still unstupidying log interval stuff...
diff --git a/aos/common/control_loop/ControlLoop-tmpl.h b/aos/common/control_loop/ControlLoop-tmpl.h
index 46178f1..e96ae66 100644
--- a/aos/common/control_loop/ControlLoop-tmpl.h
+++ b/aos/common/control_loop/ControlLoop-tmpl.h
@@ -26,12 +26,12 @@
template <class T, bool has_position, bool fail_no_position>
void ControlLoop<T, has_position, fail_no_position>::Iterate() {
- LOG_INTERVAL(no_prior_goal_);
- LOG_INTERVAL(no_sensor_generation_);
- LOG_INTERVAL(very_stale_position_);
- LOG_INTERVAL(no_prior_position_);
- LOG_INTERVAL(driver_station_old_);
- LOG_INTERVAL(no_driver_station_);
+ no_prior_goal_.Print();
+ no_sensor_generation_.Print();
+ very_stale_position_.Print();
+ no_prior_position_.Print();
+ driver_station_old_.Print();
+ no_driver_station_.Print();
// Fetch the latest control loop goal and position. If there is no new
// goal, we will just reuse the old one.
@@ -42,14 +42,14 @@
// goals.
const GoalType *goal = control_loop_->goal.get();
if (goal == NULL) {
- no_prior_goal_.WantToLog();
+ LOG_INTERVAL(no_prior_goal_);
ZeroOutputs();
return;
}
::bbb::sensor_generation.FetchLatest();
if (::bbb::sensor_generation.get() == nullptr) {
- no_sensor_generation_.WantToLog();
+ LOG_INTERVAL(no_sensor_generation_);
ZeroOutputs();
return;
}
@@ -82,7 +82,7 @@
if (control_loop_->position.get() && !reset_) {
int msec_age = control_loop_->position.Age().ToMSec();
if (!control_loop_->position.IsNewerThanMS(kPositionTimeoutMs)) {
- very_stale_position_.WantToLog();
+ LOG_INTERVAL(very_stale_position_);
ZeroOutputs();
return;
} else {
@@ -90,7 +90,7 @@
kPositionTimeoutMs);
}
} else {
- no_prior_position_.WantToLog();
+ LOG_INTERVAL(no_prior_position_);
if (fail_no_position) {
ZeroOutputs();
return;
@@ -111,9 +111,9 @@
outputs_enabled = true;
} else {
if (::aos::robot_state.get()) {
- driver_station_old_.WantToLog();
+ LOG_INTERVAL(driver_station_old_);
} else {
- no_driver_station_.WantToLog();
+ LOG_INTERVAL(no_driver_station_);
}
}