Prefix LOG and CHECK with AOS_
This prepares us for introducing glog more widely and transitioning
things over where they make sense.
Change-Id: Ic6c208882407bc2153fe875ffc736d66f5c8ade5
diff --git a/frc971/wpilib/ADIS16448.cc b/frc971/wpilib/ADIS16448.cc
index 38d194d..4fc2c7b 100644
--- a/frc971/wpilib/ADIS16448.cc
+++ b/frc971/wpilib/ADIS16448.cc
@@ -25,7 +25,7 @@
rx_clearer_.ClearRxFifo();
switch (spi_->Transaction(to_send, to_receive, size)) {
case -1:
- LOG(INFO, "SPI::Transaction of %zd bytes failed\n", size);
+ AOS_LOG(INFO, "SPI::Transaction of %zd bytes failed\n", size);
return false;
case size:
if (dummy_spi_) {
@@ -34,7 +34,7 @@
}
return true;
default:
- LOG(FATAL, "SPI::Transaction returned something weird\n");
+ AOS_LOG(FATAL, "SPI::Transaction returned something weird\n");
}
}
@@ -142,7 +142,7 @@
// NI's SPI driver defaults to SCHED_OTHER. Find it's PID with ps, and change
// it to a RT priority of 33.
- PCHECK(
+ AOS_PCHECK(
system("ps -ef | grep '\\[spi0\\]' | awk '{print $1}' | xargs chrt -f -p "
"33") == 0);
@@ -180,7 +180,7 @@
::std::this_thread::sleep_for(::std::chrono::milliseconds(50));
}
}
- LOG(INFO, "IMU initialized successfully\n");
+ AOS_LOG(INFO, "IMU initialized successfully\n");
}
void ADIS16448::DoRun() {
@@ -201,7 +201,7 @@
const frc::InterruptableSensorBase::WaitResult result =
dio1_->WaitForInterrupt(0.1, !got_an_interrupt);
if (result == frc::InterruptableSensorBase::kTimeout) {
- LOG(WARNING, "IMU read timed out\n");
+ AOS_LOG(WARNING, "IMU read timed out\n");
InitializeUntilSuccessful();
continue;
}
@@ -221,7 +221,7 @@
// scenario.
if (!dio1_->Get() || dio1_->WaitForInterrupt(0, false) !=
frc::InterruptableSensorBase::kTimeout) {
- LOG(ERROR, "IMU read took too long\n");
+ AOS_LOG(ERROR, "IMU read took too long\n");
continue;
}
@@ -230,8 +230,9 @@
uint16_t received_crc =
to_receive[13 * 2 + 1] | (to_receive[13 * 2] << 8);
if (received_crc != calculated_crc) {
- LOG(WARNING, "received CRC %" PRIx16 " but calculated %" PRIx16 "\n",
- received_crc, calculated_crc);
+ AOS_LOG(WARNING,
+ "received CRC %" PRIx16 " but calculated %" PRIx16 "\n",
+ received_crc, calculated_crc);
InitializeUntilSuccessful();
continue;
}
@@ -274,9 +275,9 @@
gyro_x_zeroed_offset_ = -average_gyro_x.GetAverage();
gyro_y_zeroed_offset_ = -average_gyro_y.GetAverage();
gyro_z_zeroed_offset_ = -average_gyro_z.GetAverage();
- LOG(INFO, "total gyro zero offset X:%f, Y:%f, Z:%f\n",
- gyro_x_zeroed_offset_, gyro_y_zeroed_offset_,
- gyro_z_zeroed_offset_);
+ AOS_LOG(INFO, "total gyro zero offset X:%f, Y:%f, Z:%f\n",
+ gyro_x_zeroed_offset_, gyro_y_zeroed_offset_,
+ gyro_z_zeroed_offset_);
gyros_are_zeroed_ = true;
}
}
@@ -306,9 +307,9 @@
message->temperature =
ConvertValue(&to_receive[24], kTemperatureLsbDegree) + kTemperatureZero;
- LOG_STRUCT(DEBUG, "sending", *message);
+ AOS_LOG_STRUCT(DEBUG, "sending", *message);
if (!message.Send()) {
- LOG(WARNING, "sending queue message failed\n");
+ AOS_LOG(WARNING, "sending queue message failed\n");
}
spi_idle_callback_();
@@ -355,51 +356,51 @@
