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;