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/y2024/BUILD b/y2024/BUILD
index 9ec03d0..baba07b 100644
--- a/y2024/BUILD
+++ b/y2024/BUILD
@@ -228,8 +228,9 @@
"//y2024/control_loops/superstructure/extend:extend_plants",
"//y2024/control_loops/superstructure/intake_pivot:intake_pivot_plants",
"//y2024/control_loops/superstructure/turret:turret_plants",
- "@com_github_google_glog//:glog",
"@com_google_absl//absl/base",
+ "@com_google_absl//absl/log",
+ "@com_google_absl//absl/log:check",
],
)
diff --git a/y2024/autonomous/autonomous_actor.cc b/y2024/autonomous/autonomous_actor.cc
index 83cf5b1..4afb9e4 100644
--- a/y2024/autonomous/autonomous_actor.cc
+++ b/y2024/autonomous/autonomous_actor.cc
@@ -4,6 +4,8 @@
#include <cinttypes>
#include <cmath>
+#include "absl/flags/flag.h"
+
#include "aos/logging/logging.h"
#include "aos/util/math.h"
#include "frc971/control_loops/drivetrain/localizer_generated.h"
@@ -11,8 +13,8 @@
#include "y2024/constants.h"
#include "y2024/control_loops/drivetrain/drivetrain_base.h"
-DEFINE_bool(spline_auto, false, "Run simple test S-spline auto mode.");
-DEFINE_bool(do_fifth_piece, true, "");
+ABSL_FLAG(bool, spline_auto, false, "Run simple test S-spline auto mode.");
+ABSL_FLAG(bool, do_fifth_piece, true, "");
namespace y2024::autonomous {
@@ -344,7 +346,7 @@
INFO, "Finished 4 notes at %lfs\n",
aos::time::DurationInSeconds(aos::monotonic_clock::now() - start_time));
- if (!FLAGS_do_fifth_piece) {
+ if (!absl::GetFlag(FLAGS_do_fifth_piece)) {
AOS_LOG(INFO, "Exitting early due to --nodo_fifth_piece");
return;
}
diff --git a/y2024/constants.cc b/y2024/constants.cc
index a5194e2..1f4c0bc 100644
--- a/y2024/constants.cc
+++ b/y2024/constants.cc
@@ -8,7 +8,8 @@
#endif
#include "absl/base/call_once.h"
-#include "glog/logging.h"
+#include "absl/log/check.h"
+#include "absl/log/log.h"
#include "aos/mutex/mutex.h"
#include "aos/network/team_number.h"
diff --git a/y2024/constants/BUILD b/y2024/constants/BUILD
index 7e5a41a..f41492e 100644
--- a/y2024/constants/BUILD
+++ b/y2024/constants/BUILD
@@ -105,7 +105,8 @@
":constants_list_fbs",
"//aos:init",
"//aos:json_to_flatbuffer",
- "@com_github_google_glog//:glog",
+ "@com_google_absl//absl/log",
+ "@com_google_absl//absl/log:check",
],
)
diff --git a/y2024/constants/constants_formatter.cc b/y2024/constants/constants_formatter.cc
index d857407..0af18a9 100644
--- a/y2024/constants/constants_formatter.cc
+++ b/y2024/constants/constants_formatter.cc
@@ -1,4 +1,5 @@
-#include "glog/logging.h"
+#include "absl/log/check.h"
+#include "absl/log/log.h"
#include "aos/flatbuffers.h"
#include "aos/init.h"
diff --git a/y2024/constants/constants_sender.cc b/y2024/constants/constants_sender.cc
index bc442a2..e36d32c 100644
--- a/y2024/constants/constants_sender.cc
+++ b/y2024/constants/constants_sender.cc
@@ -1,5 +1,4 @@
-#include "gflags/gflags.h"
-#include "glog/logging.h"
+#include "absl/flags/flag.h"
#include "aos/configuration.h"
#include "aos/events/shm_event_loop.h"
@@ -9,16 +8,17 @@
#include "y2024/constants/constants_generated.h"
#include "y2024/constants/constants_list_generated.h"
-DEFINE_string(config, "aos_config.json", "Path to the AOS config.");
-DEFINE_string(constants_path, "constants.json", "Path to the constant file");
+ABSL_FLAG(std::string, config, "aos_config.json", "Path to the AOS config.");
+ABSL_FLAG(std::string, constants_path, "constants.json",
+ "Path to the constant file");
int main(int argc, char **argv) {
aos::InitGoogle(&argc, &argv);
aos::FlatbufferDetachedBuffer<aos::Configuration> config =
- aos::configuration::ReadConfig(FLAGS_config);
+ aos::configuration::ReadConfig(absl::GetFlag(FLAGS_config));
aos::ShmEventLoop event_loop(&config.message());
frc971::constants::ConstantSender<y2024::Constants, y2024::ConstantsList>
- constants_sender(&event_loop, FLAGS_constants_path);
+ constants_sender(&event_loop, absl::GetFlag(FLAGS_constants_path));
// Don't need to call Run().
return 0;
}
diff --git a/y2024/control_loops/drivetrain/drivetrain_replay.cc b/y2024/control_loops/drivetrain/drivetrain_replay.cc
index d43b2af..73c2f87 100644
--- a/y2024/control_loops/drivetrain/drivetrain_replay.cc
+++ b/y2024/control_loops/drivetrain/drivetrain_replay.cc
@@ -1,4 +1,4 @@
-#include "gflags/gflags.h"
+#include "absl/flags/flag.h"
#include "aos/configuration.h"
#include "aos/events/logging/log_reader.h"
@@ -17,31 +17,32 @@
#include "y2024/constants/simulated_constants_sender.h"
#include "y2024/control_loops/drivetrain/drivetrain_base.h"
-DEFINE_string(config, "y2024/aos_config.json",
- "Name of the config file to replay using.");
-DEFINE_bool(override_config, false,
- "If set, override the logged config with --config.");
-DEFINE_int32(team, 971, "Team number to use for logfile replay.");
-DEFINE_string(output_folder, "/tmp/replayed",
- "Name of the folder to write replayed logs to.");
-DEFINE_string(constants_path, "y2024/constants/constants.json",
- "Path to the constant file");
+ABSL_FLAG(std::string, config, "y2024/aos_config.json",
+ "Name of the config file to replay using.");
+ABSL_FLAG(bool, override_config, false,
+ "If set, override the logged config with --config.");
+ABSL_FLAG(int32_t, team, 971, "Team number to use for logfile replay.");
+ABSL_FLAG(std::string, output_folder, "/tmp/replayed",
+ "Name of the folder to write replayed logs to.");
+ABSL_FLAG(std::string, constants_path, "y2024/constants/constants.json",
+ "Path to the constant file");
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 =
aos::logger::SortParts(aos::logger::FindLogs(argc, argv));
// open logfiles
- aos::logger::LogReader reader(
- logfiles, FLAGS_override_config ? &config.message() : nullptr);
+ aos::logger::LogReader reader(logfiles, absl::GetFlag(FLAGS_override_config)
+ ? &config.message()
+ : nullptr);
reader.RemapLoggedChannel("/imu/constants", "y2024.Constants");
reader.RemapLoggedChannel("/roborio/constants", "y2024.Constants");
@@ -58,8 +59,9 @@
reader.RegisterWithoutStarting(factory.get());
- y2024::SendSimulationConstants(reader.event_loop_factory(), FLAGS_team,
- FLAGS_constants_path, {"roborio"});
+ y2024::SendSimulationConstants(
+ reader.event_loop_factory(), absl::GetFlag(FLAGS_team),
+ absl::GetFlag(FLAGS_constants_path), {"roborio"});
const aos::Node *node = nullptr;
if (aos::configuration::MultiNode(reader.configuration())) {
@@ -86,7 +88,7 @@
std::make_unique<frc971::control_loops::drivetrain::DrivetrainLoop>(
drivetrain_config, drivetrain_event_loop.get(), localizer.get());
loggers.push_back(std::make_unique<aos::util::LoggerState>(
- factory.get(), node, FLAGS_output_folder));
+ factory.get(), node, absl::GetFlag(FLAGS_output_folder)));
// The Trajectory information is NOT_LOGGED, so we need to rerun it against
// the SplineGoals that we have in the log.
