mirror of
https://gitee.com/xiaohuolufeihua/bizhang_-obav.git
synced 2026-05-21 09:22:18 +00:00
7359f44835
The buffer length given to snprintf() is unsigned, so we must check for an overflow after each call. This happend for very long printf's (module documentation)
251 lines
7.0 KiB
C
251 lines
7.0 KiB
C
/****************************************************************************
|
|
*
|
|
* Copyright (C) 2017-2018 PX4 Development Team. All rights reserved.
|
|
*
|
|
* 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.
|
|
*
|
|
****************************************************************************/
|
|
|
|
#include <stdlib.h>
|
|
#include <string.h>
|
|
#include <px4_log.h>
|
|
#if defined(__PX4_POSIX) && !defined(__PX4_CYGWIN)
|
|
#include <execinfo.h>
|
|
#include <px4_daemon/server_io.h>
|
|
#endif
|
|
|
|
#include <uORB/uORB.h>
|
|
#include <uORB/topics/log_message.h>
|
|
#include <drivers/drv_hrt.h>
|
|
|
|
static orb_advert_t orb_log_message_pub = NULL;
|
|
|
|
__EXPORT const char *__px4_log_level_str[_PX4_LOG_LEVEL_PANIC + 1] = { "DEBUG", "INFO", "WARN", "ERROR", "PANIC" };
|
|
__EXPORT const char *__px4_log_level_color[_PX4_LOG_LEVEL_PANIC + 1] =
|
|
{ PX4_ANSI_COLOR_GREEN, PX4_ANSI_COLOR_RESET, PX4_ANSI_COLOR_YELLOW, PX4_ANSI_COLOR_RED, PX4_ANSI_COLOR_RED };
|
|
|
|
|
|
void px4_log_initialize(void)
|
|
{
|
|
ASSERT(orb_log_message_pub == NULL);
|
|
|
|
/* we need to advertise with a valid message */
|
|
struct log_message_s log_message;
|
|
log_message.timestamp = hrt_absolute_time();
|
|
log_message.severity = 6; //info
|
|
strcpy((char *)log_message.text, "initialized uORB logging");
|
|
|
|
#if !defined(PARAM_NO_ORB)
|
|
orb_log_message_pub = orb_advertise_queue(ORB_ID(log_message), &log_message, 2);
|
|
#endif /* !PARAM_NO_ORB */
|
|
|
|
if (!orb_log_message_pub) {
|
|
PX4_ERR("failed to advertise log_message");
|
|
}
|
|
}
|
|
|
|
void px4_backtrace()
|
|
{
|
|
#if defined(__PX4_POSIX) && !defined(__PX4_CYGWIN)
|
|
void *buffer[10];
|
|
char **callstack;
|
|
int bt_size;
|
|
int idx;
|
|
|
|
bt_size = backtrace(buffer, 10);
|
|
callstack = backtrace_symbols(buffer, bt_size);
|
|
|
|
PX4_INFO("Backtrace: %d", bt_size);
|
|
|
|
for (idx = 0; idx < bt_size; idx++) {
|
|
PX4_INFO("%s", callstack[idx]);
|
|
}
|
|
|
|
free(callstack);
|
|
#endif
|
|
}
|
|
|
|
|
|
__EXPORT void px4_log_modulename(int level, const char *moduleName, const char *fmt, ...)
|
|
{
|
|
|
|
#ifdef __PX4_POSIX
|
|
char *buffer;
|
|
unsigned max_length;
|
|
bool is_atty = false;
|
|
|
|
if (get_stdout_pipe_buffer(&buffer, &max_length, &is_atty) == 0) {
|
|
if (level >= _PX4_LOG_LEVEL_INFO) {
|
|
|
|
unsigned pos = 0;
|
|
|
|
if (is_atty) { pos += snprintf(buffer + pos, max_length - pos, "%s", __px4_log_level_color[level]); }
|
|
|
|
if (pos >= max_length) { return; }
|
|
|
|
pos += snprintf(buffer + pos, max_length - pos, __px4__log_level_fmt __px4__log_level_arg(level));
|
|
|
|
if (pos >= max_length) { return; }
|
|
|
|
if (is_atty) { pos += snprintf(buffer + pos, max_length - pos, "%s", PX4_ANSI_COLOR_GRAY); }
|
|
|
|
if (pos >= max_length) { return; }
|
|
|
|
pos += snprintf(buffer + pos, max_length - pos, __px4__log_modulename_pfmt, moduleName);
|
|
va_list argptr;
|
|
|
|
if (pos >= max_length) { return; }
|
|
|
|
if (is_atty) { pos += snprintf(buffer + pos, max_length - pos, "%s", __px4_log_level_color[level]); }
|
|
|
|
if (pos >= max_length) { return; }
|
|
|
|
va_start(argptr, fmt);
|
|
pos += vsnprintf(buffer + pos, max_length - pos, fmt, argptr);
|
|
|
|
if (pos >= max_length) { return; }
|
|
|
|
va_end(argptr);
|
|
pos += snprintf(buffer + pos, max_length - pos, "\n");
|
|
|
|
if (pos >= max_length) { return; }
|
|
|
|
if (is_atty) { pos += snprintf(buffer + pos, max_length - pos, "%s", PX4_ANSI_COLOR_RESET); }
|
|
|
|
if (pos >= max_length) { return; }
|
|
|
|
// +1 for the terminating 0 char.