bool ADIS16448::CheckDiagStatValue(uint16_t value) const {
bool r = true;
if (value & (1 << 2)) {
- LOG(WARNING, "IMU gave flash update failure\n");
+ AOS_LOG(WARNING, "IMU gave flash update failure\n");
}
if (value & (1 << 3)) {
- LOG(WARNING, "IMU gave SPI communication failure\n");
+ AOS_LOG(WARNING, "IMU gave SPI communication failure\n");
}
if (value & (1 << 4)) {
- LOG(WARNING, "IMU gave sensor overrange\n");
+ AOS_LOG(WARNING, "IMU gave sensor overrange\n");
}
if (value & (1 << 5)) {
- LOG(WARNING, "IMU gave self-test failure\n");
+ AOS_LOG(WARNING, "IMU gave self-test failure\n");
r = false;
if (value & (1 << 10)) {
- LOG(WARNING, "IMU gave X-axis gyro self-test failure\n");
+ AOS_LOG(WARNING, "IMU gave X-axis gyro self-test failure\n");
}
if (value & (1 << 11)) {
- LOG(WARNING, "IMU gave Y-axis gyro self-test failure\n");
+ AOS_LOG(WARNING, "IMU gave Y-axis gyro self-test failure\n");
}
if (value & (1 << 12)) {
- LOG(WARNING, "IMU gave Z-axis gyro self-test failure\n");
+ AOS_LOG(WARNING, "IMU gave Z-axis gyro self-test failure\n");
}
if (value & (1 << 13)) {
- LOG(WARNING, "IMU gave X-axis accelerometer self-test failure\n");
+ AOS_LOG(WARNING, "IMU gave X-axis accelerometer self-test failure\n");
}
if (value & (1 << 14)) {
- LOG(WARNING, "IMU gave Y-axis accelerometer self-test failure\n");
+ AOS_LOG(WARNING, "IMU gave Y-axis accelerometer self-test failure\n");
}
if (value & (1 << 15)) {
- LOG(WARNING, "IMU gave Z-axis accelerometer self-test failure, %x\n",
- value);
+ AOS_LOG(WARNING, "IMU gave Z-axis accelerometer self-test failure, %x\n",
+ value);
}
if (value & (1 << 0)) {
- LOG(WARNING, "IMU gave magnetometer functional test failure\n");
+ AOS_LOG(WARNING, "IMU gave magnetometer functional test failure\n");
}
if (value & (1 << 1)) {
- LOG(WARNING, "IMU gave barometer functional test failure\n");
+ AOS_LOG(WARNING, "IMU gave barometer functional test failure\n");
}
}
if (value & (1 << 6)) {
- LOG(WARNING, "IMU gave flash test checksum failure\n");
+ AOS_LOG(WARNING, "IMU gave flash test checksum failure\n");
}
if (value & (1 << 8)) {
- LOG(WARNING, "IMU says alarm 1 is active\n");
+ AOS_LOG(WARNING, "IMU says alarm 1 is active\n");
}
if (value & (1 << 9)) {
- LOG(WARNING, "IMU says alarm 2 is active\n");
+ AOS_LOG(WARNING, "IMU says alarm 2 is active\n");
}
return r;
}
@@ -409,7 +410,7 @@
uint16_t product_id;
if (!ReadRegister(kLotId1Address, &product_id)) return false;
if (product_id != 0x4040) {
- LOG(ERROR, "product ID is %" PRIx16 " instead of 0x4040\n", product_id);
+ AOS_LOG(ERROR, "product ID is %" PRIx16 " instead of 0x4040\n", product_id);
return false;
}
@@ -417,8 +418,8 @@
if (!ReadRegister(kLotId2Address, &lot_id1)) return false;
if (!ReadRegister(kSerialNumberAddress, &lot_id2)) return false;
if (!ReadRegister(0, &serial_number)) return false;
- LOG(INFO, "have IMU %" PRIx16 "%" PRIx16 ": %" PRIx16 "\n", lot_id1, lot_id2,
- serial_number);
+ AOS_LOG(INFO, "have IMU %" PRIx16 "%" PRIx16 ": %" PRIx16 "\n", lot_id1,
+ lot_id2, serial_number);
// Divide the sampling by 2^2 = 4 to get 819.2 / 4 = 204.8 Hz.