node_factory
diff --git a/y2024/control_loops/drivetrain/trajectory_generator_main.cc b/y2024/control_loops/drivetrain/trajectory_generator_main.cc
index f53f79a..b01bea0 100644
--- a/y2024/control_loops/drivetrain/trajectory_generator_main.cc
+++ b/y2024/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/constants/constants_sender_lib.h"
@@ -10,8 +12,8 @@
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);
@@ -27,7 +29,7 @@
::y2024::control_loops::drivetrain::GetDrivetrainConfig(&event_loop));
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 {
diff --git a/y2024/control_loops/superstructure/BUILD b/y2024/control_loops/superstructure/BUILD
index 6c1075a..f175d19 100644
--- a/y2024/control_loops/superstructure/BUILD
+++ b/y2024/control_loops/superstructure/BUILD
@@ -136,8 +136,9 @@
"//frc971/control_loops:control_loops_fbs",
"//frc971/control_loops:profiled_subsystem_fbs",
"//frc971/control_loops:static_zeroing_single_dof_profiled_subsystem",
- "@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/y2024/control_loops/superstructure/collision_avoidance.cc b/y2024/control_loops/superstructure/collision_avoidance.cc
index bd82fe0..a4f3a35 100644
--- a/y2024/control_loops/superstructure/collision_avoidance.cc
+++ b/y2024/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 y2024::control_loops::superstructure {
diff --git a/y2024/control_loops/superstructure/superstructure.cc b/y2024/control_loops/superstructure/superstructure.cc
index 7f7da4f..a33fc87 100644
--- a/y2024/control_loops/superstructure/superstructure.cc
+++ b/y2024/control_loops/superstructure/superstructure.cc
@@ -9,8 +9,8 @@
#include "frc971/shooter_interpolation/interpolation.h"
#include "frc971/zeroing/wrap.h"
-DEFINE_bool(ignore_distance, false,
- "If true, ignore distance when shooting and obey joystick_reader");
+ABSL_FLAG(bool, ignore_distance, false,
+ "If true, ignore distance when shooting and obey joystick_reader");
// The threshold used when decided if the extend is close enough to a goal to
// continue.
diff --git a/y2024/control_loops/superstructure/superstructure_lib_test.cc b/y2024/control_loops/superstructure/superstructure_lib_test.cc
index 719a29b..cf518e7 100644
--- a/y2024/control_loops/superstructure/superstructure_lib_test.cc
+++ b/y2024/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"
@@ -20,8 +21,8 @@
#include "y2024/control_loops/superstructure/superstructure.h"
#include "y2024/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 y2024::control_loops::superstructure::testing {
@@ -336,11 +337,11 @@
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/y2024/control_loops/superstructure/superstructure_main.cc b/y2024/control_loops/superstructure/superstructure_main.cc
index a5ab8ed..90c5eb4 100644
--- a/y2024/control_loops/superstructure/superstructure_main.cc
+++ b/y2024/control_loops/superstructure/superstructure_main.cc
@@ -2,8 +2,8 @@
#include "aos/init.h"
#include "y2024/control_loops/superstructure/superstructure.h"
-DEFINE_string(arm_trajectories, "arm_trajectories_generated.bfbs",
- "The path to the generated arm trajectories bfbs file.");
+ABSL_FLAG(std::string, arm_trajectories, "arm_trajectories_generated.bfbs",
+ "The path to the generated arm trajectories bfbs file.");
using y2024::control_loops::superstructure::Superstructure;
diff --git a/y2024/control_loops/superstructure/superstructure_replay.cc b/y2024/control_loops/superstructure/superstructure_replay.cc
index ab88a46..37ab08f 100644
--- a/y2024/control_loops/superstructure/superstructure_replay.cc
+++ b/y2024/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 "y2024/constants.h"
#include "y2024/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<y2024::control_loops::superstructure::Superstructure>(
diff --git a/y2024/joystick_reader.cc b/y2024/joystick_reader.cc
index 88bf441..4b0bec9 100644
--- a/y2024/joystick_reader.cc
+++ b/y2024/joystick_reader.cc
@@ -4,6 +4,8 @@
#include <cstdio>
#include <cstring>
+#include "absl/flags/flag.h"
+
#include "aos/actions/actions.h"
#include "aos/init.h"
#include "aos/logging/logging.h"
@@ -32,10 +34,10 @@
using frc971::input::driver_station::POVLocation;
using Side = frc971::control_loops::drivetrain::RobotSide;
-DEFINE_double(speaker_altitude_position_override, -1,
- "If set, use this as the altitude angle for the fixed shot.");
-DEFINE_bool(allow_force_preload, false,
- "If set, enable the kForcePreload button.");
+ABSL_FLAG(double, speaker_altitude_position_override, -1,
+ "If set, use this as the altitude angle for the fixed shot.");
+ABSL_FLAG(bool, allow_force_preload, false,
+ "If set, enable the kForcePreload button.");
namespace y2024::input::joysticks {
@@ -140,7 +142,7 @@
superstructure::NoteGoal::NONE);
}
auto shooter_goal = superstructure_goal_builder->add_shooter_goal();
- shooter_goal->set_preloaded(FLAGS_allow_force_preload &&
+ shooter_goal->set_preloaded(absl::GetFlag(FLAGS_allow_force_preload) &&
data.IsPressed(kForceLoad));
if (data.IsPressed(kAutoAim)) {
shooter_goal->set_auto_aim(
@@ -160,10 +162,10 @@
catapult_goal->set_shot_velocity(robot_constants_->common()
->shooter_speaker_set_point()
->shot_velocity());
- if (FLAGS_speaker_altitude_position_override > 0) {
+ if (absl::GetFlag(FLAGS_speaker_altitude_position_override) > 0) {
PopulateStaticZeroingSingleDOFProfiledSubsystemGoal(
shooter_goal->add_altitude_position(),
- FLAGS_speaker_altitude_position_override);
+ absl::GetFlag(FLAGS_speaker_altitude_position_override));
} else {
PopulateStaticZeroingSingleDOFProfiledSubsystemGoal(
shooter_goal->add_altitude_position(),
diff --git a/y2024/localizer/localizer.cc b/y2024/localizer/localizer.cc
index 90423ca..cb11c44 100644
--- a/y2024/localizer/localizer.cc
+++ b/y2024/localizer/localizer.cc
@@ -1,6 +1,6 @@
#include "y2024/localizer/localizer.h"
-#include "gflags/gflags.h"
+#include "absl/flags/flag.h"
#include "aos/containers/sized_array.h"
#include "frc971/control_loops/drivetrain/localizer_generated.h"
@@ -9,38 +9,36 @@
#include "frc971/vision/target_map_utils.h"
#include "y2024/constants.h"
-DEFINE_double(max_pose_error, 1e-5,
- "Throw out target poses with a higher pose error than this");
-DEFINE_double(max_distortion, 1000.0, "");
-DEFINE_double(
- max_pose_error_ratio, 0.4,
- "Throw out target poses with a higher pose error ratio than this");
-DEFINE_double(distortion_noise_scalar, 4.0,
- "Scale the target pose distortion factor by this when computing "
- "the noise.");
-DEFINE_double(
- max_implied_yaw_error, 5.0,
+ABSL_FLAG(double, max_pose_error, 1e-5,
+ "Throw out target poses with a higher pose error than this");
+ABSL_FLAG(double, max_distortion, 1000.0, "");
+ABSL_FLAG(double, max_pose_error_ratio, 0.4,
+ "Throw out target poses with a higher pose error ratio than this");
+ABSL_FLAG(double, distortion_noise_scalar, 4.0,
+ "Scale the target pose distortion factor by this when computing "
+ "the noise.");
+ABSL_FLAG(
+ double, max_implied_yaw_error, 5.0,
"Reject target poses that imply a robot yaw of more than this many degrees "
"off from our estimate.");
-DEFINE_double(
- max_implied_teleop_yaw_error, 30.0,
+ABSL_FLAG(
+ double, max_implied_teleop_yaw_error, 30.0,
"Reject target poses that imply a robot yaw of more than this many degrees "
"off from our estimate.");
-DEFINE_double(max_distance_to_target, 5.0,
- "Reject target poses that have a 3d distance of more than this "
- "many meters.");
-DEFINE_double(max_auto_image_robot_speed, 5.0,
- "Reject target poses when the robot is travelling faster than "
- "this speed in auto.");
-DEFINE_bool(
- do_xytheta_corrections, false,
+ABSL_FLAG(double, max_distance_to_target, 5.0,
+ "Reject target poses that have a 3d distance of more than this "
+ "many meters.");
+ABSL_FLAG(double, max_auto_image_robot_speed, 5.0,
+ "Reject target poses when the robot is travelling faster than "
+ "this speed in auto.");
+ABSL_FLAG(
+ bool, do_xytheta_corrections, false,
"If set, uses the x/y/theta corrector rather than a heading/distance/skew "
"one. This is better conditioned currently, but is theoretically worse due "
"to not capturing noise effectively.");
-DEFINE_bool(
- always_use_extra_tags, true,
- "If set, we will use the \"deweighted\" tags even in auto mode (this "
- "affects april tags whose field positions we do not trust as much).");
+ABSL_FLAG(bool, always_use_extra_tags, true,
+ "If set, we will use the \"deweighted\" tags even in auto mode (this "
+ "affects april tags whose field positions we do not trust as much).");
namespace y2024::localizer {
namespace {
@@ -380,8 +378,8 @@
}
namespace {
-// Converts a camera transformation matrix from treating the +Z axis from
-// pointing straight out the lens to having the +X pointing straight out the
+// converts a camera transformation matrix from treating the +z axis from
+// pointing straight out the lens to having the +x pointing straight out the
// lens, with +Z going "up" (i.e., -Y in the normal convention) and +Y going
// leftwards (i.e., -X in the normal convention).
