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>
diff --git a/y2020/control_loops/drivetrain/BUILD b/y2020/control_loops/drivetrain/BUILD
index feabb62..9bf0fab 100644
--- a/y2020/control_loops/drivetrain/BUILD
+++ b/y2020/control_loops/drivetrain/BUILD
@@ -192,8 +192,9 @@
"//aos/testing:googletest",
"//frc971/control_loops/drivetrain:drivetrain_lib",
"//frc971/control_loops/drivetrain:trajectory_schema",
- "@com_github_gflags_gflags//:gflags",
- "@com_github_google_glog//:glog",
+ "@com_google_absl//absl/flags:flag",
+ "@com_google_absl//absl/log",
+ "@com_google_absl//absl/log:check",
],
)
@@ -216,8 +217,9 @@
"//frc971/control_loops/drivetrain:trajectory_generator",
"//y2020:constants",
"//y2020/control_loops/superstructure:superstructure_lib",
- "@com_github_gflags_gflags//:gflags",
- "@com_github_google_glog//:glog",
+ "@com_google_absl//absl/flags:flag",
+ "@com_google_absl//absl/log",
+ "@com_google_absl//absl/log:check",
],
)
diff --git a/y2020/control_loops/drivetrain/drivetrain_replay.cc b/y2020/control_loops/drivetrain/drivetrain_replay.cc
index 326c184..5c5c20b 100644
--- a/y2020/control_loops/drivetrain/drivetrain_replay.cc
+++ b/y2020/control_loops/drivetrain/drivetrain_replay.cc
@@ -4,7 +4,7 @@
// replayed, so that it can then be run through the plotting tool or analyzed
// in some other way. The original drivetrain status data will be on the
// /original/drivetrain channel.
-#include "gflags/gflags.h"
+#include "absl/flags/flag.h"
#include "aos/configuration.h"
#include "aos/events/logging/log_reader.h"
@@ -21,12 +21,13 @@
#include "y2020/control_loops/drivetrain/localizer.h"
#include "y2020/control_loops/superstructure/superstructure.h"
-DEFINE_string(config, "y2020/aos_config.json",
- "Name of the config file to replay using.");
-DEFINE_string(output_folder, "/tmp/replayed",
- "Name of the folder to write replayed logs to.");
-DEFINE_int32(team, 971, "Team number to use for logfile replay.");
-DEFINE_bool(log_all_nodes, false, "Whether to rerun the logger on every node.");
+ABSL_FLAG(std::string, config, "y2020/aos_config.json",
+ "Name of the config file to replay using.");
+ABSL_FLAG(std::string, output_folder, "/tmp/replayed",
+ "Name of the folder to write replayed logs to.");
+ABSL_FLAG(int32_t, team, 971, "Team number to use for logfile replay.");
+ABSL_FLAG(bool, log_all_nodes, false,
+ "Whether to rerun the logger on every node.");
// TODO(james): Currently, this replay produces logfiles that can't be read due
// to time estimation issues. Pending the active refactorings of the
@@ -34,10 +35,10 @@
int main(int argc, char **argv) {
aos::InitGoogle(&argc, &argv);
- aos::network::OverrideTeamNumber(FLAGS_team);
+ aos::network::OverrideTeamNumber(absl::GetFlag(FLAGS_team));
const aos::FlatbufferDetachedBuffer<aos::Configuration> config =
- aos::configuration::ReadConfig(FLAGS_config);
+ aos::configuration::ReadConfig(absl::GetFlag(FLAGS_config));
// sort logfiles
const std::vector<aos::logger::LogFile> logfiles =
@@ -60,16 +61,17 @@
reader.Register();
std::vector<std::unique_ptr<aos::util::LoggerState>> loggers;
- if (FLAGS_log_all_nodes) {
- loggers = aos::util::MakeLoggersForAllNodes(reader.event_loop_factory(),
- FLAGS_output_folder);
+ if (absl::GetFlag(FLAGS_log_all_nodes)) {
+ loggers = aos::util::MakeLoggersForAllNodes(
+ reader.event_loop_factory(), absl::GetFlag(FLAGS_output_folder));
} else {
// List of nodes to create loggers for (note: currently just roborio; this
// code was refactored to allow easily adding new loggers to accommodate
// debugging and potential future changes).
const std::vector<std::string> nodes_to_log = {"roborio"};
- loggers = aos::util::MakeLoggersForNodes(reader.event_loop_factory(),
- nodes_to_log, FLAGS_output_folder);
+ loggers = aos::util::MakeLoggersForNodes(
+ reader.event_loop_factory(), nodes_to_log,
+ absl::GetFlag(FLAGS_output_folder));
}
const aos::Node *node = nullptr;
diff --git a/y2020/control_loops/drivetrain/drivetrain_replay_test.cc b/y2020/control_loops/drivetrain/drivetrain_replay_test.cc
index 8d096cd..62592c0 100644
--- a/y2020/control_loops/drivetrain/drivetrain_replay_test.cc
+++ b/y2020/control_loops/drivetrain/drivetrain_replay_test.cc
@@ -8,7 +8,7 @@
// longer be valid.
// TODO(james): Do something about that when the time comes--could just copy
// the existing drivetrain config into this file and use it directly.
