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/y2022/control_loops/superstructure/BUILD b/y2022/control_loops/superstructure/BUILD
index 0a72b71..650fa99 100644
--- a/y2022/control_loops/superstructure/BUILD
+++ b/y2022/control_loops/superstructure/BUILD
@@ -152,8 +152,9 @@
":superstructure_status_fbs",
"//frc971/control_loops:control_loops_fbs",
"//frc971/control_loops:profiled_subsystem_fbs",
- "@com_github_google_glog//:glog",
"@com_google_absl//absl/functional:bind_front",
+ "@com_google_absl//absl/log",
+ "@com_google_absl//absl/log:check",
],
)
diff --git a/y2022/control_loops/superstructure/catapult/catapult_main.cc b/y2022/control_loops/superstructure/catapult/catapult_main.cc
index 5124745..62b5271 100644
--- a/y2022/control_loops/superstructure/catapult/catapult_main.cc
+++ b/y2022/control_loops/superstructure/catapult/catapult_main.cc
@@ -109,8 +109,6 @@
int Main(int /*argc*/, char ** /*argv*/) {
OSQPSolve();
-
- gflags::ShutDownCommandLineFlags();
return 0;
}
diff --git a/y2022/control_loops/superstructure/catapult/catapult_test.cc b/y2022/control_loops/superstructure/catapult/catapult_test.cc
index 0077633..0aec698 100644
--- a/y2022/control_loops/superstructure/catapult/catapult_test.cc
+++ b/y2022/control_loops/superstructure/catapult/catapult_test.cc
@@ -1,6 +1,7 @@
#include "frc971/control_loops/catapult/catapult.h"
-#include "glog/logging.h"
+#include "absl/log/check.h"
+#include "absl/log/log.h"
#include "gtest/gtest.h"
#include "y2022/control_loops/superstructure/catapult/catapult_plant.h"
diff --git a/y2022/control_loops/superstructure/collision_avoidance.cc b/y2022/control_loops/superstructure/collision_avoidance.cc
index 33e4d6e..5b6cee6 100644
--- a/y2022/control_loops/superstructure/collision_avoidance.cc
+++ b/y2022/control_loops/superstructure/collision_avoidance.cc
@@ -3,7 +3,8 @@
#include <cmath>
#include "absl/functional/bind_front.h"
-#include "glog/logging.h"
+#include "absl/log/check.h"
+#include "absl/log/log.h"
namespace y2022::control_loops::superstructure {
diff --git a/y2022/control_loops/superstructure/superstructure.cc b/y2022/control_loops/superstructure/superstructure.cc
index dca0a96..b5cb3f3 100644
--- a/y2022/control_loops/superstructure/superstructure.cc
+++ b/y2022/control_loops/superstructure/superstructure.cc
@@ -1,13 +1,15 @@
#include "y2022/control_loops/superstructure/superstructure.h"
+#include "absl/flags/flag.h"
+
#include "aos/events/event_loop.h"
#include "aos/flatbuffer_merge.h"
#include "aos/network/team_number.h"
#include "frc971/zeroing/wrap.h"
#include "y2022/control_loops/superstructure/collision_avoidance.h"
-DEFINE_bool(ignore_distance, false,
- "If true, ignore distance when shooting and obay joystick_reader");
+ABSL_FLAG(bool, ignore_distance, false,
+ "If true, ignore distance when shooting and obay joystick_reader");
namespace y2022::control_loops::superstructure {
@@ -140,7 +142,7 @@
constants::Values::ShotParams shot_params;
const double distance_to_goal = aimer_.DistanceToGoal();
- if (!FLAGS_ignore_distance && unsafe_goal->auto_aim() &&
+ if (!absl::GetFlag(FLAGS_ignore_distance) && unsafe_goal->auto_aim() &&
values_->shot_interpolation_table.GetInRange(distance_to_goal,
&shot_params)) {
flatbuffers::FlatBufferBuilder *catapult_goal_fbb =
