mavlink_log.h

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/**
 * @file mavlink_log.h
 * MAVLink text logging.
 *
 * @author Lorenz Meier <lorenz@px4.io>
 * @author Julian Oes <julian@oes.ch>
 */

#pragma once

#include <px4_log.h>
#include <uORB/uORB.h>

/**
 * The maximum string length supported.
 */
#define MAVLINK_LOG_MAXLEN          50

#ifdef __cplusplus
extern "C" {
#endif
__EXPORT void mavlink_vasprintf(int severity, orb_advert_t *mavlink_log_pub, const char *fmt, ...);
#ifdef __cplusplus
}
#endif

#define _MSG_PRIO_DEBUG     7
#define _MSG_PRIO_INFO      6
#define _MSG_PRIO_NOTICE    5
#define _MSG_PRIO_WARNING   4
#define _MSG_PRIO_ERROR     3
#define _MSG_PRIO_CRITICAL  2
#define _MSG_PRIO_ALERT     1
#define _MSG_PRIO_EMERGENCY 0

/*
 * The va_args implementation here is not beautiful, but obviously we run into the same issues
 * the GCC devs saw, and are using their solution:
 *
 * http://gcc.gnu.org/onlinedocs/cpp/Variadic-Macros.html
 */

/**
 * Send a mavlink info message (not printed to console).
 *
 * @param _pub      Pointer to the uORB advert;
 * @param _text     The text to log;
 */
#define mavlink_log_info(_pub, _text, ...)  mavlink_vasprintf(_MSG_PRIO_INFO, _pub, _text, ##__VA_ARGS__);

/**
 * Send a mavlink warning message and print to console.
 *
 * @param _pub      Pointer to the uORB advert;
 * @param _text     The text to log;
 */
#define mavlink_log_warning(_pub, _text, ...) \
    do { \
        mavlink_vasprintf(_MSG_PRIO_WARNING, _pub, _text, ##__VA_ARGS__); \
        PX4_WARN(_text, ##__VA_ARGS__); \
    } while(0);

/**
 * Send a mavlink emergency message and print to console.
 *
 * @param _pub      Pointer to the uORB advert;
 * @param _text     The text to log;
 */
#define mavlink_log_emergency(_pub, _text, ...) \
    do { \
        mavlink_vasprintf(_MSG_PRIO_EMERGENCY, _pub, _text, ##__VA_ARGS__); \
        PX4_ERR(_text, ##__VA_ARGS__); \
    } while(0);

/**
 * Send a mavlink critical message and print to console.
 *
 * @param _pub      Pointer to the uORB advert;
 * @param _text     The text to log;
 */
#define mavlink_log_critical(_pub, _text, ...) \
    do { \
        mavlink_vasprintf(_MSG_PRIO_CRITICAL, _pub, _text, ##__VA_ARGS__); \
        PX4_WARN(_text, ##__VA_ARGS__); \
    } while(0);

/**
 * Send a mavlink emergency message and print to console.
 *
 * @param _pub      Pointer to the uORB advert;
 * @param _text     The text to log;
 */
#define mavlink_and_console_log_info(_pub, _text, ...)          \
    do { \
        mavlink_log_info(_pub, _text, ##__VA_ARGS__); \
        PX4_INFO(_text, ##__VA_ARGS__); \
    } while(0);

struct mavlink_logmessage {
    char text[MAVLINK_LOG_MAXLEN + 1];
    unsigned char severity;
};

struct mavlink_logbuffer {
    unsigned int start;
    unsigned int size;
    int count;
    struct mavlink_logmessage *elems;
};