Mirrors_Framework/PX4-Autopilot
1
0
Fork 0
mirror of https://github.com/PX4/PX4-Autopilot.git synced 2026-05-19 02:23:58 +08:00
Code Issues Actions 26 Packages Projects Releases Wiki Activity

fix(mavlink): route daemon status output through logger

Browse Source 
MAVLink status output was still written with printf(), which bypasses the daemon-client output relay and can disappear or interleave poorly when commands run through px4-*.exe clients on Windows. Use PX4_INFO_RAW for the multi-line status and stream dumps so the text follows the same raw log path as other daemon-visible module output.

The change keeps the formatting intact for local shells while making external daemon clients see the same status text without relying on process stdout ownership.

Signed-off-by: Nuno Marques <n.marques21@hotmail.com>
This commit is contained in:
Nuno Marques
2026-05-05 21:01:12 -07:00
parent d1500fda9e
commit 4012e7d250
2 changed files with 57 additions and 57 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/mavlink/mavlink_main.cpp
+51 -51
View File
@@ -383,7 +383,7 @@ Mavlink::destroy_all_instances()
} else {
iterations++;
printf(".");
PX4_INFO_RAW(".");
fflush(stdout);
px4_usleep(10000);
}
@@ -422,7 +422,7 @@ Mavlink::get_status_all_instances(bool show_streams_status)
for (Mavlink *inst : mavlink_module_instances) {
if (inst != nullptr) {
printf("\ninstance #%u:\n", iterations);
PX4_INFO_RAW("\ninstance #%u:\n", iterations);
if (show_streams_status) {
inst->display_status_streams();
@@ -3125,83 +3125,83 @@ Mavlink::display_status()
#endif // !CONSTRAINED_FLASH
if (_tstatus.heartbeat_type_gcs) {
printf("\tGCS heartbeat valid\n");
PX4_INFO_RAW("\tGCS heartbeat valid\n");
}
printf("\tmavlink chan: #%u\n", static_cast<unsigned>(_channel));
PX4_INFO_RAW("\tmavlink chan: #%u\n", static_cast<unsigned>(_channel));
if (_tstatus.timestamp > 0) {
printf("\ttype:\t\t");
PX4_INFO_RAW("\ttype:\t\t");
if (_radio_status_available) {
printf("RADIO Link\n");
printf("\t rssi:\t\t%" PRIu8 "\n", _rstatus.rssi);
printf("\t remote rssi:\t%" PRIu8 "\n", _rstatus.remote_rssi);
printf("\t txbuf:\t%" PRIu8 "\n", _rstatus.txbuf);
printf("\t noise:\t%" PRIu8 "\n", _rstatus.noise);
printf("\t remote noise:\t%" PRIu8 "\n", _rstatus.remote_noise);
printf("\t rx errors:\t%" PRIu16 "\n", _rstatus.rxerrors);
printf("\t fixed:\t%" PRIu16 "\n", _rstatus.fix);
PX4_INFO_RAW("RADIO Link\n");
PX4_INFO_RAW("\t rssi:\t\t%" PRIu8 "\n", _rstatus.rssi);
PX4_INFO_RAW("\t remote rssi:\t%" PRIu8 "\n", _rstatus.remote_rssi);
PX4_INFO_RAW("\t txbuf:\t%" PRIu8 "\n", _rstatus.txbuf);
PX4_INFO_RAW("\t noise:\t%" PRIu8 "\n", _rstatus.noise);
PX4_INFO_RAW("\t remote noise:\t%" PRIu8 "\n", _rstatus.remote_noise);
PX4_INFO_RAW("\t rx errors:\t%" PRIu16 "\n", _rstatus.rxerrors);
PX4_INFO_RAW("\t fixed:\t%" PRIu16 "\n", _rstatus.fix);
} else if (_tstatus.type == telemetry_status_s::LINK_TYPE_USB) {
printf("USB CDC\n");
PX4_INFO_RAW("USB CDC\n");
} else {
printf("GENERIC LINK OR RADIO\n");
PX4_INFO_RAW("GENERIC LINK OR RADIO\n");
