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/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
* Author: Lorenz Meier <lm@inf.ethz.ch>
*
* 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.
*
****************************************************************************/
/**
* @file mavlink_log.c
* MAVLink text logging.
*
* @author Lorenz Meier <lm@inf.ethz.ch>
*/
#include <string.h>
#include <stdlib.h>
#include <stdarg.h>
#include <mavlink/mavlink_log.h>
void mavlink_logbuffer_init(struct mavlink_logbuffer *lb, int size)
{
lb->size = size;
lb->start = 0;
lb->count = 0;
lb->elems = (struct mavlink_logmessage *)calloc(lb->size, sizeof(struct mavlink_logmessage));
}
int mavlink_logbuffer_is_full(struct mavlink_logbuffer *lb)
{
return lb->count == (int)lb->size;
}
int mavlink_logbuffer_is_empty(struct mavlink_logbuffer *lb)
{
return lb->count == 0;
}
void mavlink_logbuffer_write(struct mavlink_logbuffer *lb, const struct mavlink_logmessage *elem)
{
int end = (lb->start + lb->count) % lb->size;
memcpy(&(lb->elems[end]), elem, sizeof(struct mavlink_logmessage));
if (mavlink_logbuffer_is_full(lb)) {
lb->start = (lb->start + 1) % lb->size; /* full, overwrite */
} else {
++lb->count;
}
}
int mavlink_logbuffer_read(struct mavlink_logbuffer *lb, struct mavlink_logmessage *elem)
{
if (!mavlink_logbuffer_is_empty(lb)) {
memcpy(elem, &(lb->elems[lb->start]), sizeof(struct mavlink_logmessage));
lb->start = (lb->start + 1) % lb->size;
--lb->count;
return 0;
} else {
return 1;
}
}
void mavlink_logbuffer_vasprintf(struct mavlink_logbuffer *lb, int severity, const char *fmt, ...)
{
va_list ap;
va_start(ap, fmt);
int end = (lb->start + lb->count) % lb->size;
lb->elems[end].severity = severity;
vsnprintf(lb->elems[end].text, sizeof(lb->elems[0].text), fmt, ap);
va_end(ap);
/* increase count */
if (mavlink_logbuffer_is_full(lb)) {
lb->start = (lb->start + 1) % lb->size; /* full, overwrite */
} else {
++lb->count;
}
}
__EXPORT void mavlink_vasprintf(int _fd, int severity, const char *fmt, ...)
{
va_list ap;
va_start(ap, fmt);
char text[MAVLINK_LOG_MAXLEN + 1];
vsnprintf(text, sizeof(text), fmt, ap);
va_end(ap);
ioctl(_fd, severity, (unsigned long)&text[0]);
}
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