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/y2014/control_loops/shooter/shooter.cc b/y2014/control_loops/shooter/shooter.cc
index d1ef2a5..bf14aad 100644
--- a/y2014/control_loops/shooter/shooter.cc
+++ b/y2014/control_loops/shooter/shooter.cc
@@ -35,17 +35,17 @@
// against last cycle's voltage.
if (X_hat(2, 0) > last_voltage_ + 4.0) {
voltage_ -= X_hat(2, 0) - (last_voltage_ + 4.0);
- LOG(DEBUG, "Capping due to runaway\n");
+ AOS_LOG(DEBUG, "Capping due to runaway\n");
} else if (X_hat(2, 0) < last_voltage_ - 4.0) {
voltage_ += X_hat(2, 0) - (last_voltage_ - 4.0);
- LOG(DEBUG, "Capping due to runaway\n");
+ AOS_LOG(DEBUG, "Capping due to runaway\n");
}
voltage_ = std::min(max_voltage_, voltage_);
voltage_ = std::max(-max_voltage_, voltage_);
mutable_U(0, 0) = voltage_ - old_voltage;
- LOG_STRUCT(
+ AOS_LOG_STRUCT(
DEBUG, "shooter_output",
::y2014::control_loops::ShooterVoltageToLog(X_hat(2, 0), voltage_));
@@ -67,8 +67,8 @@
mutable_R(0, 0) -= dx;
}
capped_goal_ = true;
- LOG_STRUCT(DEBUG, "to prevent windup",
- ::y2014::control_loops::ShooterMovingGoal(dx));
+ AOS_LOG_STRUCT(DEBUG, "to prevent windup",
+ ::y2014::control_loops::ShooterMovingGoal(dx));
} else if (uncapped_voltage() < -max_voltage_) {
double dx;
if (index() == 0) {
@@ -82,8 +82,8 @@
mutable_R(0, 0) -= dx;
}
capped_goal_ = true;
- LOG_STRUCT(DEBUG, "to prevent windup",
- ::y2014::control_loops::ShooterMovingGoal(dx));
+ AOS_LOG_STRUCT(DEBUG, "to prevent windup",
+ ::y2014::control_loops::ShooterMovingGoal(dx));
} else {
capped_goal_ = false;
}
@@ -110,10 +110,10 @@
if (index() == 0) {
mutable_R(2, 0) += -plant().A(1, 0) / plant().A(1, 2) * (doffset);
}
- LOG_STRUCT(DEBUG, "sensor edge (fake?)",
- ::y2014::control_loops::ShooterChangeCalibration(
- encoder_val, known_position, old_position, absolute_position(),
- previous_offset, offset_));
+ AOS_LOG_STRUCT(DEBUG, "sensor edge (fake?)",
+ ::y2014::control_loops::ShooterChangeCalibration(
+ encoder_val, known_position, old_position,
+ absolute_position(), previous_offset, offset_));
}
ShooterMotor::ShooterMotor(::aos::EventLoop *event_loop,
@@ -137,20 +137,21 @@
(kMaxExtension - values.shooter.upper_limit) *
(kMaxExtension - values.shooter.upper_limit));
if (power < 0) {
- LOG_STRUCT(WARNING, "negative power",
- ::y2014::control_loops::PowerAdjustment(power, 0));
+ AOS_LOG_STRUCT(WARNING, "negative power",
+ ::y2014::control_loops::PowerAdjustment(power, 0));
power = 0;
} else if (power > maxpower) {
- LOG_STRUCT(WARNING, "power too high",
- ::y2014::control_loops::PowerAdjustment(power, maxpower));
+ AOS_LOG_STRUCT(WARNING, "power too high",
+ ::y2014::control_loops::PowerAdjustment(power, maxpower));
power = maxpower;
}
double mp = kMaxExtension * kMaxExtension - (power + power) / kSpringConstant;
double new_pos = 0.10;
if (mp < 0) {
- LOG(ERROR,
- "Power calculation has negative number before square root (%f).\n", mp);
+ AOS_LOG(ERROR,
+ "Power calculation has negative number before square root (%f).\n",
+ mp);
} else {
new_pos = kMaxExtension - ::std::sqrt(mp);
}
@@ -167,7 +168,7 @@
void ShooterMotor::CheckCalibrations(
const ::y2014::control_loops::ShooterQueue::Position *position) {
- CHECK_NOTNULL(position);
+ AOS_CHECK_NOTNULL(position);
const constants::Values &values = constants::GetValues();
// TODO(austin): Validate that this is the right edge.
@@ -184,7 +185,7 @@
position->pusher_proximal.posedge_value,
values.shooter.pusher_proximal.upper_angle);
- LOG(DEBUG, "Setting calibration using proximal sensor\n");
+ AOS_LOG(DEBUG, "Setting calibration using proximal sensor\n");
zeroed_ = true;
}
} else {
@@ -204,7 +205,7 @@
position->pusher_distal.posedge_value,
values.shooter.pusher_distal.upper_angle);
- LOG(DEBUG, "Setting calibration using distal sensor\n");
+ AOS_LOG(DEBUG, "Setting calibration using distal sensor\n");
zeroed_ = true;
}
} else {
@@ -221,14 +222,14 @@
::y2014::control_loops::ShooterQueue::Status *status) {
const monotonic_clock::time_point monotonic_now = event_loop()->monotonic_now();
if (goal && ::std::isnan(goal->shot_power)) {
- state_ = STATE_ESTOP;
- LOG(ERROR, "Estopping because got a shot power of NAN.\n");
+ state_ = STATE_ESTOP;
+ AOS_LOG(ERROR, "Estopping because got a shot power of NAN.\n");
}
// we must always have these or we have issues.
