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/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