if (!WriteRegister(kSmplPrdAddress, (2 << 8) | 1)) return false;
diff --git a/frc971/wpilib/buffered_pcm.cc b/frc971/wpilib/buffered_pcm.cc
index de8c547..3123add 100644
--- a/frc971/wpilib/buffered_pcm.cc
+++ b/frc971/wpilib/buffered_pcm.cc
@@ -16,7 +16,7 @@
solenoid_handles_[i] =
HAL_InitializeSolenoidPort(HAL_GetPortWithModule(module_, i), &status);
if (status != 0) {
- LOG(FATAL, "Status was %d\n", status);
+ AOS_LOG(FATAL, "Status was %d\n", status);
}
}
}
@@ -38,18 +38,18 @@
int32_t status = 0;
int32_t result = HAL_GetAllSolenoids(module_, &status);
if (status != 0) {
- LOG(ERROR, "Failed to flush, %d\n", status);
+ AOS_LOG(ERROR, "Failed to flush, %d\n", status);
return 0;
}
return result;
}
void BufferedPcm::Flush() {
- LOG(DEBUG, "sending solenoids 0x%" PRIx8 "\n", values_);
+ AOS_LOG(DEBUG, "sending solenoids 0x%" PRIx8 "\n", values_);
int32_t status = 0;
HAL_SetAllSolenoids(module_, static_cast<int>(values_), &status);
if (status != 0) {
- LOG(ERROR, "Failed to flush, %d\n", status);
+ AOS_LOG(ERROR, "Failed to flush, %d\n", status);
}
}
diff --git a/frc971/wpilib/dma_edge_counting.cc b/frc971/wpilib/dma_edge_counting.cc
index 9fffebe..1b7bee9 100644
--- a/frc971/wpilib/dma_edge_counting.cc
+++ b/frc971/wpilib/dma_edge_counting.cc
@@ -57,7 +57,7 @@
case DMA::STATUS_TIMEOUT:
return;
case DMA::STATUS_ERROR:
- LOG(WARNING, "DMA read failed\n");
+ AOS_LOG(WARNING, "DMA read failed\n");
break;
}
}
diff --git a/frc971/wpilib/drivetrain_writer.cc b/frc971/wpilib/drivetrain_writer.cc
index fdbc028..5c6feb8 100644
--- a/frc971/wpilib/drivetrain_writer.cc
+++ b/frc971/wpilib/drivetrain_writer.cc
@@ -12,7 +12,7 @@
void DrivetrainWriter::Write(
const ::frc971::control_loops::DrivetrainQueue::Output &output) {
- LOG_STRUCT(DEBUG, "will output", output);
+ AOS_LOG_STRUCT(DEBUG, "will output", output);
left_controller0_->SetSpeed(SafeSpeed(reversed_left0_, output.left_voltage));
right_controller0_->SetSpeed(
SafeSpeed(reversed_right0_, output.right_voltage));
@@ -28,7 +28,7 @@
}
void DrivetrainWriter::Stop() {
- LOG(WARNING, "drivetrain output too old\n");
+ AOS_LOG(WARNING, "drivetrain output too old\n");
left_controller0_->SetDisabled();
right_controller0_->SetDisabled();
diff --git a/frc971/wpilib/encoder_and_potentiometer.cc b/frc971/wpilib/encoder_and_potentiometer.cc
index 8fe8c25..ac1a4a0 100644
--- a/frc971/wpilib/encoder_and_potentiometer.cc
+++ b/frc971/wpilib/encoder_and_potentiometer.cc
@@ -21,10 +21,10 @@
}
void InterruptEncoderAndPotentiometer::Start() {
- CHECK_NE(nullptr, encoder_);
- CHECK_NE(nullptr, index_);
- CHECK_NE(nullptr, potentiometer_);
- CHECK_NE(0, priority_);
+ AOS_CHECK_NE(nullptr, encoder_);
