commit 99f7c6a79a63b99943ebb7fca8ac96f90a6a60a4
author Austin Schuh <austin.linux@gmail.com> Tue Jun 25 22:07:44 2024 -0700
committer Austin Schuh <austin.linux@gmail.com> Sat Jul 20 11:40:35 2024 -0700
tree f62d61eae9cc18132596df7f52d6ec28d09dc46a
parent 6927bc31c854f264ff7d431918b008620b6b4712

Move over to ABSL logging and flags.

Removes gperftools too since that wants gflags.

Here come the fireworks.

Change-Id: I79cb7bcf60f1047fbfa28bfffc21a0fd692e4b1c
Signed-off-by: Austin Schuh <austin.linux@gmail.com>

y2018/control_loops/superstructure/arm/BUILD

diff --git a/y2018/control_loops/superstructure/arm/BUILD b/y2018/control_loops/superstructure/arm/BUILD
index 319e591..495e214 100644
--- a/y2018/control_loops/superstructure/arm/BUILD
+++ b/y2018/control_loops/superstructure/arm/BUILD
@@ -76,7 +76,7 @@
         "//aos/analysis:in_process_plotter",
         "//frc971/control_loops/double_jointed_arm:ekf",
         "//frc971/control_loops/double_jointed_arm:trajectory",
-        "@com_github_gflags_gflags//:gflags",
+        "@com_google_absl//absl/flags:flag",
         "@org_tuxfamily_eigen//:eigen",
     ],
 )

y2018/control_loops/superstructure/arm/trajectory_plot.cc

diff --git a/y2018/control_loops/superstructure/arm/trajectory_plot.cc b/y2018/control_loops/superstructure/arm/trajectory_plot.cc
index eeb0fbc..1811b95 100644
--- a/y2018/control_loops/superstructure/arm/trajectory_plot.cc
+++ b/y2018/control_loops/superstructure/arm/trajectory_plot.cc
@@ -1,4 +1,4 @@
-#include "gflags/gflags.h"
+#include "absl/flags/flag.h"
 
 #include "aos/analysis/in_process_plotter.h"
 #include "aos/init.h"
@@ -8,9 +8,9 @@
 #include "y2018/control_loops/superstructure/arm/arm_constants.h"
 #include "y2018/control_loops/superstructure/arm/generated_graph.h"
 
-DEFINE_bool(forwards, true, "If true, run the forwards simulation.");
-DEFINE_bool(plot, true, "If true, plot");
-DEFINE_bool(plot_thetas, true, "If true, plot the angles");
+ABSL_FLAG(bool, forwards, true, "If true, run the forwards simulation.");
+ABSL_FLAG(bool, plot, true, "If true, plot");
+ABSL_FLAG(bool, plot_thetas, true, "If true, plot the angles");
 
 namespace y2018::control_loops::superstructure::arm {
 
@@ -18,8 +18,9 @@
   frc971::control_loops::arm::Dynamics dynamics(kArmConstants);
   frc971::control_loops::arm::Trajectory trajectory(
       &dynamics,
-      FLAGS_forwards ? MakeNeutralToFrontHighPath()
-                     : Path::Reversed(MakeNeutralToFrontHighPath()),
+      absl::GetFlag(FLAGS_forwards)
+          ? MakeNeutralToFrontHighPath()
+          : Path::Reversed(MakeNeutralToFrontHighPath()),
       0.001);
 
   constexpr double kAlpha0Max = 30.0;
@@ -254,7 +255,7 @@
     t += sim_dt;
   }
 
-  if (FLAGS_plot) {
+  if (absl::GetFlag(FLAGS_plot)) {
     aos::analysis::Plotter plotter;
 
     plotter.AddFigure();
@@ -324,7 +325,7 @@
     plotter.AddLine(t_array, torque1_hat_t_array, "torque1_hat");
     plotter.Publish();
 
-    if (FLAGS_plot_thetas) {
+    if (absl::GetFlag(FLAGS_plot_thetas)) {
       plotter.AddFigure();
       plotter.Title("Angles");
       plotter.AddLine(t_array, theta0_goal_t_array, "theta0_t_goal");