Localizer::Transform ZToXCamera(const Localizer::Transform &transform) {
@@ -419,7 +417,8 @@
}
double april_tag_noise_scalar = 1.0;
if (DeweightAprilTag(target_id)) {
- if (!FLAGS_always_use_extra_tags && utils_.MaybeInAutonomous()) {
+ if (!absl::GetFlag(FLAGS_always_use_extra_tags) &&
+ utils_.MaybeInAutonomous()) {
VLOG(1) << "Rejecting target due to auto invalid ID " << target_id;
RejectImage(camera_index, RejectionReason::NO_SUCH_TARGET, debug_builder);
return;
@@ -454,12 +453,13 @@
VLOG(1) << "Rejecting image due to being too old.";
return RejectImage(camera_index, RejectionReason::IMAGE_TOO_OLD,
debug_builder);
- } else if (target.pose_error() > FLAGS_max_pose_error) {
+ } else if (target.pose_error() > absl::GetFlag(FLAGS_max_pose_error)) {
VLOG(1) << "Rejecting target due to high pose error "
<< target.pose_error();
return RejectImage(camera_index, RejectionReason::HIGH_POSE_ERROR,
debug_builder);
- } else if (target.pose_error_ratio() > FLAGS_max_pose_error_ratio) {
+ } else if (target.pose_error_ratio() >
+ absl::GetFlag(FLAGS_max_pose_error_ratio)) {
VLOG(1) << "Rejecting target due to high pose error ratio "
<< target.pose_error_ratio();
return RejectImage(camera_index, RejectionReason::HIGH_POSE_ERROR_RATIO,
@@ -484,7 +484,8 @@
noises(Corrector::kSkew) *= distance_noise_scalar;
// TODO(james): This is leftover from last year; figure out if we want it.
// Scale noise by the distortion factor for this detection
- noises *= (1.0 + FLAGS_distortion_noise_scalar * target.distortion_factor());
+ noises *= (1.0 + absl::GetFlag(FLAGS_distortion_noise_scalar) *
+ target.distortion_factor());
noises *= april_tag_noise_scalar;
noises *= (1.0 + std::abs(robot_speed));
@@ -522,22 +523,24 @@
corrector.observed_camera_pose().abs_theta());
constexpr double kDegToRad = M_PI / 180.0;
const double yaw_threshold =
- (utils_.MaybeInAutonomous() ? FLAGS_max_implied_yaw_error
- : FLAGS_max_implied_teleop_yaw_error) *
+ (utils_.MaybeInAutonomous()
+ ? absl::GetFlag(FLAGS_max_implied_yaw_error)
+ : absl::GetFlag(FLAGS_max_implied_teleop_yaw_error)) *
kDegToRad;
- if (target.distortion_factor() > FLAGS_max_distortion) {
+ if (target.distortion_factor() > absl::GetFlag(FLAGS_max_distortion)) {
VLOG(1) << "Rejecting target due to high distortion.";
return RejectImage(camera_index, RejectionReason::HIGH_DISTORTION,
debug_builder);
} else if (utils_.MaybeInAutonomous() &&
- (std::abs(robot_speed) > FLAGS_max_auto_image_robot_speed)) {
+ (std::abs(robot_speed) >
+ absl::GetFlag(FLAGS_max_auto_image_robot_speed))) {
return RejectImage(camera_index, RejectionReason::ROBOT_TOO_FAST,
debug_builder);
} else if (std::abs(camera_yaw_error) > yaw_threshold) {
return RejectImage(camera_index, RejectionReason::HIGH_IMPLIED_YAW_ERROR,
debug_builder);
- } else if (distance_to_target > FLAGS_max_distance_to_target) {
+ } else if (distance_to_target > absl::GetFlag(FLAGS_max_distance_to_target)) {
return RejectImage(camera_index, RejectionReason::HIGH_DISTANCE_TO_TARGET,
debug_builder);
}
@@ -551,15 +554,15 @@
// the camera measurement and the current estimate of the
// pose. This doesn't affect any of the math, it just makes the code a bit
// more convenient to write given the Correct() interface we already have.