+ AOS_CHECK_NE(nullptr, index_);
+ AOS_CHECK_NE(nullptr, potentiometer_);
+ AOS_CHECK_NE(0, priority_);
thread_ = ::std::thread(::std::ref(*this));
}
diff --git a/frc971/wpilib/gyro_interface.cc b/frc971/wpilib/gyro_interface.cc
index da0c01b..eeacfce 100644
--- a/frc971/wpilib/gyro_interface.cc
+++ b/frc971/wpilib/gyro_interface.cc
@@ -26,45 +26,47 @@
bool GyroInterface::InitializeGyro() {
uint32_t result;
if (!DoTransaction(0x20000003, &result)) {
- LOG(WARNING, "failed to start a self-check\n");
+ AOS_LOG(WARNING, "failed to start a self-check\n");
return false;
}
if (result != 1) {
// We might have hit a parity error or something and are now retrying, so
// this isn't a very big deal.
- LOG(INFO, "gyro unexpected initial response 0x%" PRIx32 "\n", result);
+ AOS_LOG(INFO, "gyro unexpected initial response 0x%" PRIx32 "\n", result);
}
// Wait for it to assert the fault conditions before reading them.
::std::this_thread::sleep_for(::std::chrono::milliseconds(50));
if (!DoTransaction(0x20000000, &result)) {
- LOG(WARNING, "failed to clear latched non-fault data\n");
+ AOS_LOG(WARNING, "failed to clear latched non-fault data\n");
return false;
}
- LOG(DEBUG, "gyro dummy response is 0x%" PRIx32 "\n", result);
+ AOS_LOG(DEBUG, "gyro dummy response is 0x%" PRIx32 "\n", result);
if (!DoTransaction(0x20000000, &result)) {
- LOG(WARNING, "failed to read self-test data\n");
+ AOS_LOG(WARNING, "failed to read self-test data\n");
return false;
}
if (ExtractStatus(result) != 2) {
- LOG(WARNING, "gyro first value 0x%" PRIx32 " not self-test data\n", result);
+ AOS_LOG(WARNING, "gyro first value 0x%" PRIx32 " not self-test data\n",
+ result);
return false;
}
if (ExtractErrors(result) != 0x7F) {
- LOG(WARNING, "gyro first value 0x%" PRIx32 " does not have all errors\n",
- result);
+ AOS_LOG(WARNING,
+ "gyro first value 0x%" PRIx32 " does not have all errors\n",
+ result);
return false;
}
if (!DoTransaction(0x20000000, &result)) {
- LOG(WARNING, "failed to clear latched self-test data\n");
+ AOS_LOG(WARNING, "failed to clear latched self-test data\n");
return false;
}
if (ExtractStatus(result) != 2) {
- LOG(WARNING, "gyro second value 0x%" PRIx32 " not self-test data\n",
- result);
+ AOS_LOG(WARNING, "gyro second value 0x%" PRIx32 " not self-test data\n",
+ result);
return false;
}
@@ -88,21 +90,21 @@
switch (gyro_->Transaction(to_send, to_receive, kBytes)) {
case -1:
- LOG(INFO, "SPI::Transaction failed\n");
+ AOS_LOG(INFO, "SPI::Transaction failed\n");
return false;
case kBytes:
break;
default:
- LOG(FATAL, "SPI::Transaction returned something weird\n");
+ AOS_LOG(FATAL, "SPI::Transaction returned something weird\n");
