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/y2024/autonomous/autonomous_actor.cc b/y2024/autonomous/autonomous_actor.cc
index 0f70292..83cf5b1 100644
--- a/y2024/autonomous/autonomous_actor.cc
+++ b/y2024/autonomous/autonomous_actor.cc
@@ -51,8 +51,10 @@
event_loop
->MakeFetcher<::y2024::control_loops::superstructure::Status>(
"/superstructure")),
- robot_constants_(CHECK_NOTNULL(robot_constants)),
- auto_splines_() {}
+ robot_constants_(robot_constants),
+ auto_splines_() {
+ CHECK(robot_constants_ != nullptr);
+}
void AutonomousActor::Replan() {
AutonomousMode mode = robot_constants_->common()->autonomous_mode();
diff --git a/y2024/control_loops/drivetrain/drivetrain_base.cc b/y2024/control_loops/drivetrain/drivetrain_base.cc
index 79d35e1..dd4f33c 100644
--- a/y2024/control_loops/drivetrain/drivetrain_base.cc
+++ b/y2024/control_loops/drivetrain/drivetrain_base.cc
@@ -11,9 +11,10 @@
const frc971::control_loops::drivetrain::DrivetrainConfig<double>
GetDrivetrainConfig(aos::EventLoop *event_loop) {
frc971::constants::ConstantsFetcher<Constants> constants_fetcher(event_loop);
+ CHECK(constants_fetcher.constants().common() != nullptr);
+ CHECK(constants_fetcher.constants().common()->drivetrain() != nullptr);
return frc971::control_loops::drivetrain::DrivetrainConfig<double>::
- FromFlatbuffer(
- *CHECK_NOTNULL(constants_fetcher.constants().common()->drivetrain()));
+ FromFlatbuffer(*constants_fetcher.constants().common()->drivetrain());
};
} // namespace y2024::control_loops::drivetrain
diff --git a/y2024/control_loops/superstructure/aiming.cc b/y2024/control_loops/superstructure/aiming.cc
index d8d336f..b53dbb5 100644
--- a/y2024/control_loops/superstructure/aiming.cc
+++ b/y2024/control_loops/superstructure/aiming.cc
@@ -11,7 +11,10 @@
Aimer::Aimer(aos::EventLoop *event_loop,
const y2024::Constants *robot_constants)
: event_loop_(event_loop),
- robot_constants_(CHECK_NOTNULL(robot_constants)),
+ robot_constants_([&]() {
+ CHECK(robot_constants != nullptr);
+ return robot_constants;
+ }()),
drivetrain_config_(
frc971::control_loops::drivetrain::DrivetrainConfig<double>::
FromFlatbuffer(*robot_constants_->common()->drivetrain())),
@@ -58,7 +61,7 @@
} else {
received_joystick_state_ = true;
- CHECK_NOTNULL(joystick_state_fetcher_.get());
+ CHECK(joystick_state_fetcher_.get() != nullptr);
alliance = joystick_state_fetcher_->alliance();
}
diff --git a/y2024/control_loops/superstructure/superstructure.cc b/y2024/control_loops/superstructure/superstructure.cc
index a485943..7f7da4f 100644
--- a/y2024/control_loops/superstructure/superstructure.cc
+++ b/y2024/control_loops/superstructure/superstructure.cc
@@ -36,7 +36,7 @@
: frc971::controls::ControlLoop<Goal, Position, Status, Output>(event_loop,
name),
constants_fetcher_(event_loop),
- robot_constants_(CHECK_NOTNULL(&constants_fetcher_.constants())),
+ robot_constants_(&constants_fetcher_.constants()),
drivetrain_status_fetcher_(
event_loop->MakeFetcher<frc971::control_loops::drivetrain::Status>(
"/drivetrain")),
diff --git a/y2024/control_loops/superstructure/superstructure_lib_test.cc b/y2024/control_loops/superstructure/superstructure_lib_test.cc
index 59398ab..719a29b 100644
--- a/y2024/control_loops/superstructure/superstructure_lib_test.cc
+++ b/y2024/control_loops/superstructure/superstructure_lib_test.cc
@@ -312,8 +312,7 @@
superstructure_(superstructure_event_loop.get()),
test_event_loop_(MakeEventLoop("test", roborio_)),
constants_fetcher_(test_event_loop_.get()),
- simulated_robot_constants_(
- CHECK_NOTNULL(&constants_fetcher_.constants())),
+ simulated_robot_constants_(&constants_fetcher_.constants()),
superstructure_goal_fetcher_(
test_event_loop_->MakeFetcher<Goal>("/superstructure")),
