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libmavconn: Update console_bridge macroses.
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ros/console_bridge#18
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@vooon
vooon committed Jun 28, 2016
1 parent 09cf185 commit 73fd7f7
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Showing 5 changed files with 49 additions and 49 deletions.
22 changes: 11 additions & 11 deletions libmavconn/src/interface.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -133,7 +133,7 @@ void MAVConnInterface::log_recv(const char *pfx, mavlink_message_t &msg, Framing

const char *proto_version_str = (msg.magic == MAVLINK_STX) ? "v2.0" : "v1.0";

logDebug("%s%zu: recv: %s %4s Message-Id: %u [%u bytes] IDs: %u.%u Seq: %u",
CONSOLE_BRIDGE_logDebug("%s%zu: recv: %s %4s Message-Id: %u [%u bytes] IDs: %u.%u Seq: %u",
pfx, conn_id,
proto_version_str,
framing_str,
Expand All @@ -144,15 +144,15 @@ void MAVConnInterface::log_send(const char *pfx, const mavlink_message_t *msg)
{
const char *proto_version_str = (msg->magic == MAVLINK_STX) ? "v2.0" : "v1.0";

logDebug("%s%zu: send: %s Message-Id: %u [%u bytes] IDs: %u.%u Seq: %u",
CONSOLE_BRIDGE_logDebug("%s%zu: send: %s Message-Id: %u [%u bytes] IDs: %u.%u Seq: %u",
pfx, conn_id,
proto_version_str,
msg->msgid, msg->len, msg->sysid, msg->compid, msg->seq);
}

void MAVConnInterface::log_send_obj(const char *pfx, const mavlink::Message &msg)
{
logDebug("%s%zu: send: %s", pfx, conn_id, msg.to_yaml().c_str());
CONSOLE_BRIDGE_logDebug("%s%zu: send: %s", pfx, conn_id, msg.to_yaml().c_str());
}

void MAVConnInterface::send_message_ignore_drop(const mavlink::mavlink_message_t *msg)
Expand All @@ -161,7 +161,7 @@ void MAVConnInterface::send_message_ignore_drop(const mavlink::mavlink_message_t
send_message(msg);
}
catch (std::length_error &e) {
logError(PFX "%zu: DROPPED Message-Id %u [%u bytes] IDs: %u.%u Seq: %u: %s",
CONSOLE_BRIDGE_logError(PFX "%zu: DROPPED Message-Id %u [%u bytes] IDs: %u.%u Seq: %u: %s",
conn_id,
msg->msgid, msg->len, msg->sysid, msg->compid, msg->seq,
e.what());
Expand All @@ -174,7 +174,7 @@ void MAVConnInterface::send_message_ignore_drop(const mavlink::Message &msg)
send_message(msg);
}
catch (std::length_error &e) {
logError(PFX "%zu: DROPPED Message %s: %s",
CONSOLE_BRIDGE_logError(PFX "%zu: DROPPED Message %s: %s",
conn_id,
msg.get_name().c_str(),
e.what());
Expand Down Expand Up @@ -247,14 +247,14 @@ static void url_parse_query(std::string query, uint8_t &sysid, uint8_t &compid)
auto ids_it = std::search(query.begin(), query.end(),
ids_end.begin(), ids_end.end());
if (ids_it == query.end()) {
logWarn(PFX "URL: unknown query arguments");
CONSOLE_BRIDGE_logWarn(PFX "URL: unknown query arguments");
return;
}

std::advance(ids_it, ids_end.length());
auto comma_it = std::find(ids_it, query.end(), ',');
if (comma_it == query.end()) {
logError(PFX "URL: no comma in ids= query");
CONSOLE_BRIDGE_logError(PFX "URL: no comma in ids= query");
return;
}

