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/y2016/actors/autonomous_actor.cc b/y2016/actors/autonomous_actor.cc
index a02362e..498a6f1 100644
--- a/y2016/actors/autonomous_actor.cc
+++ b/y2016/actors/autonomous_actor.cc
@@ -111,7 +111,7 @@
new_superstructure_goal->unfold_climber = false;
if (!new_superstructure_goal.Send()) {
- LOG(ERROR, "Sending superstructure goal failed.\n");
+ AOS_LOG(ERROR, "Sending superstructure goal failed.\n");
}
}
@@ -124,7 +124,7 @@
shooter_goal->push_to_shooter = false;
shooter_goal->force_lights_on = false;
if (!shooter_goal.Send()) {
- LOG(ERROR, "Sending shooter goal failed.\n");
+ AOS_LOG(ERROR, "Sending shooter goal failed.\n");
}
}
@@ -138,7 +138,7 @@
shooter_goal->force_lights_on = false;
if (!shooter_goal.Send()) {
- LOG(ERROR, "Sending shooter goal failed.\n");
+ AOS_LOG(ERROR, "Sending shooter goal failed.\n");
}
}
@@ -156,7 +156,7 @@
shooter_goal->force_lights_on = force_lights_on;
if (!shooter_goal.Send()) {
- LOG(ERROR, "Sending shooter goal failed.\n");
+ AOS_LOG(ERROR, "Sending shooter goal failed.\n");
}
}
@@ -179,7 +179,7 @@
shooter_goal->force_lights_on = force_lights_on;
if (!shooter_goal.Send()) {
- LOG(ERROR, "Sending shooter goal failed.\n");
+ AOS_LOG(ERROR, "Sending shooter goal failed.\n");
}
::aos::time::PhasedLoop phased_loop(::std::chrono::milliseconds(5),
@@ -270,7 +270,7 @@
}
if (ready_to_fire > 15) {
break;
- LOG(INFO, "Vision align success!\n");
+ AOS_LOG(INFO, "Vision align success!\n");
}
}
phased_loop.SleepUntilNext();
@@ -278,7 +278,7 @@
vision_action_->Cancel();
WaitUntilDoneOrCanceled(::std::move(vision_action_));
- LOG(INFO, "Done waiting for vision\n");
+ AOS_LOG(INFO, "Done waiting for vision\n");
}
bool AutonomousActor::IntakeDone() {
@@ -289,7 +289,7 @@
if (superstructure_status_fetcher_->state < 12 ||
superstructure_status_fetcher_->state == 16) {
- LOG(ERROR, "Superstructure no longer running, aborting action\n");
+ AOS_LOG(ERROR, "Superstructure no longer running, aborting action\n");
return true;
}
@@ -297,12 +297,12 @@
superstructure_goal_.intake) < kProfileError &&
::std::abs(superstructure_status_fetcher_->intake
.goal_angular_velocity) < kProfileError) {
- LOG(DEBUG, "Profile done.\n");
+ AOS_LOG(DEBUG, "Profile done.\n");
if (::std::abs(superstructure_status_fetcher_->intake.angle -
superstructure_goal_.intake) < kEpsilon &&
::std::abs(superstructure_status_fetcher_->intake
.angular_velocity) < kEpsilon) {
- LOG(INFO, "Near goal, done.\n");
+ AOS_LOG(INFO, "Near goal, done.\n");
return true;
}
}
@@ -312,7 +312,7 @@
bool AutonomousActor::SuperstructureProfileDone() {
if (superstructure_status_fetcher_->state < 12 ||
superstructure_status_fetcher_->state == 16) {
- LOG(ERROR, "Superstructure no longer running, aborting action\n");
+ AOS_LOG(ERROR, "Superstructure no longer running, aborting action\n");
return true;
}
@@ -339,7 +339,7 @@
constexpr double kEpsilon = 0.03;
