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mavlink_log.h
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mavlink_log.h
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/*
* Copyright (c) 2017, James Jackson and Daniel Koch, BYU MAGICC Lab
*
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*
* * Redistributions of source code must retain the above copyright notice, this
* list of conditions and the following disclaimer.
*
* * 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.
*
* * Neither the name of the copyright holder 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 HOLDER 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.
*/
#pragma once
#include "board.h"
#include "mavlink.h"
#include "printf.h"
#define mavlink_log(severity, format, ...) do { \
char text[MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN]; \
tfp_sprintf(text, format, ##__VA_ARGS__); \
mavlink_msg_statustext_send(MAVLINK_COMM_0, severity, text); \
} while (0)
#define mavlink_log_critical(format, ...) mavlink_log(MAV_SEVERITY_CRITICAL, format, ##__VA_ARGS__)
#define mavlink_log_error(format, ...) mavlink_log(MAV_SEVERITY_ERROR, format, ##__VA_ARGS__)
#define mavlink_log_warning(format, ...) mavlink_log(MAV_SEVERITY_WARNING, format, ##__VA_ARGS__)
#define mavlink_log_info(format, ...) mavlink_log(MAV_SEVERITY_INFO, format, ##__VA_ARGS__)
#define mavlink_log_critical_throttle(delay_ms, format, ...) \
do\
{\
static uint32_t last_hit = 0; \
uint32_t now = clock_millis(); \
if (now - last_hit > delay_ms) \
{\
last_hit = now; \
mavlink_log_critical(format, ##__VA_ARGS__); \
}\
} while(0)
#define mavlink_log_error_throttle(delay_ms, format, ...) \
do\
{\
static uint32_t last_hit = 0; \
uint32_t now = clock_millis(); \
if (now - last_hit > delay_ms) \
{\
last_hit = now; \
mavlink_log_error(format, ##__VA_ARGS__); \
}\
} while(0)
#define mavlink_log_warning_throttle(delay_ms, format, ...) \
do\
{\
static uint32_t last_hit = 0; \
uint32_t now = clock_millis(); \
if (now - last_hit > delay_ms) \
{\
last_hit = now; \
mavlink_log_warning(format, ##__VA_ARGS__); \
}\
} while(0)
#define mavlink_log_info_throttle(delay_ms, format, ...) \
do\
{\
static uint32_t last_hit = 0; \
uint32_t now = clock_millis(); \
if (now - last_hit > delay_ms) \
{\
last_hit = now; \
mavlink_log_info(format, ##__VA_ARGS__); \
}\
} while(0)