- if (FLAGS_do_xytheta_corrections) {
+ if (absl::GetFlag(FLAGS_do_xytheta_corrections)) {
Eigen::Vector3d Z(measured_pose.rel_pos().x(), measured_pose.rel_pos().y(),
measured_pose.rel_theta());
Eigen::Matrix<double, 3, 1> xyz_noises(0.2, 0.2, 0.5);
xyz_noises *= distance_noise_scalar;
xyz_noises *= april_tag_noise_scalar;
// Scale noise by the distortion factor for this detection
- xyz_noises *=
- (1.0 + FLAGS_distortion_noise_scalar * target.distortion_factor());
+ xyz_noises *= (1.0 + absl::GetFlag(FLAGS_distortion_noise_scalar) *
+ target.distortion_factor());
Eigen::Matrix3d R_xyz = Eigen::Matrix3d::Zero();
R_xyz.diagonal() = xyz_noises.cwiseAbs2();
diff --git a/y2024/localizer/localizer_main.cc b/y2024/localizer/localizer_main.cc
index 25466d2..1da4ac9 100644
--- a/y2024/localizer/localizer_main.cc
+++ b/y2024/localizer/localizer_main.cc
@@ -1,16 +1,19 @@
+#include "absl/flags/flag.h"
+
#include "aos/events/shm_event_loop.h"
#include "aos/init.h"
#include "frc971/constants/constants_sender_lib.h"
#include "y2024/control_loops/drivetrain/drivetrain_base.h"
#include "y2024/localizer/localizer.h"
-DEFINE_string(config, "aos_config.json", "Path to the config file to use.");
+ABSL_FLAG(std::string, config, "aos_config.json",
+ "Path to the config file to use.");
int main(int argc, char *argv[]) {
aos::InitGoogle(&argc, &argv);
aos::FlatbufferDetachedBuffer<aos::Configuration> config =
- aos::configuration::ReadConfig(FLAGS_config);
+ aos::configuration::ReadConfig(absl::GetFlag(FLAGS_config));
frc971::constants::WaitForConstants<y2024::Constants>(&config.message());
diff --git a/y2024/localizer/localizer_replay.cc b/y2024/localizer/localizer_replay.cc
index ad0caae..52fd917 100644
--- a/y2024/localizer/localizer_replay.cc
+++ b/y2024/localizer/localizer_replay.cc
@@ -1,4 +1,4 @@
-#include "gflags/gflags.h"
+#include "absl/flags/flag.h"
#include "aos/configuration.h"
#include "aos/events/logging/log_reader.h"
@@ -14,31 +14,32 @@
#include "y2024/control_loops/drivetrain/drivetrain_base.h"
#include "y2024/localizer/localizer.h"
-DEFINE_string(config, "y2024/aos_config.json",
- "Name of the config file to replay using.");
-DEFINE_bool(override_config, false,
- "If set, override the logged config with --config.");
-DEFINE_int32(team, 971, "Team number to use for logfile replay.");
-DEFINE_string(output_folder, "/tmp/replayed",
- "Name of the folder to write replayed logs to.");
-DEFINE_string(constants_path, "y2024/constants/constants.json",
- "Path to the constant file");
+ABSL_FLAG(std::string, config, "y2024/aos_config.json",
+ "Name of the config file to replay using.");
+ABSL_FLAG(bool, override_config, false,
+ "If set, override the logged config with --config.");
+ABSL_FLAG(int32_t, team, 971, "Team number to use for logfile replay.");
+ABSL_FLAG(std::string, output_folder, "/tmp/replayed",
+ "Name of the folder to write replayed logs to.");
+ABSL_FLAG(std::string, constants_path, "y2024/constants/constants.json",
+ "Path to the constant file");
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 =
aos::logger::SortParts(aos::logger::FindLogs(argc, argv));
// open logfiles
- aos::logger::LogReader reader(
- logfiles, FLAGS_override_config ? &config.message() : nullptr);
+ aos::logger::LogReader reader(logfiles, absl::GetFlag(FLAGS_override_config)
+ ? &config.message()
+ : nullptr);
reader.RemapLoggedChannel("/localizer", "y2024.localizer.Status");
for (const auto orin : {"orin1", "imu"}) {
@@ -59,8 +60,9 @@
reader.RegisterWithoutStarting(factory.get());
- y2024::SendSimulationConstants(reader.event_loop_factory(), FLAGS_team,
- FLAGS_constants_path);
+ y2024::SendSimulationConstants(reader.event_loop_factory(),
+ absl::GetFlag(FLAGS_team),
+ absl::GetFlag(FLAGS_constants_path));
const aos::Node *node = nullptr;
if (aos::configuration::MultiNode(reader.configuration())) {
@@ -75,7 +77,7 @@
node_factory->AlwaysStart<frc971::imu_fdcan::DualImuBlender>(
"dual_imu_blender");
loggers.push_back(std::make_unique<aos::util::LoggerState>(
- factory.get(), node, FLAGS_output_folder));
+ factory.get(), node, absl::GetFlag(FLAGS_output_folder)));
});
reader.event_loop_factory()->Run();
diff --git a/y2024/localizer/localizer_test.cc b/y2024/localizer/localizer_test.cc
index e5815e0..d02807f 100644
--- a/y2024/localizer/localizer_test.cc
+++ b/y2024/localizer/localizer_test.cc
@@ -1,5 +1,8 @@
#include "y2024/localizer/localizer.h"
+#include "absl/flags/declare.h"
+#include "absl/flags/flag.h"
+#include "absl/flags/reflection.h"
#include "gtest/gtest.h"
#include "aos/events/logging/log_writer.h"
@@ -14,9 +17,9 @@
#include "y2024/control_loops/drivetrain/drivetrain_base.h"
#include "y2024/localizer/status_generated.h"
-DEFINE_string(output_folder, "",
- "If set, logs all channels to the provided logfile.");
-DECLARE_double(max_distance_to_target);
+ABSL_FLAG(std::string, output_folder, "",
+ "If set, logs all channels to the provided logfile.");
+ABSL_DECLARE_FLAG(double, max_distance_to_target);
namespace y2024::localizer::testing {
@@ -76,7 +79,7 @@
->MakeFetcher<frc971::controls::LocalizerOutput>("/localizer")),
status_fetcher_(
imu_test_event_loop_->MakeFetcher<Status>("/localizer")) {
- FLAGS_max_distance_to_target = 100.0;
+ absl::SetFlag(&FLAGS_max_distance_to_target, 100.0);
{
aos::TimerHandler *timer = roborio_test_event_loop_->AddTimer([this]() {
{
@@ -222,11 +225,11 @@
CHECK(status_fetcher_.Fetch());
CHECK(status_fetcher_->imu()->zeroed());
- if (!FLAGS_output_folder.empty()) {
+ if (!absl::GetFlag(FLAGS_output_folder).empty()) {
logger_event_loop_ =
event_loop_factory_.MakeEventLoop("logger", imu_node_);
logger_ = std::make_unique<aos::logger::Logger>(logger_event_loop_.get());
- logger_->StartLoggingOnRun(FLAGS_output_folder);
+ logger_->StartLoggingOnRun(absl::GetFlag(FLAGS_output_folder));
}
}
@@ -313,7 +316,7 @@
double pose_error_ratio_ = 0.1;
double implied_yaw_error_ = 0.0;
- gflags::FlagSaver flag_saver_;
+ absl::FlagSaver flag_saver_;
};
// Test a simple scenario with no errors where the robot should just drive
diff --git a/y2024/orin/BUILD b/y2024/orin/BUILD
index b8ee2bc..c8b899b 100644
--- a/y2024/orin/BUILD
+++ b/y2024/orin/BUILD
@@ -10,6 +10,7 @@
"//aos/events:shm_event_loop",
"//aos/time",
"//frc971/can_logger:can_logger_lib",
- "@com_github_google_glog//:glog",
+ "@com_google_absl//absl/log",
+ "@com_google_absl//absl/log:check",
],
)
diff --git a/y2024/vision/BUILD b/y2024/vision/BUILD
index 500cad6..fb73392 100644
--- a/y2024/vision/BUILD
+++ b/y2024/vision/BUILD
@@ -54,9 +54,10 @@
"//third_party:cudart",
"//third_party/apriltag",
"//y2024/constants:constants_fbs",
- "@com_github_gflags_gflags//:gflags",
- "@com_github_google_glog//:glog",
"@com_github_nvidia_cccl//:cccl",
+ "@com_google_absl//absl/flags:flag",
+ "@com_google_absl//absl/log",
+ "@com_google_absl//absl/log:check",
],
)
diff --git a/y2024/vision/apriltag_detector.cc b/y2024/vision/apriltag_detector.cc
index 5edcf36..998625c 100644
--- a/y2024/vision/apriltag_detector.cc
+++ b/y2024/vision/apriltag_detector.cc
@@ -1,17 +1,20 @@
#include <string>
+#include "absl/flags/flag.h"
+
#include "aos/init.h"
#include "frc971/orin/gpu_apriltag.h"
#include "y2024/constants/constants_generated.h"
#include "y2024/vision/vision_util.h"
-DEFINE_string(channel, "/camera", "Channel name");
-DEFINE_string(config, "aos_config.json", "Path to the config file to use.");
+ABSL_FLAG(std::string, channel, "/camera", "Channel name");
+ABSL_FLAG(std::string, config, "aos_config.json",
+ "Path to the config file to use.");
void GpuApriltagDetector() {
aos::FlatbufferDetachedBuffer<aos::Configuration> config =
- aos::configuration::ReadConfig(FLAGS_config);
+ aos::configuration::ReadConfig(absl::GetFlag(FLAGS_config));
frc971::constants::WaitForConstants<y2024::Constants>(&config.message());
@@ -20,15 +23,15 @@
const frc971::constants::ConstantsFetcher<y2024::Constants> calibration_data(
&event_loop);
- CHECK(FLAGS_channel.length() == 8);
- int camera_id = std::stoi(FLAGS_channel.substr(7, 1));
+ CHECK(absl::GetFlag(FLAGS_channel).length() == 8);
+ int camera_id = std::stoi(absl::GetFlag(FLAGS_channel).substr(7, 1));
const frc971::vision::calibration::CameraCalibration *calibration =
y2024::vision::FindCameraCalibration(
calibration_data.constants(),
event_loop.node()->name()->string_view(), camera_id);
- frc971::apriltag::ApriltagDetector detector(&event_loop, FLAGS_channel,
- calibration);
+ frc971::apriltag::ApriltagDetector detector(
+ &event_loop, absl::GetFlag(FLAGS_channel), calibration);
// TODO(austin): Figure out our core pinning strategy.
