_message_s::ORB_QUEUE_LENGTH);
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}
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__EXPORT void px4_log_modulename(int level, const char *module_name, const char *fmt, ...)
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{
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static constexpr ssize_t max_length = sizeof(log_message_s::text);
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FILE *out = stdout;
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#if defined(PX4_LOG_COLORIZED_OUTPUT)
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bool use_color = true;
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#endif // PX4_LOG_COLORIZED_OUTPUT
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#if defined(__PX4_POSIX)
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bool isatty_ = false;
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out = get_stdout(&isatty_);
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#if defined(PX4_LOG_COLORIZED_OUTPUT)
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use_color = isatty_;
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#endif // PX4_LOG_COLORIZED_OUTPUT
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#endif // PX4_POSIX
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if (level >= _PX4_LOG_LEVEL_INFO) {
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char buf[max_length + 1]; // same length as log_message_s::text, but add newline
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ssize_t pos = 0;
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#if defined(PX4_LOG_COLORIZED_OUTPUT)
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if (use_color) {
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pos += sprintf(buf + pos, "%s", __px4_log_level_color[level]);
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}
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#endif // PX4_LOG_COLORIZED_OUTPUT
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pos += snprintf(buf + pos, math::max(max_length - pos, (ssize_t)0), __px4__log_level_fmt, __px4_log_level_str[level]);
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#if defined(PX4_LOG_COLORIZED_OUTPUT)
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if (use_color) {
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pos += snprintf(buf + pos, math::max(max_length - pos, (ssize_t)0), PX4_ANSI_COLOR_GRAY);
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}
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#endif // PX4_LOG_COLORIZED_OUTPUT
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pos += snprintf(buf + pos, math::max(max_length - pos, (ssize_t)0), __px4__log_modulename_pfmt, module_name);
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#if defined(PX4_LOG_COLORIZED_OUTPUT)
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if (use_color) {
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pos += snprintf(buf + pos, math::max(max_length - pos, (ssize_t)0), "%s", __px4_log_level_color[level]);
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}
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#endif // PX4_LOG_COLORIZED_OUTPUT
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va_list argptr;
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va_start(argptr, fmt);
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pos += vsnprintf(buf + pos, math::max(max_length - pos, (ssize_t)0), fmt, argptr);
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va_end(argptr);
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#if defined(PX4_LOG_COLORIZED_OUTPUT)
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if (use_color) {
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// alway reset color
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const ssize_t sz = math::min(pos, max_length - (ssize_t)strlen(PX4_ANSI_COLOR_RESET) - (ssize_t)1);
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pos += sprintf(buf + sz, "%s\n", PX4_ANSI_COLOR_RESET);
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} else
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#endif // PX4_LOG_COLORIZED_OUTPUT
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{
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pos += sprintf(buf + math::min(pos, max_length - (ssize_t)1), "\n");
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}
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// ensure NULL termination (buffer is max_length + 1)
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buf[max_length] = 0;
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fputs(buf, out);
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#if defined(BOARD_ENABLE_LOG_HISTORY)
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#if defined(PX4_LOG_COLORIZED_OUTPUT)
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// No color formatting for log history
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if (use_color) {
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pos = snprintf(buf, max_length, __px4__log_level_fmt, __px4_log_level_str[level]);
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pos += snprintf(buf + pos, math::max(max_length - pos, (ssize_t)0), __px4__log_modulename_pfmt, module_name);
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va_start(argptr, fmt);
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pos += vsnprintf(buf + pos, math::max(max_length - pos, (ssize_t)0), fmt, argptr);
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va_end(argptr);
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pos += sprintf(buf + math::min(pos, max_length - (ssize_t)1), "\n");
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buf[max_length] = 0; // ensure NULL termination
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}
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#endif
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g_log_history.write(buf);
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#endif // BOARD_ENABLE_LOG_HISTORY
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#if defined(CONFIG_ARCH_BOARD_PX4_SITL)
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// Without flushing it's tricky to see stdout output when PX4 is started by
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// a script like for the MAVSDK tests.