}
} else {
printf("\tno radio status.\n");
PX4_INFO_RAW("\tno radio status.\n");
}
printf("\tflow control: %s\n", _flow_control_mode ? "ON" : "OFF");
printf("\trates:\n");
printf("\t tx: %.1f B/s\n", (double)_tstatus.tx_rate_avg);
printf("\t txerr: %.1f B/s\n", (double)_tstatus.tx_error_rate_avg);
printf("\t tx rate mult: %.3f\n", (double)_rate_mult);
printf("\t tx rate max: %i B/s\n", _datarate);
printf("\t rx: %.1f B/s\n", (double)_tstatus.rx_rate_avg);
printf("\t rx loss: %.1f%%\n", (double)_tstatus.rx_message_lost_rate);
PX4_INFO_RAW("\tflow control: %s\n", _flow_control_mode ? "ON" : "OFF");
PX4_INFO_RAW("\trates:\n");
PX4_INFO_RAW("\t tx: %.1f B/s\n", (double)_tstatus.tx_rate_avg);
PX4_INFO_RAW("\t txerr: %.1f B/s\n", (double)_tstatus.tx_error_rate_avg);
PX4_INFO_RAW("\t tx rate mult: %.3f\n", (double)_rate_mult);
PX4_INFO_RAW("\t tx rate max: %i B/s\n", _datarate);
PX4_INFO_RAW("\t rx: %.1f B/s\n", (double)_tstatus.rx_rate_avg);
PX4_INFO_RAW("\t rx loss: %.1f%%\n", (double)_tstatus.rx_message_lost_rate);
#if !defined(CONSTRAINED_FLASH)
_receiver.print_detailed_rx_stats();
#endif // !CONSTRAINED_FLASH
if (_mavlink_ulog) {
printf("\tULog rate: %.1f%% of max %.1f%%\n", (double)_mavlink_ulog->current_data_rate() * 100.,
(double)_mavlink_ulog->maximum_data_rate() * 100.);
PX4_INFO_RAW("\tULog rate: %.1f%% of max %.1f%%\n", (double)_mavlink_ulog->current_data_rate() * 100.,
(double)_mavlink_ulog->maximum_data_rate() * 100.);
}
printf("\tFTP enabled: %s, TX enabled: %s\n",
_ftp_on ? "YES" : "NO",
_transmitting_enabled ? "YES" : "NO");
printf("\tmode: %s\n", mavlink_mode_str(_mode));
PX4_INFO_RAW("\tFTP enabled: %s, TX enabled: %s\n",
_ftp_on ? "YES" : "NO",
_transmitting_enabled ? "YES" : "NO");
PX4_INFO_RAW("\tmode: %s\n", mavlink_mode_str(_mode));
if (_mode == MAVLINK_MODE_IRIDIUM) {
printf("\t iridium tx freq: %.3f\n", (double)(_high_latency_freq));
PX4_INFO_RAW("\t iridium tx freq: %.3f\n", (double)(_high_latency_freq));
}
printf("\tForwarding: %s\n", get_forwarding_on() ? "On" : "Off");
printf("\tMAVLink version: %" PRId8 "\n", _protocol_version);
PX4_INFO_RAW("\tForwarding: %s\n", get_forwarding_on() ? "On" : "Off");
PX4_INFO_RAW("\tMAVLink version: %" PRId8 "\n", _protocol_version);
printf("\ttransport protocol: ");
PX4_INFO_RAW("\ttransport protocol: ");
switch (_protocol) {
#if defined(MAVLINK_UDP)
case Protocol::UDP:
printf("UDP (%hu, remote port: %hu)\n", _network_port, _remote_port);
printf("\tBroadcast enabled: %s\n",
broadcast_enabled() ? "YES" : "NO");
PX4_INFO_RAW("UDP (%hu, remote port: %hu)\n", _network_port, _remote_port);
PX4_INFO_RAW("\tBroadcast enabled: %s\n",
broadcast_enabled() ? "YES" : "NO");
#if defined(CONFIG_NET_IGMP) && defined(CONFIG_NET_ROUTE)
printf("\tMulticast enabled: %s\n",
multicast_enabled() ? "YES" : "NO");
PX4_INFO_RAW("\tMulticast enabled: %s\n",
multicast_enabled() ? "YES" : "NO");
#endif
#ifdef __PX4_POSIX
if (get_client_source_initialized()) {
printf("\tpartner IP: %s\n", inet_ntoa(get_client_source_address().sin_addr));
