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/superstructure/shooter/BUILD b/y2020/control_loops/superstructure/shooter/BUILD
index 96c933f..df676e4 100644
--- a/y2020/control_loops/superstructure/shooter/BUILD
+++ b/y2020/control_loops/superstructure/shooter/BUILD
@@ -57,7 +57,8 @@
":shooter_tuning_readings_fbs",
"//aos:init",
"//aos/events:shm_event_loop",
- "@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/superstructure/shooter/shooter_tuning_params_setter.cc b/y2020/control_loops/superstructure/shooter/shooter_tuning_params_setter.cc
index 5e3010d..abd5463 100644
--- a/y2020/control_loops/superstructure/shooter/shooter_tuning_params_setter.cc
+++ b/y2020/control_loops/superstructure/shooter/shooter_tuning_params_setter.cc
@@ -1,22 +1,26 @@
-#include "gflags/gflags.h"
-#include "glog/logging.h"
+#include "absl/flags/flag.h"
+#include "absl/log/check.h"
+#include "absl/log/log.h"
#include "aos/events/shm_event_loop.h"
#include "aos/init.h"
#include "y2020/control_loops/superstructure/shooter/shooter_tuning_params_generated.h"
-DEFINE_double(velocity_initial_finisher, 300.0, "Initial finisher velocity");
-DEFINE_double(velocity_final_finisher, 500.0, "Final finisher velocity");
-DEFINE_double(velocity_finisher_increment, 25.0, "Finisher velocity increment");
+ABSL_FLAG(double, velocity_initial_finisher, 300.0,
+ "Initial finisher velocity");
+ABSL_FLAG(double, velocity_final_finisher, 500.0, "Final finisher velocity");
+ABSL_FLAG(double, velocity_finisher_increment, 25.0,
+ "Finisher velocity increment");
-DEFINE_double(velocity_initial_accelerator, 180.0,
- "Initial accelerator velocity");
-DEFINE_double(velocity_final_accelerator, 250.0, "Final accelerator velocity");
-DEFINE_double(velocity_accelerator_increment, 20.0,
- "Accelerator velocity increment");
+ABSL_FLAG(double, velocity_initial_accelerator, 180.0,
+ "Initial accelerator velocity");
+ABSL_FLAG(double, velocity_final_accelerator, 250.0,
+ "Final accelerator velocity");
+ABSL_FLAG(double, velocity_accelerator_increment, 20.0,
+ "Accelerator velocity increment");
-DEFINE_int32(balls_per_iteration, 10,
- "Balls to shoot per iteration in the velocity sweep");
+ABSL_FLAG(int32_t, balls_per_iteration, 10,
+ "Balls to shoot per iteration in the velocity sweep");
namespace shooter = y2020::control_loops::superstructure::shooter;
@@ -43,16 +47,19 @@
auto builder = sender.MakeBuilder();
auto finisher_params = BuildFlywheelTuningParams(
- builder, FLAGS_velocity_initial_finisher, FLAGS_velocity_final_finisher,
- FLAGS_velocity_finisher_increment);
+ builder, absl::GetFlag(FLAGS_velocity_initial_finisher),
+ absl::GetFlag(FLAGS_velocity_final_finisher),
+ absl::GetFlag(FLAGS_velocity_finisher_increment));
auto accelerator_params = BuildFlywheelTuningParams(
- builder, FLAGS_velocity_initial_accelerator,
- FLAGS_velocity_final_accelerator, FLAGS_velocity_accelerator_increment);
+ builder, absl::GetFlag(FLAGS_velocity_initial_accelerator),
+ absl::GetFlag(FLAGS_velocity_final_accelerator),
+ absl::GetFlag(FLAGS_velocity_accelerator_increment));
auto tuning_params_builder = builder.MakeBuilder<shooter::TuningParams>();
tuning_params_builder.add_finisher(finisher_params);
tuning_params_builder.add_accelerator(accelerator_params);
- tuning_params_builder.add_balls_per_iteration(FLAGS_balls_per_iteration);
+ tuning_params_builder.add_balls_per_iteration(
+ absl::GetFlag(FLAGS_balls_per_iteration));
builder.CheckOk(builder.Send(tuning_params_builder.Finish()));
return 0;
diff --git a/y2020/control_loops/superstructure/superstructure_lib_test.cc b/y2020/control_loops/superstructure/superstructure_lib_test.cc
index fad888c..1a9e228 100644
--- a/y2020/control_loops/superstructure/superstructure_lib_test.cc
+++ b/y2020/control_loops/superstructure/superstructure_lib_test.cc
@@ -3,7 +3,8 @@
#include <chrono>
#include <memory>
-#include "glog/logging.h"
+#include "absl/log/check.h"
+#include "absl/log/log.h"
#include "gtest/gtest.h"
#include "aos/events/logging/log_reader.h"
@@ -21,12 +22,12 @@
#include "y2020/control_loops/superstructure/intake/intake_plant.h"
#include "y2020/control_loops/superstructure/superstructure.h"
-DEFINE_string(output_file, "",
- "If set, logs all channels to the provided logfile.");
-DEFINE_string(replay_logfile, "external/superstructure_replay/",
- "Name of the logfile to read from and replay.");
-DEFINE_string(config, "y2020/aos_config.json",
- "Name of the config file to replay using.");
+ABSL_FLAG(std::string, output_file, "",
+ "If set, logs all channels to the provided logfile.");
+ABSL_FLAG(std::string, replay_logfile, "external/superstructure_replay/",
+ "Name of the logfile to read from and replay.");
+ABSL_FLAG(std::string, config, "y2020/aos_config.json",
+ "Name of the config file to replay using.");
namespace y2020::control_loops::superstructure::testing {
@@ -263,8 +264,10 @@
accelerator_left_plant_->voltage_offset();
// Confirm that we aren't drawing too much current.