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fflush(out);
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#endif // CONFIG_ARCH_BOARD_PX4_SITL
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}
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/* publish an orb log message */
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if (level >= _PX4_LOG_LEVEL_INFO && orb_log_message_pub) { //publish all messages
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log_message_s log_message;
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const uint8_t log_level_table[] = {
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7, /* _PX4_LOG_LEVEL_DEBUG */
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6, /* _PX4_LOG_LEVEL_INFO */
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4, /* _PX4_LOG_LEVEL_WARN */
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3, /* _PX4_LOG_LEVEL_ERROR */
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0 /* _PX4_LOG_LEVEL_PANIC */
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};
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log_message.severity = log_level_table[level];
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ssize_t pos = snprintf((char *)log_message.text, max_length, __px4__log_modulename_pfmt, module_name);
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va_list argptr;
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va_start(argptr, fmt);
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pos += vsnprintf((char *)log_message.text + pos, math::max(max_length - pos, (ssize_t)0), fmt, argptr);
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va_end(argptr);
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log_message.text[max_length - 1] = 0; //ensure 0-termination
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log_message.timestamp = hrt_absolute_time();
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orb_publish(ORB_ID(log_message), orb_log_message_pub, &log_message);
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}
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}
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__EXPORT void px4_log_raw(int level, const char *fmt, ...)
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{
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FILE *out = stdout;
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#ifdef __PX4_POSIX
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bool use_color = true;
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out = get_stdout(&use_color);
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#endif
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if (level >= _PX4_LOG_LEVEL_INFO) {
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static constexpr ssize_t max_length = sizeof(log_message_s::text);
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char buf[max_length + 1]; // same length as log_message_s::text, but add newline
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ssize_t pos = 0;
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#if defined(PX4_LOG_COLORIZED_OUTPUT)
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if (use_color) {
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pos += sprintf(buf + pos, "%s", __px4_log_level_color[level]);
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}
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#endif // PX4_LOG_COLORIZED_OUTPUT
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va_list argptr;
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va_start(argptr, fmt);
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pos += vsnprintf(buf + pos, math::max(max_length - pos, (ssize_t)0), fmt, argptr);
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va_end(argptr);
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#if defined(PX4_LOG_COLORIZED_OUTPUT)
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if (use_color) {
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// alway reset color
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const ssize_t sz = math::min(pos, max_length - (ssize_t)strlen(PX4_ANSI_COLOR_RESET));
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pos += sprintf(buf + sz, "%s", PX4_ANSI_COLOR_RESET);
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}
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#endif // PX4_LOG_COLORIZED_OUTPUT
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if (pos > max_length) {
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// preserve newline if necessary
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if (fmt[strlen(fmt) - 1] == '\n') {
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buf[max_length - 1] = '\n';
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}
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}
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// ensure NULL termination (buffer is max_length + 1)
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buf[max_length] = 0;
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fputs(buf, out);
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#if defined(BOARD_ENABLE_LOG_HISTORY)
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#if defined(PX4_LOG_COLORIZED_OUTPUT)
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// No color formatting for log history
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if (use_color) {
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va_start(argptr, fmt);
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pos = vsnprintf(buf, max_length, fmt, argptr);
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va_end(argptr);
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if (pos > max_length) {
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// preserve newline if necessary
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if (fmt[strlen(fmt) - 1] == '\n') {
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buf[max_length - 1] = '\n';
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}
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}
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buf[max_length] = 0; // ensure NULL termination
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}
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#endif
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g_log_history.write(buf);
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#endif // BOARD_ENABLE_LOG_HISTORY
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}
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}
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__EXPORT void px4_log_history(FILE *out)
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{
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#if defined(BOARD_ENABLE_LOG_HISTORY)
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g_log_history.print(out);
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#endif // BOARD_ENABLE_LOG_HISTORY
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}
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