-#include "gflags/gflags.h"
+#include "absl/flags/flag.h"
#include "gtest/gtest.h"
#include "aos/configuration.h"
@@ -22,17 +22,18 @@
#include "frc971/control_loops/drivetrain/trajectory_schema.h"
#include "y2020/control_loops/drivetrain/drivetrain_base.h"
-DEFINE_string(logfile, "external/drivetrain_replay/",
- "Name of the logfile to read from.");
-DEFINE_string(config, "y2020/aos_config.json",
- "Name of the config file to replay using.");
+ABSL_FLAG(std::string, logfile, "external/drivetrain_replay/",
+ "Name of the logfile to read from.");
+ABSL_FLAG(std::string, config, "y2020/aos_config.json",
+ "Name of the config file to replay using.");
namespace y2020::control_loops::drivetrain::testing {
class DrivetrainReplayTest : public ::testing::Test {
public:
DrivetrainReplayTest()
- : reader_(aos::logger::SortParts(aos::logger::FindLogs(FLAGS_logfile))) {
+ : reader_(aos::logger::SortParts(
+ aos::logger::FindLogs(absl::GetFlag(FLAGS_logfile)))) {
aos::network::OverrideTeamNumber(971);
// TODO(james): Actually enforce not sending on the same buses as the
diff --git a/y2020/control_loops/drivetrain/localizer.cc b/y2020/control_loops/drivetrain/localizer.cc
index 0943b28..f8518f3 100644
--- a/y2020/control_loops/drivetrain/localizer.cc
+++ b/y2020/control_loops/drivetrain/localizer.cc
@@ -1,10 +1,12 @@
#include "y2020/control_loops/drivetrain/localizer.h"
+#include "absl/flags/flag.h"
+
#include "y2020/constants.h"
-DEFINE_bool(send_empty_debug, false,
- "If true, send LocalizerDebug messages on every tick, even if "
- "they would be empty.");
+ABSL_FLAG(bool, send_empty_debug, false,
+ "If true, send LocalizerDebug messages on every tick, even if "
+ "they would be empty.");
namespace y2020::control_loops::drivetrain {
@@ -181,7 +183,7 @@
}
}
}
- if (FLAGS_send_empty_debug || !debug_offsets.empty()) {
+ if (absl::GetFlag(FLAGS_send_empty_debug) || !debug_offsets.empty()) {
const auto vector_offset =
builder.fbb()->CreateVector(debug_offsets.data(), debug_offsets.size());
const auto rejections_offset =
diff --git a/y2020/control_loops/drivetrain/localizer_test.cc b/y2020/control_loops/drivetrain/localizer_test.cc
index e509241..951a286 100644
--- a/y2020/control_loops/drivetrain/localizer_test.cc
+++ b/y2020/control_loops/drivetrain/localizer_test.cc
@@ -2,6 +2,7 @@
#include <queue>
+#include "absl/flags/flag.h"
#include "gtest/gtest.h"
#include "aos/events/logging/log_writer.h"
@@ -14,8 +15,8 @@
#include "y2020/control_loops/drivetrain/drivetrain_base.h"
#include "y2020/control_loops/superstructure/superstructure_status_generated.h"
-DEFINE_string(output_file, "",
- "If set, logs all channels to the provided logfile.");
+ABSL_FLAG(std::string, output_file, "",
+ "If set, logs all channels to the provided logfile.");
// This file tests that the full 2020 localizer behaves sanely.
@@ -145,10 +146,10 @@
set_team_id(frc971::control_loops::testing::kTeamNumber);
set_battery_voltage(12.0);
- if (!FLAGS_output_file.empty()) {
+ if (!absl::GetFlag(FLAGS_output_file).empty()) {
logger_event_loop_ = MakeEventLoop("logger", roborio_);
logger_ = std::make_unique<aos::logger::Logger>(logger_event_loop_.get());
- logger_->StartLoggingOnRun(FLAGS_output_file);
+ logger_->StartLoggingOnRun(absl::GetFlag(FLAGS_output_file));
}
test_event_loop_->MakeWatcher(
diff --git a/y2020/control_loops/drivetrain/trajectory_generator_main.cc b/y2020/control_loops/drivetrain/trajectory_generator_main.cc
index 152822e..e7634b7 100644
--- a/y2020/control_loops/drivetrain/trajectory_generator_main.cc
+++ b/y2020/control_loops/drivetrain/trajectory_generator_main.cc
@@ -1,6 +1,8 @@
#include <sys/resource.h>
#include <sys/time.h>
+#include "absl/flags/flag.h"
+
#include "aos/events/shm_event_loop.h"
#include "aos/init.h"
#include "frc971/control_loops/drivetrain/trajectory_generator.h"
@@ -8,8 +10,8 @@
using ::frc971::control_loops::drivetrain::TrajectoryGenerator;
-DEFINE_bool(skip_renicing, false,
- "If true, skip renicing the trajectory generator.");
+ABSL_FLAG(bool, skip_renicing, false,
+ "If true, skip renicing the trajectory generator.");
int main(int argc, char *argv[]) {
::aos::InitGoogle(&argc, &argv);
@@ -22,7 +24,7 @@
&event_loop, ::y2020::control_loops::drivetrain::GetDrivetrainConfig());
event_loop.OnRun([]() {
- if (FLAGS_skip_renicing) {
+ if (absl::GetFlag(FLAGS_skip_renicing)) {
LOG(WARNING) << "Ignoring request to renice to -20 due to "
"--skip_renicing.";
} else {