- CHECK_NEAR(accelerator_left_plant_->battery_current(accelerator_left_U),
- 0.0, 75.0);
+ CHECK_LE(accelerator_left_plant_->battery_current(accelerator_left_U),
+ 75.0);
+ CHECK_GE(accelerator_left_plant_->battery_current(accelerator_left_U),
+ -75.0);
::Eigen::Matrix<double, 1, 1> accelerator_right_U;
accelerator_right_U
@@ -272,8 +275,10 @@
accelerator_right_plant_->voltage_offset();
// Confirm that we aren't drawing too much current.
- CHECK_NEAR(accelerator_right_plant_->battery_current(accelerator_right_U),
- 0.0, 75.0);
+ CHECK_LE(accelerator_right_plant_->battery_current(accelerator_right_U),
+ 75.0);
+ CHECK_GE(accelerator_right_plant_->battery_current(accelerator_right_U),
+ -75.0);
::Eigen::Matrix<double, 1, 1> finisher_U;
finisher_U << superstructure_output_fetcher_->finisher_voltage() +
@@ -281,7 +286,8 @@
// Confirm that we aren't drawing too much current. 2 motors -> twice the
// lumped current since our model can't tell them apart.
- CHECK_NEAR(finisher_plant_->battery_current(finisher_U), 0.0, 200.0);
+ CHECK_LE(finisher_plant_->battery_current(finisher_U), 200.0);
+ CHECK_GE(finisher_plant_->battery_current(finisher_U), -200.0);
hood_plant_->Update(hood_U);
intake_plant_->Update(intake_U);
@@ -440,11 +446,11 @@
superstructure_plant_(superstructure_plant_event_loop_.get(), dt()) {
set_team_id(::frc971::control_loops::testing::kTeamNumber);
- if (!FLAGS_output_file.empty()) {
- unlink(FLAGS_output_file.c_str());
+ if (!absl::GetFlag(FLAGS_output_file).empty()) {
+ unlink(absl::GetFlag(FLAGS_output_file).c_str());
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));
}
}
@@ -1143,7 +1149,7 @@
public:
SuperstructureReplayTest()
: reader_(aos::logger::SortParts(
- aos::logger::FindLogs(FLAGS_replay_logfile))) {
+ aos::logger::FindLogs(absl::GetFlag(FLAGS_replay_logfile)))) {
aos::network::OverrideTeamNumber(971);
reader_.RemapLoggedChannel("/superstructure",
@@ -1168,12 +1174,12 @@
superstructure_status_fetcher_ =
test_event_loop_->MakeFetcher<Status>("/superstructure");
- if (!FLAGS_output_file.empty()) {
- unlink(FLAGS_output_file.c_str());
+ if (!absl::GetFlag(FLAGS_output_file).empty()) {
+ unlink(absl::GetFlag(FLAGS_output_file).c_str());
logger_event_loop_ =
reader_.event_loop_factory()->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));
}
}
diff --git a/y2020/control_loops/superstructure/superstructure_replay.cc b/y2020/control_loops/superstructure/superstructure_replay.cc
index 36a6778..27816ce 100644
--- a/y2020/control_loops/superstructure/superstructure_replay.cc
+++ b/y2020/control_loops/superstructure/superstructure_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/events/logging/log_reader.h"
#include "aos/events/simulated_event_loop.h"
@@ -15,12 +15,12 @@
#include "y2020/constants.h"
#include "y2020/control_loops/superstructure/superstructure.h"
-DEFINE_int32(team, 971, "Team number to use for logfile replay.");
+ABSL_FLAG(int32_t, team, 971, "Team number to use for logfile replay.");
int main(int argc, char **argv) {
aos::InitGoogle(&argc, &argv);
- aos::network::OverrideTeamNumber(FLAGS_team);
+ aos::network::OverrideTeamNumber(absl::GetFlag(FLAGS_team));
y2020::constants::InitValues();
// open logfiles