/**************************************************************************** * * Copyright (C) 2012 PX4 Development Team. All rights reserved. * Author: Lorenz Meier * * 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. * * @author Lorenz Meier */ #ifndef MAVLINK_LOG #define MAVLINK_LOG /* * IOCTL interface for sending log messages. */ #include /* * 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); struct mavlink_logmessage { char text[51]; unsigned char severity; }; struct mavlink_logbuffer { unsigned int start; // unsigned int end; unsigned int size; int count; struct mavlink_logmessage *elems; }; void mavlink_logbuffer_init(struct mavlink_logbuffer *lb, int size); int mavlink_logbuffer_is_full(struct mavlink_logbuffer *lb); int mavlink_logbuffer_is_empty(struct mavlink_logbuffer *lb); void mavlink_logbuffer_write(struct mavlink_logbuffer *lb, const struct mavlink_logmessage *elem); int mavlink_logbuffer_read(struct mavlink_logbuffer *lb, struct mavlink_logmessage *elem); #endif