Expand All @@ -264,7 +264,7 @@ static void url_parse_query(std::string query, uint8_t &sysid, uint8_t &compid)
sysid = std::stoi(sys);
compid = std::stoi(comp);

logDebug(PFX "URL: found system/component id = [%u, %u]", sysid, compid);
CONSOLE_BRIDGE_logDebug(PFX "URL: found system/component id = [%u, %u]", sysid, compid);
}

static MAVConnInterface::Ptr url_parse_serial(
Expand Down Expand Up @@ -292,7 +292,7 @@ static MAVConnInterface::Ptr url_parse_udp(

auto sep_it = std::find(hosts.begin(), hosts.end(), '@');
if (sep_it == hosts.end()) {
logError(PFX "UDP URL should contain @!");
CONSOLE_BRIDGE_logError(PFX "UDP URL should contain @!");
throw DeviceError("url", "UDP separator not found");
}

Expand Down Expand Up @@ -360,7 +360,7 @@ MAVConnInterface::Ptr MAVConnInterface::open_url(std::string url,
proto_end.begin(), proto_end.end());
if (proto_it == url.end()) {
// looks like file path
logDebug(PFX "URL: %s: looks like file path", url.c_str());
CONSOLE_BRIDGE_logDebug(PFX "URL: %s: looks like file path", url.c_str());
return url_parse_serial(url, "", system_id, component_id);
}

Expand All @@ -384,7 +384,7 @@ MAVConnInterface::Ptr MAVConnInterface::open_url(std::string url,
++query_it;
query.assign(query_it, url.end());

logDebug(PFX "URL: %s: proto: %s, host: %s, path: %s, query: %s",
CONSOLE_BRIDGE_logDebug(PFX "URL: %s: proto: %s, host: %s, path: %s, query: %s",
url.c_str(), proto.c_str(), host.c_str(),
path.c_str(), query.c_str());

Expand Down
8 changes: 4 additions & 4 deletions libmavconn/src/mavlink_helpers.cpp.em
View file
Original file line number Diff line number Diff line change
Expand Up @@ -30,20 +30,20 @@ using mavconn::MAVConnInterface;

void MAVConnInterface::init_msg_entry()
{
logDebug("mavconn: Initialize message_entries map");
CONSOLE_BRIDGE_logDebug("mavconn: Initialize message_entries map");

auto load = [&](const char *dialect, const mavlink::mavlink_msg_entry_t & e) {
auto it = message_entries.find(e.msgid);
if (it != message_entries.end()) {
if (memcmp(&e, it->second, sizeof(e)) != 0) {
logWarn("mavconn: init: message from %s, MSG-ID %d ignored! Table has different entry.", dialect, e.msgid);
CONSOLE_BRIDGE_logWarn("mavconn: init: message from %s, MSG-ID %d ignored! Table has different entry.", dialect, e.msgid);
}
else {
logDebug("mavconn: init: message from %s, MSG-ID %d in table.", dialect, e.msgid);
CONSOLE_BRIDGE_logDebug("mavconn: init: message from %s, MSG-ID %d in table.", dialect, e.msgid);
}
}
else {
logDebug("mavconn: init: add message entry for %s, MSG-ID %d", dialect, e.msgid);
CONSOLE_BRIDGE_logDebug("mavconn: init: add message entry for %s, MSG-ID %d", dialect, e.msgid);
message_entries[e.msgid] = &e;
}
};
Expand Down
12 changes: 6 additions & 6 deletions libmavconn/src/serial.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -42,7 +42,7 @@ MAVConnSerial::MAVConnSerial(uint8_t system_id, uint8_t component_id,
io_service(),
serial_dev(io_service)
{
logInform(PFXd "device: %s @ %d bps", conn_id, device.c_str(), baudrate);
CONSOLE_BRIDGE_logInform(PFXd "device: %s @ %d bps", conn_id, device.c_str(), baudrate);

try {
serial_dev.open(device);
Expand Down Expand Up @@ -94,7 +94,7 @@ void MAVConnSerial::close()
void MAVConnSerial::send_bytes(const uint8_t *bytes, size_t length)
{
if (!is_open()) {
logError(PFXd "send: channel closed!", conn_id);
CONSOLE_BRIDGE_logError(PFXd "send: channel closed!", conn_id);
return;
}

Expand All @@ -114,7 +114,7 @@ void MAVConnSerial::send_message(const mavlink_message_t *message)
assert(message != nullptr);

if (!is_open()) {
logError(PFXd "send: channel closed!", conn_id);
CONSOLE_BRIDGE_logError(PFXd "send: channel closed!", conn_id);
return;
}