PX4_INFO_RAW("\tpartner IP: %s\n", inet_ntoa(get_client_source_address().sin_addr));
}
#endif
@@ -3209,24 +3209,24 @@ Mavlink::display_status()
#endif // MAVLINK_UDP
case Protocol::SERIAL:
printf("serial (%s @%i)\n", _device_name, _baudrate);
PX4_INFO_RAW("serial (%s @%i)\n", _device_name, _baudrate);
break;
}
if (_ping_stats.last_ping_time > 0) {
printf("\tping statistics:\n");
printf("\t last: %0.2f ms\n", (double)_ping_stats.last_rtt);
printf("\t mean: %0.2f ms\n", (double)_ping_stats.mean_rtt);
printf("\t max: %0.2f ms\n", (double)_ping_stats.max_rtt);
printf("\t min: %0.2f ms\n", (double)_ping_stats.min_rtt);
printf("\t dropped packets: %" PRIi32 "\n", _ping_stats.dropped_packets);
PX4_INFO_RAW("\tping statistics:\n");
PX4_INFO_RAW("\t last: %0.2f ms\n", (double)_ping_stats.last_rtt);
PX4_INFO_RAW("\t mean: %0.2f ms\n", (double)_ping_stats.mean_rtt);
PX4_INFO_RAW("\t max: %0.2f ms\n", (double)_ping_stats.max_rtt);
PX4_INFO_RAW("\t min: %0.2f ms\n", (double)_ping_stats.min_rtt);
PX4_INFO_RAW("\t dropped packets: %" PRIi32 "\n", _ping_stats.dropped_packets);
}
}
void
Mavlink::display_status_streams()
{
printf("\t%-20s%-16s %s\n", "Name", "Rate Config (current) [Hz]", "Message Size (if active) [B]");
PX4_INFO_RAW("\t%-20s%-16s %s\n", "Name", "Rate Config (current) [Hz]", "Message Size (if active) [B]");
const float rate_mult = _rate_mult;
@@ -3246,13 +3246,13 @@ Mavlink::display_status_streams()
snprintf(rate_str, sizeof(rate_str), "%6.2f (%.3f)", (double)rate, (double)rate_current);
}
printf("\t%-30s%-16s", stream->get_name(), rate_str);
PX4_INFO_RAW("\t%-30s%-16s", stream->get_name(), rate_str);
if (size > 0) {
printf(" %3u\n", size);
PX4_INFO_RAW(" %3u\n", size);
} else {
printf("\n");
PX4_INFO_RAW("\n");
}
}
}
src/modules/mavlink/mavlink_receiver.cpp
+6 -6
View File
@@ -3578,13 +3578,13 @@ void MavlinkReceiver::print_detailed_rx_stats() const
{
// TODO: add mutex around shared data.
if (_component_states_count > 0) {
printf("\tReceived Messages:\n");
PX4_INFO_RAW("\tReceived Messages:\n");
for (const auto &comp_stat : _component_states) {
if (comp_stat.received_messages > 0) {
printf("\t sysid:%3" PRIu8 ", compid:%3" PRIu8 ", Total: %" PRIu32 " (lost: %" PRIu32 ")\n",
comp_stat.system_id, comp_stat.component_id,
comp_stat.received_messages, comp_stat.missed_messages);
PX4_INFO_RAW("\t sysid:%3" PRIu8 ", compid:%3" PRIu8 ", Total: %" PRIu32 " (lost: %" PRIu32 ")\n",
comp_stat.system_id, comp_stat.component_id,
comp_stat.received_messages, comp_stat.missed_messages);
#if !defined(CONSTRAINED_FLASH)
@@ -3602,8 +3602,8 @@ void MavlinkReceiver::print_detailed_rx_stats() const
const float elapsed_s = (now_ms - msg_stat.last_time_received_ms) / 1000.f;
printf("\t msgid:%5" PRIu16 ", Rate:%5.1f Hz, last %.2fs ago\n",
msg_stat.msg_id, (double)msg_stat.avg_rate_hz, (double)elapsed_s);
PX4_INFO_RAW("\t msgid:%5" PRIu16 ", Rate:%5.1f Hz, last %.2fs ago\n",
msg_stat.msg_id, (double)msg_stat.avg_rate_hz, (double)elapsed_s);
}
}
}