// event_loop.SetRuntimeAffinity(aos::MakeCpusetFromCpus({5}));
diff --git a/y2024/vision/calibrate_multi_cameras.cc b/y2024/vision/calibrate_multi_cameras.cc
index 979c0d4..7a9f412 100644
--- a/y2024/vision/calibrate_multi_cameras.cc
+++ b/y2024/vision/calibrate_multi_cameras.cc
@@ -1,5 +1,7 @@
#include <numeric>
+#include "absl/flags/flag.h"
+
#include "aos/configuration.h"
#include "aos/events/logging/log_reader.h"
#include "aos/events/simulated_event_loop.h"
@@ -28,32 +30,31 @@
#include "y2024/constants/simulated_constants_sender.h"
#include "y2024/vision/vision_util.h"
-DEFINE_bool(alt_view, false,
- "If true, show visualization from field level, rather than above");
-DEFINE_string(config, "",
- "If set, override the log's config file with this one.");
-DEFINE_string(constants_path, "y2024/constants/constants.json",
- "Path to the constant file");
-DEFINE_double(max_pose_error, 5e-5,
- "Throw out target poses with a higher pose error than this");
-DEFINE_double(
- max_pose_error_ratio, 0.4,
- "Throw out target poses with a higher pose error ratio than this");
-DEFINE_string(output_folder, "/tmp",
- "Directory in which to store the updated calibration files");
-DEFINE_string(target_type, "charuco_diamond",
- "Type of target being used [aruco, charuco, charuco_diamond]");
-DEFINE_int32(team_number, 0,
- "Required: Use the calibration for a node with this team number");
-DEFINE_uint64(
- wait_key, 1,
+ABSL_FLAG(bool, alt_view, false,
+ "If true, show visualization from field level, rather than above");
+ABSL_FLAG(std::string, config, "",
+ "If set, override the log's config file with this one.");
+ABSL_FLAG(std::string, constants_path, "y2024/constants/constants.json",
+ "Path to the constant file");
+ABSL_FLAG(double, max_pose_error, 5e-5,
+ "Throw out target poses with a higher pose error than this");
+ABSL_FLAG(double, max_pose_error_ratio, 0.4,
+ "Throw out target poses with a higher pose error ratio than this");
+ABSL_FLAG(std::string, output_folder, "/tmp",
+ "Directory in which to store the updated calibration files");
+ABSL_FLAG(std::string, target_type, "charuco_diamond",
+ "Type of target being used [aruco, charuco, charuco_diamond]");
+ABSL_FLAG(int32_t, team_number, 0,
+ "Required: Use the calibration for a node with this team number");
+ABSL_FLAG(
+ uint64_t, wait_key, 1,
"Time in ms to wait between images (0 to wait indefinitely until click)");
-DEFINE_bool(robot, false,
- "If true we're calibrating extrinsics for the robot, use the "
- "correct node path for the robot.");
+ABSL_FLAG(bool, robot, false,
+ "If true we're calibrating extrinsics for the robot, use the "
+ "correct node path for the robot.");
-DECLARE_int32(min_target_id);
-DECLARE_int32(max_target_id);
+ABSL_DECLARE_FLAG(int32_t, min_target_id);
+ABSL_DECLARE_FLAG(int32_t, max_target_id);
// Calibrate extrinsic relationship between cameras using two targets
// seen jointly between cameras. Uses two types of information: 1)
@@ -187,7 +188,7 @@
Eigen::Affine3d H_world_board;
H_world_board = Eigen::Translation3d::Identity() *
Eigen::AngleAxisd(M_PI / 2.0, Eigen::Vector3d::UnitX());
- if (FLAGS_alt_view) {
+ if (absl::GetFlag(FLAGS_alt_view)) {
// Don't rotate -- this is like viewing from the side
H_world_board = Eigen::Translation3d(0.0, 0.0, 3.0);
}
@@ -228,7 +229,7 @@
// Store this observation of the transform between two boards
two_board_extrinsics_list.push_back(boardA_boardB);
- if (FLAGS_visualize) {
+ if (absl::GetFlag(FLAGS_visualize)) {
vis_robot_.DrawFrameAxes(
H_world_board,
std::string("Board ") + std::to_string(target_poses[from_index].id),
@@ -272,7 +273,8 @@
// This bit is just for visualization and checking purposes-- use the
// last two-board observation to figure out the current estimate
// between the two cameras
- if (FLAGS_visualize && two_board_extrinsics_list.size() > 0) {
+ if (absl::GetFlag(FLAGS_visualize) &&
+ two_board_extrinsics_list.size() > 0) {
draw_vis = true;
TimestampedCameraDetection &last_two_board_ext =
two_board_extrinsics_list.back();
@@ -329,18 +331,18 @@
}
}
- if (FLAGS_visualize) {
+ if (absl::GetFlag(FLAGS_visualize)) {
if (!rgb_image.empty()) {
std::string image_name = camera_name + " Image";
cv::Mat rgb_small;
cv::resize(rgb_image, rgb_small, cv::Size(), 0.5, 0.5);
cv::imshow(image_name, rgb_small);
- cv::waitKey(FLAGS_wait_key);
+ cv::waitKey(absl::GetFlag(FLAGS_wait_key));
}
if (draw_vis) {
cv::imshow("Overhead View", vis_robot_.image_);
- cv::waitKey(FLAGS_wait_key);
+ cv::waitKey(absl::GetFlag(FLAGS_wait_key));
vis_robot_.ClearImage();
}
}
@@ -357,23 +359,24 @@
for (const auto *target_pose_fbs : *map.target_poses()) {
// Skip detections with invalid ids
if (static_cast<TargetMapper::TargetId>(target_pose_fbs->id()) <
- FLAGS_min_target_id ||
+ absl::GetFlag(FLAGS_min_target_id) ||
static_cast<TargetMapper::TargetId>(target_pose_fbs->id()) >
- FLAGS_max_target_id) {
+ absl::GetFlag(FLAGS_max_target_id)) {
VLOG(1) << "Skipping tag from " << camera_name << " with invalid id of "
<< target_pose_fbs->id();
continue;
}
// Skip detections with high pose errors
- if (target_pose_fbs->pose_error() > FLAGS_max_pose_error) {
+ if (target_pose_fbs->pose_error() > absl::GetFlag(FLAGS_max_pose_error)) {
LOG(INFO) << "Skipping tag from " << camera_name << " with id "
<< target_pose_fbs->id() << " due to pose error of "
<< target_pose_fbs->pose_error();
continue;
}
// Skip detections with high pose error ratios
- if (target_pose_fbs->pose_error_ratio() > FLAGS_max_pose_error_ratio) {
+ if (target_pose_fbs->pose_error_ratio() >
+ absl::GetFlag(FLAGS_max_pose_error_ratio)) {
LOG(INFO) << "Skipping tag from " << camera_name << " with id "
<< target_pose_fbs->id() << " due to pose error ratio of "
<< target_pose_fbs->pose_error_ratio();
@@ -437,9 +440,10 @@
vis_robot_.SetDefaultViewpoint(kImageWidth, kFocalLength);
std::optional<aos::FlatbufferDetachedBuffer<aos::Configuration>> config =
