VA args now supported by MAVLink text messages

1 files changed, 27 insertions, 18 deletions

diff --git a/src/include/mavlink/mavlink_log.h b/src/include/mavlink/mavlink_log.h
index 233a76cb3..a28ff3a68 100644
--- a/src/include/mavlink/mavlink_log.h
+++ b/src/include/mavlink/mavlink_log.h
@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
  *   Author: Lorenz Meier <lm@inf.ethz.ch>
  *
  * Redistribution and use in source and binary forms, with or without
@@ -47,27 +47,42 @@
  */
 #include <sys/ioctl.h>
 
-/*
+/**
  * The mavlink log device node; must be opened before messages
  * can be logged.
  */
 #define MAVLINK_LOG_DEVICE			"/dev/mavlink"
+/**
+ * The maximum string length supported.
+ */
+#define MAVLINK_LOG_MAXLEN			50
 
 #define MAVLINK_IOC_SEND_TEXT_INFO		_IOC(0x1100, 1)
 #define MAVLINK_IOC_SEND_TEXT_CRITICAL		_IOC(0x1100, 2)
 #define MAVLINK_IOC_SEND_TEXT_EMERGENCY		_IOC(0x1100, 3)
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+__EXPORT void mavlink_vasprintf(int _fd, int severity, const char *fmt, ...);
+#ifdef __cplusplus
+}
+#endif
+
+/*
+ * 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 emergency message.
  *
  * @param _fd		A file descriptor returned from open(MAVLINK_LOG_DEVICE, 0);
  * @param _text		The text to log;
  */
-#ifdef __cplusplus
-#define mavlink_log_emergency(_fd, _text)	::ioctl(_fd, MAVLINK_IOC_SEND_TEXT_EMERGENCY, (unsigned long)_text);
-#else
-#define mavlink_log_emergency(_fd, _text)	ioctl(_fd, MAVLINK_IOC_SEND_TEXT_EMERGENCY, (unsigned long)_text);
-#endif
+#define mavlink_log_emergency(_fd, _text, ...)		mavlink_vasprintf(_fd, MAVLINK_IOC_SEND_TEXT_EMERGENCY, _text, ##__VA_ARGS__);
 
 /**
  * Send a mavlink critical message.
@@ -75,11 +90,7 @@
  * @param _fd		A file descriptor returned from open(MAVLINK_LOG_DEVICE, 0);
  * @param _text		The text to log;
  */
-#ifdef __cplusplus
-#define mavlink_log_critical(_fd, _text)	::ioctl(_fd, MAVLINK_IOC_SEND_TEXT_CRITICAL, (unsigned long)_text);
-#else
-#define mavlink_log_critical(_fd, _text)	ioctl(_fd, MAVLINK_IOC_SEND_TEXT_CRITICAL, (unsigned long)_text);
-#endif
+#define mavlink_log_critical(_fd, _text, ...)		mavlink_vasprintf(_fd, MAVLINK_IOC_SEND_TEXT_CRITICAL, _text, ##__VA_ARGS__);
 
 /**
  * Send a mavlink info message.
@@ -87,14 +98,10 @@
  * @param _fd		A file descriptor returned from open(MAVLINK_LOG_DEVICE, 0);
  * @param _text		The text to log;
  */
-#ifdef __cplusplus
-#define mavlink_log_info(_fd, _text)		::ioctl(_fd, MAVLINK_IOC_SEND_TEXT_INFO, (unsigned long)_text);
-#else
-#define mavlink_log_info(_fd, _text)		ioctl(_fd, MAVLINK_IOC_SEND_TEXT_INFO, (unsigned long)_text);
-#endif
+#define mavlink_log_info(_fd, _text, ...)		mavlink_vasprintf(_fd, MAVLINK_IOC_SEND_TEXT_INFO, _text, ##__VA_ARGS__);
 
 struct mavlink_logmessage {
-	char text[51];
+	char text[MAVLINK_LOG_MAXLEN + 1];
 	unsigned char severity;
 };
 
@@ -116,5 +123,7 @@ void mavlink_logbuffer_write(struct mavlink_logbuffer *lb, const struct mavlink_
 
 int mavlink_logbuffer_read(struct mavlink_logbuffer *lb, struct mavlink_logmessage *elem);
 
+void mavlink_logbuffer_vasprintf(struct mavlink_logbuffer *lb, int severity, const char *fmt, ...);
+
 #endif