Expand All @@ -134,7 +134,7 @@ void MAVConnSerial::send_message(const mavlink_message_t *message)
void MAVConnSerial::send_message(const mavlink::Message &message)
{
if (!is_open()) {
logError(PFXd "send: channel closed!", conn_id);
CONSOLE_BRIDGE_logError(PFXd "send: channel closed!", conn_id);
return;
}

Expand All @@ -158,7 +158,7 @@ void MAVConnSerial::do_read(void)
buffer(rx_buf),
[sthis] (error_code error, size_t bytes_transferred) {
if (error) {
logError(PFXd "receive: %s", sthis->conn_id, error.message().c_str());
CONSOLE_BRIDGE_logError(PFXd "receive: %s", sthis->conn_id, error.message().c_str());
sthis->close();
return;
}
Expand Down Expand Up @@ -186,7 +186,7 @@ void MAVConnSerial::do_write(bool check_tx_state)
assert(bytes_transferred <= buf_ref.len);

if (error) {
logError(PFXd "write: %s", sthis->conn_id, error.message().c_str());
CONSOLE_BRIDGE_logError(PFXd "write: %s", sthis->conn_id, error.message().c_str());
sthis->close();
return;
}
Expand Down
26 changes: 13 additions & 13 deletions libmavconn/src/tcp.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -46,11 +46,11 @@ static bool resolve_address_tcp(io_service &io, size_t chan, std::string host, u
ep = q_ep;
ep.port(port);
result = true;
logDebug(PFXd "host %s resolved as %s", chan, host.c_str(), to_string_ss(ep).c_str());
CONSOLE_BRIDGE_logDebug(PFXd "host %s resolved as %s", chan, host.c_str(), to_string_ss(ep).c_str());
});

if (ec) {
logWarn(PFXd "resolve error: %s", chan, ec.message().c_str());
CONSOLE_BRIDGE_logWarn(PFXd "resolve error: %s", chan, ec.message().c_str());
result = false;
}

Expand All @@ -73,7 +73,7 @@ MAVConnTCPClient::MAVConnTCPClient(uint8_t system_id, uint8_t component_id,
if (!resolve_address_tcp(io_service, conn_id, server_host, server_port, server_ep))
throw DeviceError("tcp: resolve", "Bind address resolve failed");

logInform(PFXd "Server address: %s", conn_id, to_string_ss(server_ep).c_str());
CONSOLE_BRIDGE_logInform(PFXd "Server address: %s", conn_id, to_string_ss(server_ep).c_str());

try {
socket.open(tcp::v4());
Expand Down Expand Up @@ -108,7 +108,7 @@ MAVConnTCPClient::MAVConnTCPClient(uint8_t system_id, uint8_t component_id,

void MAVConnTCPClient::client_connected(size_t server_channel)
{
logInform(PFXd "Got client, id: %zu, address: %s",
CONSOLE_BRIDGE_logInform(PFXd "Got client, id: %zu, address: %s",
server_channel, conn_id, to_string_ss(server_ep).c_str());

// start recv
Expand Down Expand Up @@ -140,7 +140,7 @@ void MAVConnTCPClient::close()
void MAVConnTCPClient::send_bytes(const uint8_t *bytes, size_t length)
{
if (!is_open()) {
logError(PFXd "send: channel closed!", conn_id);
CONSOLE_BRIDGE_logError(PFXd "send: channel closed!", conn_id);
return;
}

Expand All @@ -160,7 +160,7 @@ void MAVConnTCPClient::send_message(const mavlink_message_t *message)
assert(message != nullptr);

if (!is_open()) {
logError(PFXd "send: channel closed!", conn_id);
CONSOLE_BRIDGE_logError(PFXd "send: channel closed!", conn_id);
return;
}

Expand All @@ -180,7 +180,7 @@ void MAVConnTCPClient::send_message(const mavlink_message_t *message)
void MAVConnTCPClient::send_message(const mavlink::Message &message)
{
if (!is_open()) {
logError(PFXd "send: channel closed!", conn_id);
CONSOLE_BRIDGE_logError(PFXd "send: channel closed!", conn_id);
return;
}