- (FLAGS_config.empty()
+ (absl::GetFlag(FLAGS_config).empty()
? std::nullopt
- : std::make_optional(aos::configuration::ReadConfig(FLAGS_config)));
+ : std::make_optional(
+ aos::configuration::ReadConfig(absl::GetFlag(FLAGS_config))));
// open logfiles
aos::logger::LogReader reader(
@@ -448,15 +452,16 @@
reader.RemapLoggedChannel("/imu/constants", "y2024.Constants");
reader.RemapLoggedChannel("/orin1/constants", "y2024.Constants");
- if (FLAGS_robot) {
+ if (absl::GetFlag(FLAGS_robot)) {
reader.RemapLoggedChannel("/roborio/constants", "y2024.Constants");
}
reader.Register();
- y2024::SendSimulationConstants(reader.event_loop_factory(), FLAGS_team_number,
- FLAGS_constants_path);
+ y2024::SendSimulationConstants(reader.event_loop_factory(),
+ absl::GetFlag(FLAGS_team_number),
+ absl::GetFlag(FLAGS_constants_path));
- VLOG(1) << "Using target type " << FLAGS_target_type;
+ VLOG(1) << "Using target type " << absl::GetFlag(FLAGS_target_type);
std::vector<const calibration::CameraCalibration *> calibration_list;
@@ -591,7 +596,7 @@
Eigen::Affine3d H_world_board;
H_world_board = Eigen::Translation3d::Identity() *
Eigen::AngleAxisd(M_PI / 2.0, Eigen::Vector3d::UnitX());
- if (FLAGS_alt_view) {
+ if (absl::GetFlag(FLAGS_alt_view)) {
H_world_board = Eigen::Translation3d(0.0, 0.0, 3.0);
}
@@ -675,9 +680,9 @@
CameraNode &camera_node = node_list[i + 1];
const std::string calibration_filename =
frc971::vision::CalibrationFilename(
- FLAGS_output_folder, camera_node.node_name, FLAGS_team_number,
- camera_node.camera_number, cal_copy.message().camera_id()->data(),
- time_ss.str());
+ absl::GetFlag(FLAGS_output_folder), camera_node.node_name,
+ absl::GetFlag(FLAGS_team_number), camera_node.camera_number,
+ cal_copy.message().camera_id()->data(), time_ss.str());
LOG(INFO) << calibration_filename << " -> "
<< aos::FlatbufferToJson(merged_calibration,
{.multi_line = true});
@@ -686,7 +691,7 @@
calibration_filename,
aos::FlatbufferToJson(merged_calibration, {.multi_line = true}));
- if (FLAGS_visualize) {
+ if (absl::GetFlag(FLAGS_visualize)) {
// Draw each of the updated extrinsic camera locations
vis_robot_.SetDefaultViewpoint(1000.0, 1500.0);
vis_robot_.DrawFrameAxes(
@@ -695,7 +700,7 @@
}
}
}
- if (FLAGS_visualize) {
+ if (absl::GetFlag(FLAGS_visualize)) {
// And don't forget to draw the base camera location
vis_robot_.DrawFrameAxes(updated_extrinsics[0],
node_list.at(0).camera_name(),
diff --git a/y2024/vision/target_mapping.cc b/y2024/vision/target_mapping.cc
index 5681580..f5fa34c 100644
--- a/y2024/vision/target_mapping.cc
+++ b/y2024/vision/target_mapping.cc
@@ -1,6 +1,7 @@
#include <string>
#include "Eigen/Dense"
+#include "absl/flags/flag.h"
#include "opencv2/aruco.hpp"
#include "opencv2/calib3d.hpp"
#include "opencv2/core/eigen.hpp"
@@ -25,46 +26,45 @@
#include "y2024/constants/simulated_constants_sender.h"
#include "y2024/vision/vision_util.h"
-DEFINE_string(config, "",
- "If set, override the log's config file with this one.");
-DEFINE_string(constants_path, "y2024/constants/constants.json",
- "Path to the constant file");
-DEFINE_string(dump_constraints_to, "/tmp/mapping_constraints.txt",
- "Write the target constraints to this path");
-DEFINE_string(dump_stats_to, "/tmp/mapping_stats.txt",
- "Write the mapping stats to this path");
-DEFINE_string(field_name, "crescendo",
- "Field name, for the output json filename and flatbuffer field");
-DEFINE_string(json_path, "y2024/vision/maps/target_map.json",
- "Specify path for json with initial pose guesses.");
-DEFINE_double(max_pose_error, 1e-6,
- "Throw out target poses with a higher pose error than this");
-DEFINE_double(
- max_pose_error_ratio, 0.4,
- "Throw out target poses with a higher pose error ratio than this");
-DEFINE_string(mcap_output_path, "", "Log to output.");
-DEFINE_string(output_dir, "y2024/vision/maps",
- "Directory to write solved target map to");
-DEFINE_double(pause_on_distance, 2.0,
- "Pause if two consecutive implied robot positions differ by more "
- "than this many meters");
-DEFINE_string(orin, "orin1",
- "Orin name to generate mcap log for; defaults to orin1.");
-DEFINE_uint64(skip_to, 1,
- "Start at combined image of this number (1 is the first image)");
-DEFINE_bool(solve, true, "Whether to solve for the field's target map.");
-DEFINE_bool(split_field, false,
- "Whether to break solve into two sides of field");
-DEFINE_int32(team_number, 0,
- "Required: Use the calibration for a node with this team number");
-DEFINE_uint64(wait_key, 1,
- "Time in ms to wait between images, if no click (0 to wait "
- "indefinitely until click).");
+ABSL_FLAG(std::string, config, "",
+ "If set, override the log's config file with this one.");
+ABSL_FLAG(std::string, constants_path, "y2024/constants/constants.json",
+ "Path to the constant file");
+ABSL_FLAG(std::string, dump_constraints_to, "/tmp/mapping_constraints.txt",
+ "Write the target constraints to this path");
+ABSL_FLAG(std::string, dump_stats_to, "/tmp/mapping_stats.txt",
+ "Write the mapping stats to this path");
+ABSL_FLAG(std::string, field_name, "crescendo",
+ "Field name, for the output json filename and flatbuffer field");
+ABSL_FLAG(std::string, json_path, "y2024/vision/maps/target_map.json",
+ "Specify path for json with initial pose guesses.");
+ABSL_FLAG(double, max_pose_error, 1e-6,
+ "Throw out target poses with a higher pose error than this");
+ABSL_FLAG(double, max_pose_error_ratio, 0.4,
+ "Throw out target poses with a higher pose error ratio than this");
+ABSL_FLAG(std::string, mcap_output_path, "", "Log to output.");
+ABSL_FLAG(std::string, output_dir, "y2024/vision/maps",
+ "Directory to write solved target map to");
+ABSL_FLAG(double, pause_on_distance, 2.0,
+ "Pause if two consecutive implied robot positions differ by more "
+ "than this many meters");
+ABSL_FLAG(std::string, orin, "orin1",