}
memcpy(result, to_receive, kBytes);
if (__builtin_parity(*result & 0xFFFF) != 1) {
- LOG(INFO, "high byte parity failure\n");
+ AOS_LOG(INFO, "high byte parity failure\n");
return false;
}
if (__builtin_parity(*result) != 1) {
- LOG(INFO, "whole value parity failure\n");
+ AOS_LOG(INFO, "whole value parity failure\n");
return false;
}
@@ -115,13 +117,14 @@
uint32_t response;
while (true) {
if (!DoTransaction(command, &response)) {
- LOG(WARNING, "reading 0x%" PRIx8 " failed\n", address);
+ AOS_LOG(WARNING, "reading 0x%" PRIx8 " failed\n", address);
continue;
}
if ((response & 0xEFE00000) != 0x4E000000) {
- LOG(WARNING, "gyro read from 0x%" PRIx8
- " gave unexpected response 0x%" PRIx32 "\n",
- address, response);
+ AOS_LOG(WARNING,
+ "gyro read from 0x%" PRIx8 " gave unexpected response 0x%" PRIx32
+ "\n",
+ address, response);
continue;
}
return (response >> 5) & 0xFFFF;
diff --git a/frc971/wpilib/gyro_sender.cc b/frc971/wpilib/gyro_sender.cc
index b1edbd2..3a9f220 100644
--- a/frc971/wpilib/gyro_sender.cc
+++ b/frc971/wpilib/gyro_sender.cc
@@ -32,7 +32,7 @@
gyro_reading_sender_(
event_loop_->MakeSender<::frc971::sensors::GyroReading>(
".frc971.sensors.gyro_reading")) {
- PCHECK(
+ AOS_PCHECK(
system("ps -ef | grep '\\[spi0\\]' | awk '{print $1}' | xargs chrt -f -p "
"33") == 0);
event_loop_->set_name("Gyro");
@@ -53,12 +53,12 @@
if (last_initialize_time_ + chrono::milliseconds(50) < monotonic_now) {
if (gyro_.InitializeGyro()) {
state_ = State::RUNNING;
- LOG(INFO, "gyro initialized successfully\n");
+ AOS_LOG(INFO, "gyro initialized successfully\n");
{
auto message = uid_sender_.MakeMessage();
message->uid = gyro_.ReadPartID();
- LOG_STRUCT(INFO, "gyro ID", *message);
+ AOS_LOG_STRUCT(INFO, "gyro ID", *message);
message.Send();
}
}
@@ -68,42 +68,42 @@
case State::RUNNING: {
const uint32_t result = gyro_.GetReading();
if (result == 0) {
- LOG(WARNING, "normal gyro read failed\n");
+ AOS_LOG(WARNING, "normal gyro read failed\n");
return;
}
switch (gyro_.ExtractStatus(result)) {
case 0:
- LOG(WARNING, "gyro says data is bad\n");
+ AOS_LOG(WARNING, "gyro says data is bad\n");
return;
case 1:
break;
default:
- LOG(WARNING, "gyro gave weird status 0x%" PRIx8 "\n",
- gyro_.ExtractStatus(result));
+ AOS_LOG(WARNING, "gyro gave weird status 0x%" PRIx8 "\n",
+ gyro_.ExtractStatus(result));
return;
}
if (gyro_.ExtractErrors(result) != 0) {
const uint8_t errors = gyro_.ExtractErrors(result);
if (errors & (1 << 6)) {
- LOG(WARNING, "gyro gave PLL error\n");
+ AOS_LOG(WARNING, "gyro gave PLL error\n");
}
if (errors & (1 << 5)) {
- LOG(WARNING, "gyro gave quadrature error\n");
