Remove usage of CHECK_NOTNULL
We want to switch to absl logging instead of glog. gtest and ceres are
going there, and we already have absl as a dependency. ABSL doesn't
have CHECK_NOTNULL, and we can move things over in an easier to review
fashion.
Change-Id: Ifd9a11ec34a2357cec43f88dba015db9c28ed2cf
Signed-off-by: Austin Schuh <austin.linux@gmail.com>
diff --git a/y2019/joystick_reader.cc b/y2019/joystick_reader.cc
index b44d084..40e8708 100644
--- a/y2019/joystick_reader.cc
+++ b/y2019/joystick_reader.cc
@@ -244,9 +244,10 @@
superstructure_goal_offset = superstructure_goal_builder.Finish();
}
- superstructure::Goal *mutable_superstructure_goal = CHECK_NOTNULL(
+ superstructure::Goal *mutable_superstructure_goal =
GetMutableTemporaryPointer(*main_superstructure_goal_builder.fbb(),
- superstructure_goal_offset));
+ superstructure_goal_offset);
+ CHECK(mutable_superstructure_goal != nullptr);
{
auto builder = target_selector_hint_sender_.MakeBuilder();
@@ -585,18 +586,17 @@
AOS_LOG(INFO, "Releasing due to button\n");
}
+ auto mutable_suction = mutable_superstructure_goal->mutable_suction();
+ CHECK(mutable_suction != nullptr);
if (switch_ball_) {
- CHECK_NOTNULL(mutable_superstructure_goal->mutable_suction())
- ->mutate_gamepiece_mode(0);
+ mutable_suction->mutate_gamepiece_mode(0);
} else {
- CHECK_NOTNULL(mutable_superstructure_goal->mutable_suction())
- ->mutate_gamepiece_mode(1);
+ mutable_suction->mutate_gamepiece_mode(1);
}
vision_control_.set_flip_image(elevator_wrist_pos_.wrist < 0);
- CHECK_NOTNULL(mutable_superstructure_goal->mutable_suction())
- ->mutate_grab_piece(grab_piece_);
+ mutable_suction->mutate_grab_piece(grab_piece_);
mutable_superstructure_goal->mutable_elevator()->mutate_unsafe_goal(
elevator_wrist_pos_.elevator);