+ "Orin name to generate mcap log for; defaults to orin1.");
+ABSL_FLAG(uint64_t, skip_to, 1,
+ "Start at combined image of this number (1 is the first image)");
+ABSL_FLAG(bool, solve, true, "Whether to solve for the field's target map.");
+ABSL_FLAG(bool, split_field, false,
+ "Whether to break solve into two sides of field");
+ABSL_FLAG(int32_t, team_number, 0,
+ "Required: Use the calibration for a node with this team number");
+ABSL_FLAG(uint64_t, wait_key, 1,
+ "Time in ms to wait between images, if no click (0 to wait "
+ "indefinitely until click).");
-DECLARE_int32(frozen_target_id);
-DECLARE_int32(min_target_id);
-DECLARE_int32(max_target_id);
-DECLARE_bool(visualize_solver);
+ABSL_DECLARE_FLAG(int32_t, frozen_target_id);
+ABSL_DECLARE_FLAG(int32_t, min_target_id);
+ABSL_DECLARE_FLAG(int32_t, max_target_id);
+ABSL_DECLARE_FLAG(bool, visualize_solver);
namespace y2024::vision {
using frc971::vision::DataAdapter;
@@ -148,8 +148,8 @@
{9, "blue"}, {10, "blue"}, {11, "red"}, {12, "red"},
{13, "red"}, {14, "blue"}, {15, "blue"}, {16, "blue"}};
-const auto TargetMapperReplay::kFixedTargetMapper =
- TargetMapper(FLAGS_json_path, ceres::examples::VectorOfConstraints{});
+const auto TargetMapperReplay::kFixedTargetMapper = TargetMapper(
+ absl::GetFlag(FLAGS_json_path), ceres::examples::VectorOfConstraints{});
Eigen::Affine3d TargetMapperReplay::CameraToRobotDetection(
Eigen::Affine3d H_camera_target, Eigen::Affine3d extrinsics) {
@@ -173,10 +173,11 @@
reader_->MaybeRemapLoggedChannel<Constants>("/roborio/constants");
reader_->Register();
- SendSimulationConstants(reader_->event_loop_factory(), FLAGS_team_number,
- FLAGS_constants_path);
+ SendSimulationConstants(reader_->event_loop_factory(),
+ absl::GetFlag(FLAGS_team_number),
+ absl::GetFlag(FLAGS_constants_path));
- if (FLAGS_visualize_solver) {
+ if (absl::GetFlag(FLAGS_visualize_solver)) {
vis_robot_.ClearImage();
// Set focal length to zoomed in, to view extrinsics
const double kFocalLength = 1500.0;
@@ -197,7 +198,7 @@
mapping_event_loops_[mapping_event_loops_.size() - 1].get(),
&constants_fetcher, camera_node.camera_number);
- if (FLAGS_visualize_solver) {
+ if (absl::GetFlag(FLAGS_visualize_solver)) {
// Show the extrinsics calibration to start, for reference to confirm
const auto *calibration = FindCameraCalibration(
constants_fetcher.constants(),
@@ -214,7 +215,7 @@
}
}
- if (FLAGS_visualize_solver) {
+ if (absl::GetFlag(FLAGS_visualize_solver)) {
cv::imshow("Extrinsics", vis_robot_.image_);
cv::waitKey(0);
vis_robot_.ClearImage();
@@ -242,21 +243,22 @@
for (const auto *target_pose_fbs : *map.target_poses()) {
// Skip detections with invalid ids
if (static_cast<TargetMapper::TargetId>(target_pose_fbs->id()) <
- FLAGS_min_target_id ||
+ absl::GetFlag(FLAGS_min_target_id) ||
static_cast<TargetMapper::TargetId>(target_pose_fbs->id()) >
- FLAGS_max_target_id) {
+ absl::GetFlag(FLAGS_max_target_id)) {
VLOG(1) << "Skipping tag with invalid id of " << target_pose_fbs->id();
continue;
}
// Skip detections with high pose errors
- if (target_pose_fbs->pose_error() > FLAGS_max_pose_error) {
+ if (target_pose_fbs->pose_error() > absl::GetFlag(FLAGS_max_pose_error)) {
VLOG(1) << "Skipping tag " << target_pose_fbs->id()
<< " due to pose error of " << target_pose_fbs->pose_error();
continue;
}
// Skip detections with high pose error ratios
- if (target_pose_fbs->pose_error_ratio() > FLAGS_max_pose_error_ratio) {
+ if (target_pose_fbs->pose_error_ratio() >
+ absl::GetFlag(FLAGS_max_pose_error_ratio)) {
VLOG(1) << "Skipping tag " << target_pose_fbs->id()
<< " due to pose error ratio of "
<< target_pose_fbs->pose_error_ratio();
@@ -296,7 +298,7 @@
.distortion_factor = distortion_factor,
.id = static_cast<TargetMapper::TargetId>(target_pose.id)});
- if (FLAGS_visualize_solver) {
+ if (absl::GetFlag(FLAGS_visualize_solver)) {
// If we've already drawn this camera_name in the current image,
// display the image before clearing and adding the new poses
if (drawn_cameras_.count(camera_name) != 0) {
@@ -306,20 +308,21 @@
cv::Point(600, 10), cv::FONT_HERSHEY_PLAIN, 1.0,
cv::Scalar(255, 255, 255));
- if (display_count_ >= FLAGS_skip_to) {
+ if (display_count_ >= absl::GetFlag(FLAGS_skip_to)) {
VLOG(1) << "Showing image for camera " << camera_name
<< " since we've drawn it already";
cv::imshow("View", vis_robot_.image_);
// Pause if delta_T is too large, but only after first image (to make
// sure the delta's are correct)
- if (max_delta_T_world_robot_ > FLAGS_pause_on_distance &&
+ if (max_delta_T_world_robot_ >
+ absl::GetFlag(FLAGS_pause_on_distance) &&
display_count_ > 1) {
LOG(INFO) << "Pausing since the delta between robot estimates is "
<< max_delta_T_world_robot_ << " which is > threshold of "
- << FLAGS_pause_on_distance;
+ << absl::GetFlag(FLAGS_pause_on_distance);
cv::waitKey(0);
} else {
- cv::waitKey(FLAGS_wait_key);
+ cv::waitKey(absl::GetFlag(FLAGS_wait_key));
}
max_delta_T_world_robot_ = 0.0;
} else {
@@ -341,7 +344,8 @@
label << "id " << target_pose_fbs->id()
<< ": err (% of max): " << target_pose_fbs->pose_error() << " ("
- << (target_pose_fbs->pose_error() / FLAGS_max_pose_error)
+ << (target_pose_fbs->pose_error() /
+ absl::GetFlag(FLAGS_max_pose_error))
<< ") err_ratio: " << target_pose_fbs->pose_error_ratio() << " ";
vis_robot_.DrawRobotOutline(H_world_robot, camera_name,
@@ -363,7 +367,7 @@
last_H_world_robot_ = H_world_robot;
}
}
- if (FLAGS_visualize_solver) {
+ if (absl::GetFlag(FLAGS_visualize_solver)) {
if (drew) {
// Collect all the labels from a given camera, and add the text
// TODO: Need to fix this one
@@ -374,7 +378,7 @@
drawn_cameras_.emplace(camera_name);
} else if (node_distributed_time - last_draw_time_ >
std::chrono::milliseconds(30) &&
- display_count_ >= FLAGS_skip_to && drew) {
+ display_count_ >= absl::GetFlag(FLAGS_skip_to) && drew) {
// TODO: Check on 30ms value-- does this make sense?