Expand All @@ -204,7 +204,7 @@ void MAVConnTCPClient::do_recv()
buffer(rx_buf),
[sthis] (error_code error, size_t bytes_transferred) {
if (error) {
logError(PFXd "receive: %s", sthis->conn_id, error.message().c_str());
CONSOLE_BRIDGE_logError(PFXd "receive: %s", sthis->conn_id, error.message().c_str());
sthis->close();
return;
}
Expand Down Expand Up @@ -232,7 +232,7 @@ void MAVConnTCPClient::do_send(bool check_tx_state)
assert(bytes_transferred <= buf_ref.len);

if (error) {
logError(PFXd "send: %s", sthis->conn_id, error.message().c_str());
CONSOLE_BRIDGE_logError(PFXd "send: %s", sthis->conn_id, error.message().c_str());
sthis->close();
return;
}
Expand Down Expand Up @@ -269,7 +269,7 @@ MAVConnTCPServer::MAVConnTCPServer(uint8_t system_id, uint8_t component_id,
if (!resolve_address_tcp(io_service, conn_id, server_host, server_port, bind_ep))
throw DeviceError("tcp-l: resolve", "Bind address resolve failed");

logInform(PFXd "Bind address: %s", conn_id, to_string_ss(bind_ep).c_str());
CONSOLE_BRIDGE_logInform(PFXd "Bind address: %s", conn_id, to_string_ss(bind_ep).c_str());

try {
acceptor.open(tcp::v4());
Expand Down Expand Up @@ -302,7 +302,7 @@ void MAVConnTCPServer::close()
if (!is_open())
return;

logInform(PFXd "Terminating server. "
CONSOLE_BRIDGE_logInform(PFXd "Terminating server. "
"All connections will be closed.", conn_id);

io_service.stop();
Expand Down Expand Up @@ -395,7 +395,7 @@ void MAVConnTCPServer::do_accept()
acceptor_client->server_ep,
[sthis, acceptor_client] (error_code error) {
if (error) {
logError(PFXd "accept: %s", sthis->conn_id, error.message().c_str());
CONSOLE_BRIDGE_logError(PFXd "accept: %s", sthis->conn_id, error.message().c_str());
sthis->close();
return;
}
Expand All @@ -416,7 +416,7 @@ void MAVConnTCPServer::client_closed(std::weak_ptr<MAVConnTCPClient> weak_instp)
{
if (auto instp = weak_instp.lock()) {
bool locked = mutex.try_lock();
logInform(PFXd "Client connection closed, id: %p, address: %s",
CONSOLE_BRIDGE_logInform(PFXd "Client connection closed, id: %p, address: %s",
conn_id, instp.get(), to_string_ss(instp->server_ep).c_str());

client_list.remove(instp);
Expand Down
30 changes: 15 additions & 15 deletions libmavconn/src/udp.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -46,11 +46,11 @@ static bool resolve_address_udp(io_service &io, size_t chan, std::string host, u
ep = q_ep;
ep.port(port);
result = true;
logDebug(PFXd "host %s resolved as %s", chan, host.c_str(), to_string_ss(ep).c_str());
CONSOLE_BRIDGE_logDebug(PFXd "host %s resolved as %s", chan, host.c_str(), to_string_ss(ep).c_str());
});

if (ec) {
logWarn(PFXd "resolve error: %s", chan, ec.message().c_str());
CONSOLE_BRIDGE_logWarn(PFXd "resolve error: %s", chan, ec.message().c_str());
result = false;
}