+ AOS_LOG(WARNING, "gyro gave quadrature error\n");
}
if (errors & (1 << 4)) {
- LOG(WARNING, "gyro gave non-volatile memory error\n");
+ AOS_LOG(WARNING, "gyro gave non-volatile memory error\n");
}
if (errors & (1 << 3)) {
- LOG(WARNING, "gyro gave volatile memory error\n");
+ AOS_LOG(WARNING, "gyro gave volatile memory error\n");
}
if (errors & (1 << 2)) {
- LOG(WARNING, "gyro gave power error\n");
+ AOS_LOG(WARNING, "gyro gave power error\n");
}
if (errors & (1 << 1)) {
- LOG(WARNING, "gyro gave continuous self-test error\n");
+ AOS_LOG(WARNING, "gyro gave continuous self-test error\n");
}
if (errors & 1) {
- LOG(WARNING, "gyro gave unexpected self-test mode\n");
+ AOS_LOG(WARNING, "gyro gave unexpected self-test mode\n");
}
return;
}
@@ -120,7 +120,7 @@
angle_ += (new_angle + zero_offset_) * iterations;
message->angle = angle_;
message->velocity = angle_rate + zero_offset_ * kReadingRate;
- LOG_STRUCT(DEBUG, "sending", *message);
+ AOS_LOG_STRUCT(DEBUG, "sending", *message);
message.Send();
} else {
// TODO(brian): Don't break without 6 seconds of standing still before
@@ -130,7 +130,7 @@
{
message->angle = new_angle;
message->velocity = angle_rate;
- LOG_STRUCT(DEBUG, "collected while zeroing", *message);
+ AOS_LOG_STRUCT(DEBUG, "collected while zeroing", *message);
message->angle = 0.0;
message->velocity = 0.0;
message.Send();
@@ -141,7 +141,7 @@
if (joystick_state_fetcher_.get() && joystick_state_fetcher_->enabled &&
zeroing_data_.full()) {
zero_offset_ = -zeroing_data_.GetAverage();
- LOG(INFO, "total zero offset %f\n", zero_offset_);
+ AOS_LOG(INFO, "total zero offset %f\n", zero_offset_);
zeroed_ = true;
}
}
diff --git a/frc971/wpilib/interrupt_edge_counting.cc b/frc971/wpilib/interrupt_edge_counting.cc
index a06df8f..546e64b 100644
--- a/frc971/wpilib/interrupt_edge_counting.cc
+++ b/frc971/wpilib/interrupt_edge_counting.cc
@@ -55,8 +55,8 @@
}
current_value_ = hall_value;
} else {
- LOG(WARNING, "Detected spurious edge on %d. Dropping it.\n",
- input_->GetChannel());
+ AOS_LOG(WARNING, "Detected spurious edge on %d. Dropping it.\n",
+ input_->GetChannel());
}
}
}
@@ -93,7 +93,7 @@
::std::unique_lock<::aos::stl_mutex> mutex_guard(mutex_);
for (auto &c : handlers_) {
if (c->interrupt_count_changed()) {
- LOG(WARNING, "got an interrupt while sampling. retrying\n");
+ AOS_LOG(WARNING, "got an interrupt while sampling. retrying\n");
return false;
}
}
diff --git a/frc971/wpilib/interrupt_edge_counting.h b/frc971/wpilib/interrupt_edge_counting.h
index 50dc94d..160682c 100644
--- a/frc971/wpilib/interrupt_edge_counting.h
+++ b/frc971/wpilib/interrupt_edge_counting.h
@@ -46,8 +46,8 @@
// Starts the thread running.