double delta_t = (node_distributed_time - last_draw_time_).count() / 1e6;
VLOG(1) << "Last result was " << delta_t << "ms ago";
@@ -384,7 +388,7 @@
// Display and clear the image if we haven't draw in a while
VLOG(1) << "Displaying image due to time lapse";
cv::imshow("View", vis_robot_.image_);
- cv::waitKey(FLAGS_wait_key);
+ cv::waitKey(absl::GetFlag(FLAGS_wait_key));
max_delta_T_world_robot_ = 0.0;
drawn_cameras_.clear();
}
@@ -422,11 +426,11 @@
}
void TargetMapperReplay::MaybeSolve() {
- if (FLAGS_solve) {
+ if (absl::GetFlag(FLAGS_solve)) {
auto target_constraints =
DataAdapter::MatchTargetDetections(timestamped_target_detections_);
- if (FLAGS_split_field) {
+ if (absl::GetFlag(FLAGS_split_field)) {
// Remove constraints between the two sides of the field - these are
// basically garbage because of how far the camera is. We will use seeding
// below to connect the two sides
@@ -443,14 +447,15 @@
LOG(INFO) << "Solving for locations of tags with "
<< target_constraints.size() << " constraints";
- TargetMapper mapper(FLAGS_json_path, target_constraints);
- mapper.Solve(FLAGS_field_name, FLAGS_output_dir);
+ TargetMapper mapper(absl::GetFlag(FLAGS_json_path), target_constraints);
+ mapper.Solve(absl::GetFlag(FLAGS_field_name),
+ absl::GetFlag(FLAGS_output_dir));
- if (!FLAGS_dump_constraints_to.empty()) {
- mapper.DumpConstraints(FLAGS_dump_constraints_to);
+ if (!absl::GetFlag(FLAGS_dump_constraints_to).empty()) {
+ mapper.DumpConstraints(absl::GetFlag(FLAGS_dump_constraints_to));
}
- if (!FLAGS_dump_stats_to.empty()) {
- mapper.DumpStats(FLAGS_dump_stats_to);
+ if (!absl::GetFlag(FLAGS_dump_stats_to).empty()) {
+ mapper.DumpStats(absl::GetFlag(FLAGS_dump_stats_to));
}
mapper.PrintDiffs();
}
@@ -460,9 +465,10 @@
std::vector<DataAdapter::TimestampedDetection> timestamped_target_detections;
std::optional<aos::FlatbufferDetachedBuffer<aos::Configuration>> config =
- (FLAGS_config.empty()
+ (absl::GetFlag(FLAGS_config).empty()
? std::nullopt
- : std::make_optional(aos::configuration::ReadConfig(FLAGS_config)));
+ : std::make_optional(
+ aos::configuration::ReadConfig(absl::GetFlag(FLAGS_config))));
// Open logfiles
aos::logger::LogReader reader(
diff --git a/y2024/vision/viewer.cc b/y2024/vision/viewer.cc
index d5ada14..c72c08e 100644
--- a/y2024/vision/viewer.cc
+++ b/y2024/vision/viewer.cc
@@ -12,12 +12,13 @@
#include "frc971/vision/vision_util_lib.h"
#include "y2024/vision/vision_util.h"
-DEFINE_string(capture, "",
- "If set, capture a single image and save it to this filename.");
-DEFINE_string(channel, "/camera", "Channel name for the image.");
-DEFINE_string(config, "aos_config.json", "Path to the config file to use.");
-DEFINE_int32(rate, 100, "Time in milliseconds to wait between images");
-DEFINE_double(scale, 1.0, "Scale factor for images being displayed");
+ABSL_FLAG(std::string, capture, "",
+ "If set, capture a single image and save it to this filename.");
+ABSL_FLAG(std::string, channel, "/camera", "Channel name for the image.");
+ABSL_FLAG(std::string, config, "aos_config.json",
+ "Path to the config file to use.");
+ABSL_FLAG(int32_t, rate, 100, "Time in milliseconds to wait between images");
+ABSL_FLAG(double, scale, 1.0, "Scale factor for images being displayed");
namespace y2024::vision {
namespace {
@@ -42,12 +43,12 @@
cv::Mat bgr_image(cv::Size(image->cols(), image->rows()), CV_8UC3);
cv::cvtColor(image_color_mat, bgr_image, cv::COLOR_YUV2BGR_YUYV);
- if (!FLAGS_capture.empty()) {
- if (absl::EndsWith(FLAGS_capture, ".bfbs")) {
- aos::WriteFlatbufferToFile(FLAGS_capture,
+ if (!absl::GetFlag(FLAGS_capture).empty()) {
+ if (absl::EndsWith(absl::GetFlag(FLAGS_capture), ".bfbs")) {
+ aos::WriteFlatbufferToFile(absl::GetFlag(FLAGS_capture),
image_fetcher->CopyFlatBuffer());
} else {
- cv::imwrite(FLAGS_capture, bgr_image);
+ cv::imwrite(absl::GetFlag(FLAGS_capture), bgr_image);
}
return false;
@@ -55,9 +56,9 @@
cv::Mat undistorted_image;
cv::undistort(bgr_image, undistorted_image, intrinsics, dist_coeffs);
- if (FLAGS_scale != 1.0) {
- cv::resize(undistorted_image, undistorted_image, cv::Size(), FLAGS_scale,
- FLAGS_scale);
+ if (absl::GetFlag(FLAGS_scale) != 1.0) {
+ cv::resize(undistorted_image, undistorted_image, cv::Size(),
+ absl::GetFlag(FLAGS_scale), absl::GetFlag(FLAGS_scale));
}
cv::imshow("Display", undistorted_image);
@@ -77,7 +78,7 @@
void ViewerMain() {
aos::FlatbufferDetachedBuffer<aos::Configuration> config =
- aos::configuration::ReadConfig(FLAGS_config);
+ aos::configuration::ReadConfig(absl::GetFlag(FLAGS_config));
frc971::constants::WaitForConstants<y2024::Constants>(&config.message());
@@ -85,8 +86,8 @@
frc971::constants::ConstantsFetcher<y2024::Constants> constants_fetcher(
&event_loop);
- CHECK(FLAGS_channel.length() == 8);
- int camera_id = std::stoi(FLAGS_channel.substr(7, 1));
+ CHECK(absl::GetFlag(FLAGS_channel).length() == 8);
+ int camera_id = std::stoi(absl::GetFlag(FLAGS_channel).substr(7, 1));
const auto *calibration_data = FindCameraCalibration(
constants_fetcher.constants(), event_loop.node()->name()->string_view(),
camera_id);
@@ -95,7 +96,7 @@
frc971::vision::CameraDistCoeffs(calibration_data);
aos::Fetcher<CameraImage> image_fetcher =
- event_loop.MakeFetcher<CameraImage>(FLAGS_channel);
+ event_loop.MakeFetcher<CameraImage>(absl::GetFlag(FLAGS_channel));
// Run the display loop
event_loop.AddPhasedLoop(
@@ -105,7 +106,7 @@
event_loop.Exit();
};
},
- ::std::chrono::milliseconds(FLAGS_rate));
+ ::std::chrono::milliseconds(absl::GetFlag(FLAGS_rate)));
event_loop.Run();
diff --git a/y2024/vision/vision_util.cc b/y2024/vision/vision_util.cc
index becb1cf..034ecdb 100644
--- a/y2024/vision/vision_util.cc
+++ b/y2024/vision/vision_util.cc
@@ -1,6 +1,7 @@
#include "y2024/vision/vision_util.h"
-#include "glog/logging.h"
+#include "absl/log/check.h"
+#include "absl/log/log.h"
namespace y2024::vision {
diff --git a/y2024/wpilib_interface.cc b/y2024/wpilib_interface.cc
index c8328da..aaacdd1 100644
--- a/y2024/wpilib_interface.cc
+++ b/y2024/wpilib_interface.cc
@@ -10,6 +10,8 @@
#include <mutex>
#include <thread>
+#include "absl/flags/flag.h"
+
#include "frc971/wpilib/ahal/AnalogInput.h"
#include "frc971/wpilib/ahal/DriverStation.h"
#include "frc971/wpilib/ahal/Encoder.h"
@@ -59,9 +61,9 @@
#include "y2024/control_loops/superstructure/superstructure_position_generated.h"
#include "y2024/control_loops/superstructure/superstructure_position_static.h"
-DEFINE_bool(ctre_diag_server, false,
- "If true, enable the diagnostics server for interacting with "
- "devices on the CAN bus using Phoenix Tuner");
+ABSL_FLAG(bool, ctre_diag_server, false,
+ "If true, enable the diagnostics server for interacting with "
+ "devices on the CAN bus using Phoenix Tuner");
using ::aos::monotonic_clock;
using ::frc971::CANConfiguration;
@@ -450,7 +452,7 @@
if (team_number == 9971) {
std::vector<ctre::phoenix6::BaseStatusSignal *> signal_registry;
- if (!FLAGS_ctre_diag_server) {
+ if (!absl::GetFlag(FLAGS_ctre_diag_server)) {
c_Phoenix_Diagnostics_SetSecondsToStart(-1);
c_Phoenix_Diagnostics_Dispose();
}
@@ -542,7 +544,7 @@
}
// Thread 4.
// Set up CAN.
- if (!FLAGS_ctre_diag_server) {
+ if (!absl::GetFlag(FLAGS_ctre_diag_server)) {
c_Phoenix_Diagnostics_SetSecondsToStart(-1);
c_Phoenix_Diagnostics_Dispose();
}