Expand All @@ -75,7 +75,7 @@ MAVConnUDP::MAVConnUDP(uint8_t system_id, uint8_t component_id,
if (!resolve_address_udp(io_service, conn_id, bind_host, bind_port, bind_ep))
throw DeviceError("udp: resolve", "Bind address resolve failed");

logInform(PFXd "Bind address: %s", conn_id, to_string_ss(bind_ep).c_str());
CONSOLE_BRIDGE_logInform(PFXd "Bind address: %s", conn_id, to_string_ss(bind_ep).c_str());

if (remote_host != "") {
if (remote_host != BROADCAST_REMOTE_HOST)
Expand All @@ -86,9 +86,9 @@ MAVConnUDP::MAVConnUDP(uint8_t system_id, uint8_t component_id,
}

if (remote_exists)
logInform(PFXd "Remote address: %s", conn_id, to_string_ss(remote_ep).c_str());
CONSOLE_BRIDGE_logInform(PFXd "Remote address: %s", conn_id, to_string_ss(remote_ep).c_str());
else
logWarn(PFXd "Remote address resolve failed.", conn_id);
CONSOLE_BRIDGE_logWarn(PFXd "Remote address resolve failed.", conn_id);
}

try {
Expand Down Expand Up @@ -144,12 +144,12 @@ void MAVConnUDP::close()
void MAVConnUDP::send_bytes(const uint8_t *bytes, size_t length)
{
if (!is_open()) {
logError(PFXd "send: channel closed!", conn_id);
CONSOLE_BRIDGE_logError(PFXd "send: channel closed!", conn_id);
return;
}

if (!remote_exists) {
logDebug(PFXd "send: Remote not known, message dropped.", conn_id);
CONSOLE_BRIDGE_logDebug(PFXd "send: Remote not known, message dropped.", conn_id);
return;
}

Expand All @@ -169,12 +169,12 @@ void MAVConnUDP::send_message(const mavlink_message_t *message)
assert(message != nullptr);

if (!is_open()) {
logError(PFXd "send: channel closed!", conn_id);
CONSOLE_BRIDGE_logError(PFXd "send: channel closed!", conn_id);
return;
}

if (!remote_exists) {
logDebug(PFXd "send: Remote not known, message dropped.", conn_id);
CONSOLE_BRIDGE_logDebug(PFXd "send: Remote not known, message dropped.", conn_id);
return;
}

Expand All @@ -194,12 +194,12 @@ void MAVConnUDP::send_message(const mavlink_message_t *message)
void MAVConnUDP::send_message(const mavlink::Message &message)
{
if (!is_open()) {
logError(PFXd "send: channel closed!", conn_id);
CONSOLE_BRIDGE_logError(PFXd "send: channel closed!", conn_id);
return;
}

if (!remote_exists) {
logDebug(PFXd "send: Remote not known, message dropped.", conn_id);
CONSOLE_BRIDGE_logDebug(PFXd "send: Remote not known, message dropped.", conn_id);
return;
}

Expand All @@ -224,13 +224,13 @@ void MAVConnUDP::do_recvfrom()
remote_ep,
[sthis] (error_code error, size_t bytes_transferred) {
if (error) {
logError(PFXd "receive: %s", sthis->conn_id, error.message().c_str());
CONSOLE_BRIDGE_logError(PFXd "receive: %s", sthis->conn_id, error.message().c_str());
sthis->close();
return;
}

if (sthis->remote_ep != sthis->last_remote_ep) {
logInform(PFXd "Remote address: %s", sthis->conn_id, to_string_ss(sthis->remote_ep).c_str());
CONSOLE_BRIDGE_logInform(PFXd "Remote address: %s", sthis->conn_id, to_string_ss(sthis->remote_ep).c_str());
sthis->remote_exists = true;
sthis->last_remote_ep = sthis->remote_ep;
}
Expand Down Expand Up @@ -259,11 +259,11 @@ void MAVConnUDP::do_sendto(bool check_tx_state)
assert(bytes_transferred <= buf_ref.len);

if (error == boost::asio::error::network_unreachable) {
logWarn(PFXd "sendto: %s, retrying", sthis->conn_id, error.message().c_str());
CONSOLE_BRIDGE_logWarn(PFXd "sendto: %s, retrying", sthis->conn_id, error.message().c_str());
// do not return, try to resend
}
else if (error) {
logError(PFXd "sendto: %s", sthis->conn_id, error.message().c_str());
CONSOLE_BRIDGE_logError(PFXd "sendto: %s", sthis->conn_id, error.message().c_str());
sthis->close();
return;
}
Expand Down

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