copied everything over from 2012 and removed all of the actual robot code except the drivetrain stuff
git-svn-id: https://robotics.mvla.net/svn/frc971/2013/trunk/src@4078 f308d9b7-e957-4cde-b6ac-9a88185e7312
diff --git a/aos/common/logging/logging.h b/aos/common/logging/logging.h
new file mode 100644
index 0000000..e3ff839
--- /dev/null
+++ b/aos/common/logging/logging.h
@@ -0,0 +1,102 @@
+#ifndef AOS_COMMON_LOGGING_LOGGING_H_
+// must be kept in sync with crio/logging/crio_logging.h and atom_code/logging/atom_logging.h
+#define AOS_COMMON_LOGGING_LOGGING_H_
+
+#include <stdint.h>
+#include <sys/types.h>
+#include <unistd.h>
+#include <string.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+typedef uint8_t log_level;
+#define DECL_LEVELS \
+DECL_LEVEL(DEBUG, 0); /* stuff that gets printed out every cycle */ \
+DECL_LEVEL(INFO, 1); /* things like PosEdge/NegEdge */ \
+/* things that might still work if they happen occasionally but should be watched */ \
+DECL_LEVEL(WARNING, 2); \
+/*-1 so that vxworks macro of same name will have same effect if used*/ \
+DECL_LEVEL(ERROR, -1); /* errors */ \
+DECL_LEVEL(FATAL, 4); /* serious errors. the logging code will terminate the process/task */ \
+DECL_LEVEL(LOG_UNKNOWN, 5); /* unknown logging level */
+#define DECL_LEVEL(name, value) extern const log_level name;
+#undef ERROR
+DECL_LEVELS
+#undef DECL_LEVEL
+
+#define STRINGIFY(x) TO_STRING(x)
+#define TO_STRING(x) #x
+
+//not static const size_t for c code
+#define LOG_MESSAGE_LEN 300
+
+// Allows format to not be a string constant.
+#define LOG_DYNAMIC(level, format, args...) do{ \
+ static char log_buf[LOG_MESSAGE_LEN]; \
+ int ret = snprintf(log_buf, sizeof(log_buf), format, ##args); \
+ if(ret < 0 || (uintmax_t)ret >= LOG_MESSAGE_LEN){ \
+ LOG(WARNING, "next message was too long so not subbing in args\n"); \
+ LOG(level, "%s", format); \
+ }else{ \
+ LOG(level, "%s", log_buf); \
+ } \
+}while(0)
+
+// The struct that the crio-side code uses for making logging calls.
+// Packed so it's the same on the atom and the crio.
+typedef struct {
+ // pid_t here at the front like in log_message
+ pid_t identifier; // must ALWAYS be -1 to identify that this is a crio log message
+ log_level level;
+ // still has to fit in LOG_MESSAGE_LEN on the atom side
+ char message[LOG_MESSAGE_LEN - 50];
+ double time;
+ uint8_t sequence;
+} __attribute__((packed)) log_crio_message;
+
+#ifdef __cplusplus
+// Just sticks the message into the shared memory queue.
+int log_crio_message_send(log_crio_message &to_send);
+// Returns left > right. LOG_UNKNOWN is most important.
+static inline bool log_gt_important(log_level left, log_level right) {
+ log_level l = left, r = right;
+ if (l == ERROR) l = 3;
+ if (r == ERROR) r = 3;
+ return left > right;
+}
+#endif
+
+// Returns a string representing level or "unknown".
+static inline const char *log_str(log_level level) {
+ // c doesn't really have const variables so they don't work in case statements
+ if (level == DEBUG) return "DEBUG";
+ if (level == INFO) return "INFO";
+ if (level == WARNING) return "WARNING";
+ if (level == ERROR) return "ERROR";
+ if (level == FATAL) return "FATAL";
+ return "unknown";
+}
+// Returns the log level represented by str or LOG_UNKNOWN.
+static inline log_level str_log(const char *str) {
+ if (!strcmp(str, "DEBUG")) return DEBUG;
+ if (!strcmp(str, "INFO")) return INFO;
+ if (!strcmp(str, "WARNING")) return WARNING;
+ if (!strcmp(str, "ERROR")) return ERROR;
+ if (!strcmp(str, "FATAL")) return FATAL;
+ return LOG_UNKNOWN;
+}
+
+#ifdef __cplusplus
+}
+#endif
+
+#ifdef __unix
+#include "aos/atom_code/logging/atom_logging.h" // IWYU pragma: export
+#else
+#include "aos/crio/logging/crio_logging.h" // IWYU pragma: export
+#endif
+
+#endif
+