path: root/dev-ros/libmavconn/files/logging.patch

Index: libmavconn/src/interface.cpp
===================================================================
--- libmavconn.orig/src/interface.cpp
+++ libmavconn/src/interface.cpp
@@ -133,7 +133,7 @@ void MAVConnInterface::log_recv(const ch
 
 	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,
@@ -144,7 +144,7 @@ void MAVConnInterface::log_send(const ch
 {
 	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);
@@ -152,7 +152,7 @@ void MAVConnInterface::log_send(const ch
 
 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)
@@ -161,7 +161,7 @@ void MAVConnInterface::send_message_igno
 		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());
@@ -174,7 +174,7 @@ void MAVConnInterface::send_message_igno
 		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());
@@ -247,14 +247,14 @@ static void url_parse_query(std::string
 	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;
 	}
 
@@ -264,7 +264,7 @@ static void url_parse_query(std::string
 	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(
@@ -292,7 +292,7 @@ static MAVConnInterface::Ptr url_parse_u
 
 	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");
 	}
 
@@ -360,7 +360,7 @@ MAVConnInterface::Ptr MAVConnInterface::
 			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, false);
 	}
 
@@ -384,7 +384,7 @@ MAVConnInterface::Ptr MAVConnInterface::
 		++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());
 
Index: libmavconn/src/mavlink_helpers.cpp.em
===================================================================
--- libmavconn.orig/src/mavlink_helpers.cpp.em
+++ libmavconn/src/mavlink_helpers.cpp.em
@@ -27,20 +27,20 @@ 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;
 		}
 	};
Index: libmavconn/src/serial.cpp
===================================================================
--- libmavconn.orig/src/serial.cpp
+++ libmavconn/src/serial.cpp
@@ -43,7 +43,7 @@ MAVConnSerial::MAVConnSerial(uint8_t sys
 {
 	using SPB = boost::asio::serial_port_base;
 
-	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);
@@ -95,7 +95,7 @@ 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;
 	}
 
@@ -115,7 +115,7 @@ void MAVConnSerial::send_message(const m
 	assert(message != nullptr);
 
 	if (!is_open()) {
-		logError(PFXd "send: channel closed!", conn_id);
+		CONSOLE_BRIDGE_logError(PFXd "send: channel closed!", conn_id);
 		return;
 	}
 
@@ -135,7 +135,7 @@ void MAVConnSerial::send_message(const m
 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;
 	}
 
@@ -159,7 +159,7 @@ 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;
 				}
@@ -187,7 +187,7 @@ void MAVConnSerial::do_write(bool check_
 				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;
 				}
Index: libmavconn/src/tcp.cpp
===================================================================
--- libmavconn.orig/src/tcp.cpp
+++ libmavconn/src/tcp.cpp
@@ -46,11 +46,11 @@ static bool resolve_address_tcp(io_servi
 				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;
 	}
 
@@ -73,7 +73,7 @@ MAVConnTCPClient::MAVConnTCPClient(uint8
 	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());
@@ -108,7 +108,7 @@ MAVConnTCPClient::MAVConnTCPClient(uint8
 
 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
@@ -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;
 	}
 
@@ -160,7 +160,7 @@ void MAVConnTCPClient::send_message(cons
 	assert(message != nullptr);
 
 	if (!is_open()) {
-		logError(PFXd "send: channel closed!", conn_id);
+		CONSOLE_BRIDGE_logError(PFXd "send: channel closed!", conn_id);
 		return;
 	}
 
@@ -180,7 +180,7 @@ void MAVConnTCPClient::send_message(cons
 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;
 	}
 
@@ -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;
 				}
@@ -232,7 +232,7 @@ void MAVConnTCPClient::do_send(bool chec
 				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;
 				}
@@ -269,7 +269,7 @@ MAVConnTCPServer::MAVConnTCPServer(uint8
 	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());
@@ -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();
@@ -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;
 				}
@@ -416,7 +416,7 @@ void MAVConnTCPServer::client_closed(std
 {
 	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);
Index: libmavconn/src/udp.cpp
===================================================================
--- libmavconn.orig/src/udp.cpp
+++ libmavconn/src/udp.cpp
@@ -46,11 +46,11 @@ static bool resolve_address_udp(io_servi
 				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;
 	}
 
@@ -75,7 +75,7 @@ MAVConnUDP::MAVConnUDP(uint8_t system_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)
@@ -86,9 +86,9 @@ MAVConnUDP::MAVConnUDP(uint8_t system_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 {
@@ -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;
 	}
 
@@ -169,12 +169,12 @@ void MAVConnUDP::send_message(const mavl
 	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;
 	}
 
@@ -194,12 +194,12 @@ void MAVConnUDP::send_message(const mavl
 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;
 	}
 
@@ -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;
 				}
@@ -259,11 +259,11 @@ void MAVConnUDP::do_sendto(bool check_tx
 				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;
 				}