superstructure_goal_sender_(
diff --git a/y2024/joystick_reader.cc b/y2024/joystick_reader.cc
index 711f9d2..88bf441 100644
--- a/y2024/joystick_reader.cc
+++ b/y2024/joystick_reader.cc
@@ -82,7 +82,9 @@
superstructure_status_fetcher_(
event_loop->MakeFetcher<control_loops::superstructure::Status>(
"/superstructure")),
- robot_constants_(CHECK_NOTNULL(robot_constants)) {}
+ robot_constants_(robot_constants) {
+ CHECK(robot_constants_ != nullptr);
+ }
void AutoEnded() override { AOS_LOG(INFO, "Auto ended.\n"); }
diff --git a/y2024/localizer/localizer.cc b/y2024/localizer/localizer.cc
index d73d171..90423ca 100644
--- a/y2024/localizer/localizer.cc
+++ b/y2024/localizer/localizer.cc
@@ -174,10 +174,12 @@
Localizer::Localizer(aos::EventLoop *event_loop)
: event_loop_(event_loop),
constants_fetcher_(event_loop),
- dt_config_(
- frc971::control_loops::drivetrain::DrivetrainConfig<double>::
- FromFlatbuffer(*CHECK_NOTNULL(
- constants_fetcher_.constants().common()->drivetrain()))),
+ dt_config_(frc971::control_loops::drivetrain::DrivetrainConfig<
+ double>::FromFlatbuffer(*[&]() {
+ CHECK(constants_fetcher_.constants().common() != nullptr);
+ CHECK(constants_fetcher_.constants().common()->drivetrain() != nullptr);
+ return constants_fetcher_.constants().common()->drivetrain();
+ }())),
cameras_(MakeCameras(constants_fetcher_.constants(), event_loop)),
target_poses_(GetTargetLocations(constants_fetcher_.constants())),
down_estimator_(dt_config_),
@@ -214,8 +216,9 @@
for (size_t camera_index = 0; camera_index < kNumCameras; ++camera_index) {
const std::string_view channel_name = kDetectionChannels.at(camera_index);
- const aos::Channel *const channel = CHECK_NOTNULL(
- event_loop->GetChannel<frc971::vision::TargetMap>(channel_name));
+ const aos::Channel *const channel =
+ event_loop->GetChannel<frc971::vision::TargetMap>(channel_name);
+ CHECK(channel != nullptr);
event_loop->MakeWatcher(
channel_name, [this, channel,
camera_index](const frc971::vision::TargetMap &targets) {
@@ -360,12 +363,14 @@
switch (utils_.Alliance()) {
case aos::Alliance::kRed:
- ignore_tags = CHECK_NOTNULL(
- constants_fetcher_.constants().common()->ignore_targets()->red());
+ ignore_tags =
+ constants_fetcher_.constants().common()->ignore_targets()->red();
+ CHECK(ignore_tags != nullptr);
break;
case aos::Alliance::kBlue:
- ignore_tags = CHECK_NOTNULL(
- constants_fetcher_.constants().common()->ignore_targets()->blue());
+ ignore_tags =
+ constants_fetcher_.constants().common()->ignore_targets()->blue();
+ CHECK(ignore_tags != nullptr);
break;
case aos::Alliance::kInvalid:
return false;
diff --git a/y2024/wpilib_interface.cc b/y2024/wpilib_interface.cc
index 30d1549..c8328da 100644
--- a/y2024/wpilib_interface.cc
+++ b/y2024/wpilib_interface.cc
@@ -123,7 +123,7 @@
SensorReader(::aos::ShmEventLoop *event_loop,
const Constants *robot_constants)
: ::frc971::wpilib::SensorReader(event_loop),
- robot_constants_(CHECK_NOTNULL(robot_constants)),
+ robot_constants_(robot_constants),
auto_mode_sender_(
event_loop->MakeSender<::frc971::autonomous::AutonomousMode>(
"/autonomous")),
@@ -505,7 +505,8 @@
drivetrain_can_position_sender.MakeStaticBuilder();
auto drivetrain_falcon_vector =
- CHECK_NOTNULL(drivetrain_can_builder->add_talonfxs());
+ drivetrain_can_builder->add_talonfxs();
+ CHECK(drivetrain_falcon_vector != nullptr);
for (auto talonfx : drivetrain_krakens) {
talonfx->SerializePosition(
@@ -678,7 +679,8 @@
drivetrain_can_position_sender.MakeStaticBuilder();
auto drivetrain_falcon_vector =
- CHECK_NOTNULL(drivetrain_can_builder->add_talonfxs());
+ drivetrain_can_builder->add_talonfxs();
+ CHECK(drivetrain_falcon_vector != nullptr);
for (auto talonfx : drivetrain_talonfxs) {
talonfx->SerializePosition(