How to log events in RTEMS 6?

Question

What's the simplest way in RTEMS 6 to log events in tasks and their timestamp?

E.g.

rtems_task Foo_task(
  rtems_task_argument task_index
)
{
  // log here

  rtems_semaphore_obtain(sem);
  // log here

  foo();

  rtems_semaphore_release(sem);
  // log here

  ...
}

Thanks