// set_priority and set_mutex must be called first.
void Start() {
- CHECK_NE(nullptr, mutex_);
- CHECK_NE(0, priority_);
+ AOS_CHECK_NE(nullptr, mutex_);
+ AOS_CHECK_NE(0, priority_);
thread_ = ::std::thread(::std::ref(*this));
}
diff --git a/frc971/wpilib/joystick_sender.cc b/frc971/wpilib/joystick_sender.cc
index a073066..31ecc6c 100644
--- a/frc971/wpilib/joystick_sender.cc
+++ b/frc971/wpilib/joystick_sender.cc
@@ -54,10 +54,10 @@
if (ds->GetStickPOVCount(i) > 0) {
new_state->joysticks[i].pov = ds->GetStickPOV(i, 0);
}
- LOG_STRUCT(DEBUG, "joystick_state", *new_state);
+ AOS_LOG_STRUCT(DEBUG, "joystick_state", *new_state);
}
if (!new_state.Send()) {
- LOG(WARNING, "sending joystick_state failed\n");
+ AOS_LOG(WARNING, "sending joystick_state failed\n");
}
});
}
diff --git a/frc971/wpilib/loop_output_handler_test.cc b/frc971/wpilib/loop_output_handler_test.cc
index 8a7e903..12c3f96 100644
--- a/frc971/wpilib/loop_output_handler_test.cc
+++ b/frc971/wpilib/loop_output_handler_test.cc
@@ -49,14 +49,14 @@
protected:
void Write(const LoopOutputHandlerTestOutput &output) override {
- LOG_STRUCT(DEBUG, "output", output);
+ AOS_LOG_STRUCT(DEBUG, "output", output);
++count_;
last_time_ = event_loop()->monotonic_now();
}
void Stop() override {
stop_time_ = event_loop()->monotonic_now();
- LOG(DEBUG, "Stopping\n");
+ AOS_LOG(DEBUG, "Stopping\n");
}
private:
@@ -92,7 +92,7 @@
++count;
}
- LOG(INFO, "Ping\n");
+ AOS_LOG(INFO, "Ping\n");
});
// Kick off the ping timer handler.
diff --git a/frc971/wpilib/pdp_fetcher.cc b/frc971/wpilib/pdp_fetcher.cc
index 98da761..aa85184 100644
--- a/frc971/wpilib/pdp_fetcher.cc
+++ b/frc971/wpilib/pdp_fetcher.cc
@@ -29,7 +29,7 @@
void PDPFetcher::Loop(int iterations) {
if (iterations != 1) {
- LOG(DEBUG, "PDPFetcher skipped %d iterations\n", iterations - 1);
+ AOS_LOG(DEBUG, "PDPFetcher skipped %d iterations\n", iterations - 1);
}
auto message = pdp_values_sender_.MakeMessage();
message->voltage = pdp_->GetVoltage();
@@ -38,9 +38,9 @@
for (int i = 0; i < 16; ++i) {
message->currents[i] = pdp_->GetCurrent(i);
}
- LOG_STRUCT(DEBUG, "got", *message);
+ AOS_LOG_STRUCT(DEBUG, "got", *message);
if (!message.Send()) {
- LOG(WARNING, "sending pdp values failed\n");
+ AOS_LOG(WARNING, "sending pdp values failed\n");
}
}
diff --git a/frc971/wpilib/sensor_reader.cc b/frc971/wpilib/sensor_reader.cc
index 209054b..63d3992 100644
--- a/frc971/wpilib/sensor_reader.cc
+++ b/frc971/wpilib/sensor_reader.cc
@@ -102,9 +102,9 @@
period_ =
pwm_trigger_ ? chrono::microseconds(5050) : chrono::microseconds(5000);
if (pwm_trigger_) {
- LOG(INFO, "Using PWM trigger and a 5.05 ms period\n");
+ AOS_LOG(INFO, "Using PWM trigger and a 5.05 ms period\n");
} else {
- LOG(INFO, "Defaulting to open loop pwm synchronization\n");
+ AOS_LOG(INFO, "Defaulting to open loop pwm synchronization\n");
}
// Now that we are configured, actually fill in the defaults.