|
|
send_stdout_pipe_buffer(pos + 1);
|
|
}
|
|
|
|
} else {
|
|
#endif
|
|
|
|
if (level >= _PX4_LOG_LEVEL_INFO) {
|
|
PX4_LOG_COLOR_START
|
|
printf(__px4__log_level_fmt __px4__log_level_arg(level));
|
|
PX4_LOG_COLOR_MODULE
|
|
printf(__px4__log_modulename_pfmt, moduleName);
|
|
PX4_LOG_COLOR_MESSAGE
|
|
va_list argptr;
|
|
va_start(argptr, fmt);
|
|
vprintf(fmt, argptr);
|
|
va_end(argptr);
|
|
PX4_LOG_COLOR_END
|
|
printf("\n");
|
|
}
|
|
|
|
#ifdef __PX4_POSIX
|
|
}
|
|
|
|
#endif
|
|
|
|
/* publish an orb log message */
|
|
if (level >= _PX4_LOG_LEVEL_WARN && orb_log_message_pub) { //only publish important messages
|
|
|
|
struct log_message_s log_message;
|
|
const unsigned max_length_pub = sizeof(log_message.text);
|
|
log_message.timestamp = hrt_absolute_time();
|
|
|
|
const uint8_t log_level_table[] = {
|
|
7, /* _PX4_LOG_LEVEL_DEBUG */
|
|
6, /* _PX4_LOG_LEVEL_INFO */
|
|
4, /* _PX4_LOG_LEVEL_WARN */
|
|
3, /* _PX4_LOG_LEVEL_ERROR */
|
|
0 /* _PX4_LOG_LEVEL_PANIC */
|
|
};
|
|
log_message.severity = log_level_table[level];
|
|
|
|
unsigned pos = 0;
|
|
|
|
va_list argptr;
|
|
|
|
pos += snprintf((char *)log_message.text + pos, max_length_pub - pos, __px4__log_modulename_pfmt, moduleName);
|
|
va_start(argptr, fmt);
|
|
pos += vsnprintf((char *)log_message.text + pos, max_length_pub - pos, fmt, argptr);
|
|
va_end(argptr);
|
|
log_message.text[max_length_pub - 1] = 0; //ensure 0-termination
|
|
|
|
#if !defined(PARAM_NO_ORB)
|
|
orb_publish(ORB_ID(log_message), orb_log_message_pub, &log_message);
|
|
#endif /* !PARAM_NO_ORB */
|
|
}
|
|
}
|
|
|
|
__EXPORT void px4_log_raw(int level, const char *fmt, ...)
|
|
{
|
|
|
|
#ifdef __PX4_POSIX
|
|
char *buffer;
|
|
unsigned max_length;
|
|
bool is_atty = false;
|
|
|
|
if (get_stdout_pipe_buffer(&buffer, &max_length, &is_atty) == 0) {
|
|
if (level >= _PX4_LOG_LEVEL_INFO) {
|
|
|
|
unsigned pos = 0;
|
|
|
|
va_list argptr;
|
|
|
|
if (is_atty) { pos += snprintf(buffer + pos, max_length - pos, "%s", __px4_log_level_color[level]); }
|
|
|
|
if (pos >= max_length) { return; }
|
|
|
|
va_start(argptr, fmt);
|
|
pos += vsnprintf(buffer + pos, max_length - pos, fmt, argptr);
|
|
va_end(argptr);
|
|
|
|
if (pos >= max_length) { return; }
|
|
|
|
if (is_atty) { pos += snprintf(buffer + pos, max_length - pos, "%s", PX4_ANSI_COLOR_RESET); }
|
|
|
|
if (pos >= max_length) { return; }
|
|
|
|
// +1 for the terminating 0 char.
|
|
send_stdout_pipe_buffer(pos + 1);
|
|
}
|
|
|
|
} else {
|
|
#endif
|
|
|
|
if (level >= _PX4_LOG_LEVEL_INFO) {
|
|
PX4_LOG_COLOR_START
|
|
PX4_LOG_COLOR_MESSAGE
|
|
va_list argptr;
|
|
va_start(argptr, fmt);
|
|
vprintf(fmt, argptr);
|
|
va_end(argptr);
|
|
PX4_LOG_COLOR_END
|
|
}
|
|
|
|
#ifdef __PX4_POSIX
|
|
}
|
|
|
|
#endif
|
|
}
|