if (status == NULL) {
if (output) output->voltage = 0;
- LOG(ERROR, "Thought I would just check for null and die.\n");
+ AOS_LOG(ERROR, "Thought I would just check for null and die.\n");
return;
}
status->ready = false;
@@ -303,8 +304,8 @@
state_ = STATE_REQUEST_LOAD;
} else {
shooter_loop_disable = true;
- LOG(DEBUG,
- "Not moving on until the latch has moved to avoid a crash\n");
+ AOS_LOG(DEBUG,
+ "Not moving on until the latch has moved to avoid a crash\n");
}
} else {
// If we can't start yet because we don't know where we are, set the
@@ -419,7 +420,7 @@
(load_timeout_ + chrono::milliseconds(500) <
monotonic_now)) {
state_ = STATE_ESTOP;
- LOG(ERROR, "Estopping because took too long to load.\n");
+ AOS_LOG(ERROR, "Estopping because took too long to load.\n");
}
}
}
@@ -446,8 +447,8 @@
// up the latch.
shooter_.SetGoalPosition(values.shooter.lower_limit, 0.0);
if (position) {
- LOG(DEBUG, "Waiting on latch: plunger %d, latch: %d\n",
- position->plunger, position->latch);
+ AOS_LOG(DEBUG, "Waiting on latch: plunger %d, latch: %d\n",
+ position->plunger, position->latch);
}
latch_piston_ = true;
@@ -461,10 +462,10 @@
shooter_.SetGoalPosition(PowerToPosition(goal->shot_power), 0.0);
}
- LOG(DEBUG, "PDIFF: absolute_position: %.2f, pow: %.2f\n",
- shooter_.absolute_position(),
- goal ? PowerToPosition(goal->shot_power)
- : ::std::numeric_limits<double>::quiet_NaN());
+ AOS_LOG(DEBUG, "PDIFF: absolute_position: %.2f, pow: %.2f\n",
+ shooter_.absolute_position(),
+ goal ? PowerToPosition(goal->shot_power)
+ : ::std::numeric_limits<double>::quiet_NaN());
if (goal &&
::std::abs(shooter_.absolute_position() -
PowerToPosition(goal->shot_power)) < 0.001 &&
@@ -483,7 +484,7 @@
}
break;
case STATE_READY:
- LOG(DEBUG, "In ready\n");
+ AOS_LOG(DEBUG, "In ready\n");
// Wait until the brake is set, and a shot is requested or the shot power
// is changed.
if (monotonic_now > shooter_brake_set_time_) {
@@ -491,9 +492,9 @@
// We have waited long enough for the brake to set, turn the shooter
// control loop off.
shooter_loop_disable = true;
- LOG(DEBUG, "Brake is now set\n");
+ AOS_LOG(DEBUG, "Brake is now set\n");
if (goal && goal->shot_requested && !disabled) {
- LOG(DEBUG, "Shooting now\n");
+ AOS_LOG(DEBUG, "Shooting now\n");
shooter_loop_disable = true;
shot_end_time_ = monotonic_now + kShotEndTimeout;
firing_starting_position_ = shooter_.absolute_position();
@@ -508,7 +509,7 @@
// TODO(austin): Do we want to set the brake here or after shooting?
// Depends on air usage.
status->ready = false;
- LOG(DEBUG, "Preparing shot again.\n");
+ AOS_LOG(DEBUG, "Preparing shot again.\n");
state_ = STATE_PREPARE_SHOT;
}
@@ -596,7 +597,7 @@
// We have been stuck trying to unload for way too long, give up and
// turn everything off.
state_ = STATE_ESTOP;
- LOG(ERROR, "Estopping because took too long to unload.\n");
+ AOS_LOG(ERROR, "Estopping because took too long to unload.\n");
}
brake_piston_ = false;
@@ -642,7 +643,7 @@
break;
case STATE_ESTOP:
- LOG(WARNING, "estopped\n");
+ AOS_LOG(WARNING, "estopped\n");
// Totally lost, go to a safe state.
shooter_loop_disable = true;
latch_piston_ = true;
@@ -651,9 +652,9 @@
}
if (!shooter_loop_disable) {
- LOG_STRUCT(DEBUG, "running the loop",
- ::y2014::control_loops::ShooterStatusToLog(
- shooter_.goal_position(), shooter_.absolute_position()));
+ AOS_LOG_STRUCT(DEBUG, "running the loop",
+ ::y2014::control_loops::ShooterStatusToLog(
+ shooter_.goal_position(), shooter_.absolute_position()));
if (!cap_goal) {
shooter_.set_max_voltage(12.0);
}
@@ -678,12 +679,13 @@
}
if (position) {
- LOG_STRUCT(DEBUG, "internal state",
- ::y2014::control_loops::ShooterStateToLog(
- shooter_.absolute_position(), shooter_.absolute_velocity(),
- state_, position->latch, position->pusher_proximal.current,
- position->pusher_distal.current, position->plunger,
- brake_piston_, latch_piston_));
+ AOS_LOG_STRUCT(
+ DEBUG, "internal state",
+ ::y2014::control_loops::ShooterStateToLog(
+ shooter_.absolute_position(), shooter_.absolute_velocity(), state_,
+ position->latch, position->pusher_proximal.current,
+ position->pusher_distal.current, position->plunger, brake_piston_,
+ latch_piston_));
last_position_ = *position;