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Diffstat (limited to 'apps/mavlink/mavlink_log.h')
-rw-r--r-- | apps/mavlink/mavlink_log.h | 83 |
1 files changed, 83 insertions, 0 deletions
diff --git a/apps/mavlink/mavlink_log.h b/apps/mavlink/mavlink_log.h new file mode 100644 index 000000000..1ad1364be --- /dev/null +++ b/apps/mavlink/mavlink_log.h @@ -0,0 +1,83 @@ +/**************************************************************************** + * + * Copyright (C) 2008-2012 PX4 Development Team. All rights reserved. + * Author: @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.h + * MAVLink text logging. + */ + +#ifndef MAVLINK_LOG +#define MAVLINK_LOG + +/* + * IOCTL interface for sending log messages. + */ +#include <sys/ioctl.h> + +/* + * The mavlink log device node; must be opened before messages + * can be logged. + */ +#define MAVLINK_LOG_DEVICE "/dev/mavlink" + +#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) + +/** + * Send a mavlink emergency message. + * + * @param _fd A file descriptor returned from open(MAVLINK_LOG_DEVICE, 0); + * @param _text The text to log; + */ +#define mavlink_log_emergency(_fd, _text) ioctl(_fd, MAVLINK_IOC_SEND_TEXT_EMERGENCY, (unsigned long)_text); + +/** + * Send a mavlink critical message. + * + * @param _fd A file descriptor returned from open(MAVLINK_LOG_DEVICE, 0); + * @param _text The text to log; + */ +#define mavlink_log_critical(_fd, _text) ioctl(_fd, MAVLINK_IOC_SEND_TEXT_CRITICAL, (unsigned long)_text); + +/** + * Send a mavlink info message. + * + * @param _fd A file descriptor returned from open(MAVLINK_LOG_DEVICE, 0); + * @param _text The text to log; + */ +#define mavlink_log_info(_fd, _text) ioctl(_fd, MAVLINK_IOC_SEND_TEXT_INFO, (unsigned long)_text); + +#endif + |