mavlink_log.cpp

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/**
 * @file mavlink_log.c
 * MAVLink text logging.
 *
 * @author Lorenz Meier <lorenz@px4.io>
 */

#include <drivers/drv_hrt.h>
#include <px4_platform_common/posix.h>
#include <string.h>
#include <stdlib.h>
#include <stdio.h>
#include <stdarg.h>

#include <uORB/topics/mavlink_log.h>
#include "mavlink_log.h"

__EXPORT void mavlink_vasprintf(int severity, orb_advert_t *mavlink_log_pub, const char *fmt, ...)
{
    // TODO: add compile check for maxlen

    if (!fmt) {
        return;
    }

    if (mavlink_log_pub == nullptr) {
        return;
    }

    mavlink_log_s log_msg;
    log_msg.severity = severity;
    log_msg.timestamp = hrt_absolute_time();

    va_list ap;
    va_start(ap, fmt);
    vsnprintf((char *)log_msg.text, sizeof(log_msg.text), fmt, ap);
    va_end(ap);

    if (*mavlink_log_pub != nullptr) {
        orb_publish(ORB_ID(mavlink_log), *mavlink_log_pub, &log_msg);

    } else {
        *mavlink_log_pub = orb_advertise_queue(ORB_ID(mavlink_log), &log_msg, mavlink_log_s::ORB_QUEUE_LENGTH);
    }
}