diff --git a/y2022/control_loops/superstructure/superstructure_lib_test.cc b/y2022/control_loops/superstructure/superstructure_lib_test.cc
index eb33f29..8eaa7f6 100644
--- a/y2022/control_loops/superstructure/superstructure_lib_test.cc
+++ b/y2022/control_loops/superstructure/superstructure_lib_test.cc
@@ -1,6 +1,7 @@
#include <chrono>
#include <memory>
+#include "absl/flags/flag.h"
#include "gtest/gtest.h"
#include "aos/events/logging/log_writer.h"
@@ -16,8 +17,8 @@
#include "y2022/control_loops/superstructure/superstructure.h"
#include "y2022/control_loops/superstructure/turret/turret_plant.h"
-DEFINE_string(output_folder, "",
- "If set, logs all channels to the provided logfile.");
+ABSL_FLAG(std::string, output_folder, "",
+ "If set, logs all channels to the provided logfile.");
namespace y2022::control_loops::superstructure::testing {
namespace chrono = std::chrono;
@@ -275,11 +276,11 @@
SetEnabled(true);
- if (!FLAGS_output_folder.empty()) {
- unlink(FLAGS_output_folder.c_str());
+ if (!absl::GetFlag(FLAGS_output_folder).empty()) {
+ unlink(absl::GetFlag(FLAGS_output_folder).c_str());
logger_event_loop_ = MakeEventLoop("logger", roborio_);
logger_ = std::make_unique<aos::logger::Logger>(logger_event_loop_.get());
- logger_->StartLoggingOnRun(FLAGS_output_folder);
+ logger_->StartLoggingOnRun(absl::GetFlag(FLAGS_output_folder));
}
}
diff --git a/y2022/control_loops/superstructure/superstructure_replay.cc b/y2022/control_loops/superstructure/superstructure_replay.cc
index d7f03e6..70640de 100644
--- a/y2022/control_loops/superstructure/superstructure_replay.cc
+++ b/y2022/control_loops/superstructure/superstructure_replay.cc
@@ -3,7 +3,7 @@
// replayed, so that it can then be run through the plotting tool or analyzed
// in some other way. The original superstructure status data will be on the
// /original/superstructure channel.
-#include "gflags/gflags.h"
+#include "absl/flags/flag.h"
#include "aos/events/logging/log_reader.h"
#include "aos/events/logging/log_writer.h"
@@ -15,14 +15,14 @@
#include "y2022/constants.h"
#include "y2022/control_loops/superstructure/superstructure.h"
-DEFINE_int32(team, 971, "Team number to use for logfile replay.");
-DEFINE_string(output_folder, "/tmp/superstructure_replay/",
- "Logs all channels to the provided logfile.");
+ABSL_FLAG(int32_t, team, 971, "Team number to use for logfile replay.");
+ABSL_FLAG(std::string, output_folder, "/tmp/superstructure_replay/",
+ "Logs all channels to the provided logfile.");
int main(int argc, char **argv) {
aos::InitGoogle(&argc, &argv);
- aos::network::OverrideTeamNumber(FLAGS_team);
+ aos::network::OverrideTeamNumber(absl::GetFlag(FLAGS_team));
// open logfiles
aos::logger::LogReader reader(
@@ -40,11 +40,11 @@
aos::NodeEventLoopFactory *roborio =
factory.GetNodeEventLoopFactory("roborio");
- unlink(FLAGS_output_folder.c_str());
+ unlink(absl::GetFlag(FLAGS_output_folder).c_str());
std::unique_ptr<aos::EventLoop> logger_event_loop =
roborio->MakeEventLoop("logger");
auto logger = std::make_unique<aos::logger::Logger>(logger_event_loop.get());
- logger->StartLoggingOnRun(FLAGS_output_folder);
+ logger->StartLoggingOnRun(absl::GetFlag(FLAGS_output_folder));
roborio->OnStartup([roborio]() {
roborio->AlwaysStart<y2022::control_loops::superstructure::Superstructure>(