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/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;
}
}