@@ -117,7 +117,7 @@
void SensorReader::Loop(const int iterations) {
if (iterations != 1) {
- LOG(WARNING, "SensorReader skipped %d iterations\n", iterations - 1);
+ AOS_LOG(WARNING, "SensorReader skipped %d iterations\n", iterations - 1);
}
const monotonic_clock::time_point monotonic_now =
@@ -126,7 +126,7 @@
{
auto new_state = robot_state_sender_.MakeMessage();
::frc971::wpilib::PopulateRobotState(new_state.get(), my_pid_);
- LOG_STRUCT(DEBUG, "robot_state", *new_state);
+ AOS_LOG_STRUCT(DEBUG, "robot_state", *new_state);
new_state.Send();
}
RunIteration();
@@ -136,8 +136,8 @@
}
if (pwm_trigger_) {
- LOG(DEBUG, "PWM wakeup delta: %lld\n",
- (monotonic_now - last_monotonic_now_).count());
+ AOS_LOG(DEBUG, "PWM wakeup delta: %lld\n",
+ (monotonic_now - last_monotonic_now_).count());
last_monotonic_now_ = monotonic_now;
monotonic_clock::time_point last_tick_timepoint = GetPWMStartTime();
diff --git a/frc971/wpilib/spi_rx_clearer.cc b/frc971/wpilib/spi_rx_clearer.cc
index dfe7e8b..245f073 100644
--- a/frc971/wpilib/spi_rx_clearer.cc
+++ b/frc971/wpilib/spi_rx_clearer.cc
@@ -11,18 +11,18 @@
namespace wpilib {
SpiRxClearer::SpiRxClearer() {
- const int fd = PCHECK(open("/dev/mem", O_RDWR));
+ const int fd = AOS_PCHECK(open("/dev/mem", O_RDWR));
void *const mmap_result = mmap(nullptr, kMappingSize, PROT_READ | PROT_WRITE,
MAP_SHARED, fd, spi_peripheral_base_);
if (mmap_result == MAP_FAILED) {
- PLOG(FATAL, "mmap the SPI peripheral from /dev/mem failed\n");
+ AOS_PLOG(FATAL, "mmap the SPI peripheral from /dev/mem failed\n");
}
- PCHECK(close(fd));
+ AOS_PCHECK(close(fd));
mapping_ = static_cast<volatile uint32_t *>(mmap_result);
}
SpiRxClearer::~SpiRxClearer() {
- PCHECK(munmap(const_cast<uint32_t *>(mapping_), kMappingSize));
+ AOS_PCHECK(munmap(const_cast<uint32_t *>(mapping_), kMappingSize));
}
void SpiRxClearer::ClearRxFifo() {
@@ -34,9 +34,9 @@
return;
}
// Read the next byte.
- LOG(DEBUG, "Read from RX FIFO: %" PRIx32 "\n", ReadRegister(0x20));
+ AOS_LOG(DEBUG, "Read from RX FIFO: %" PRIx32 "\n", ReadRegister(0x20));
}
- LOG(FATAL, "Failed to clear the RX FIFO\n");
+ AOS_LOG(FATAL, "Failed to clear the RX FIFO\n");
}
} // namespace wpilib
diff --git a/frc971/wpilib/wpilib_interface.cc b/frc971/wpilib/wpilib_interface.cc
index 851d809..4216e3b 100644
--- a/frc971/wpilib/wpilib_interface.cc
+++ b/frc971/wpilib/wpilib_interface.cc
@@ -23,7 +23,7 @@
robot_state->voltage_battery = HAL_GetVinVoltage(&status);
if (status != 0) {
- LOG(FATAL, "Failed to get robot state: %d\n", status);
+ AOS_LOG(FATAL, "Failed to get robot state: %d\n", status);
}
}
diff --git a/frc971/wpilib/wpilib_robot_base.h b/frc971/wpilib/wpilib_robot_base.h
index ef3ec31..86672c4 100644
--- a/frc971/wpilib/wpilib_robot_base.h
+++ b/frc971/wpilib/wpilib_robot_base.h
@@ -28,7 +28,7 @@
thread.join();
}
- LOG(ERROR, "Exiting WPILibRobot\n");
+ AOS_LOG(ERROR, "Exiting WPILibRobot\n");
::aos::Cleanup();
}