if (SuperstructureProfileDone()) {
- LOG(DEBUG, "Profile done.\n");
+ AOS_LOG(DEBUG, "Profile done.\n");
if (::std::abs(superstructure_status_fetcher_->intake.angle -
superstructure_goal_.intake) < (kEpsilon + 0.1) &&
::std::abs(superstructure_status_fetcher_->shoulder.angle -
@@ -352,7 +352,7 @@
.angular_velocity) < (kEpsilon + 0.10) &&
::std::abs(superstructure_status_fetcher_->wrist
.angular_velocity) < (kEpsilon + 0.05)) {
- LOG(INFO, "Near goal, done.\n");
+ AOS_LOG(INFO, "Near goal, done.\n");
return true;
}
}
@@ -384,43 +384,43 @@
}
void AutonomousActor::BackLongShotLowBarTwoBall() {
- LOG(INFO, "Expanding for back long shot\n");
+ AOS_LOG(INFO, "Expanding for back long shot\n");
MoveSuperstructure(0.00, M_PI / 2.0 - 0.2, -0.55, {7.0, 40.0}, {4.0, 6.0},
{10.0, 25.0}, false, 0.0);
}
void AutonomousActor::BackLongShotTwoBall() {
- LOG(INFO, "Expanding for back long shot\n");
+ AOS_LOG(INFO, "Expanding for back long shot\n");
MoveSuperstructure(0.00, M_PI / 2.0 - 0.2, -0.55, {7.0, 40.0}, {4.0, 6.0},
{10.0, 25.0}, false, 0.0);
}
void AutonomousActor::BackLongShotTwoBallFinish() {
- LOG(INFO, "Expanding for back long shot\n");
+ AOS_LOG(INFO, "Expanding for back long shot\n");
MoveSuperstructure(0.00, M_PI / 2.0 - 0.2, -0.625 + 0.03, {7.0, 40.0},
{4.0, 6.0}, {10.0, 25.0}, false, 0.0);
}
void AutonomousActor::BackLongShot() {
- LOG(INFO, "Expanding for back long shot\n");
+ AOS_LOG(INFO, "Expanding for back long shot\n");
MoveSuperstructure(0.80, M_PI / 2.0 - 0.2, -0.62, {7.0, 40.0}, {4.0, 6.0},
{10.0, 25.0}, false, 0.0);
}
void AutonomousActor::BackMiddleShot() {
- LOG(INFO, "Expanding for back middle shot\n");
+ AOS_LOG(INFO, "Expanding for back middle shot\n");
MoveSuperstructure(-0.05, M_PI / 2.0 - 0.2, -0.665, {7.0, 40.0}, {4.0, 10.0},
{10.0, 25.0}, false, 0.0);
}
void AutonomousActor::FrontLongShot() {
- LOG(INFO, "Expanding for front long shot\n");
+ AOS_LOG(INFO, "Expanding for front long shot\n");
MoveSuperstructure(0.80, M_PI / 2.0 + 0.1, M_PI + 0.41 + 0.02, {7.0, 40.0},
{4.0, 6.0}, {10.0, 25.0}, false, 0.0);
}
void AutonomousActor::FrontMiddleShot() {
- LOG(INFO, "Expanding for front middle shot\n");
+ AOS_LOG(INFO, "Expanding for front middle shot\n");
MoveSuperstructure(-0.05, M_PI / 2.0 + 0.1, M_PI + 0.44, {7.0, 40.0},
{4.0, 10.0}, {10.0, 25.0}, true, 0.0);
}
@@ -433,37 +433,37 @@
void AutonomousActor::DoFullShot() {
if (ShouldCancel()) return;
// Make sure that the base is aligned with the base.
- LOG(INFO, "Waiting for the superstructure\n");
+ AOS_LOG(INFO, "Waiting for the superstructure\n");
WaitForSuperstructure();
this_thread::sleep_for(chrono::milliseconds(500));
if (ShouldCancel()) return;
- LOG(INFO, "Triggering the vision actor\n");
+ AOS_LOG(INFO, "Triggering the vision actor\n");
AlignWithVisionGoal();
// Wait for the drive base to be aligned with the target and make sure that
// the shooter is up to speed.
- LOG(INFO, "Waiting for vision to be aligned\n");
+ AOS_LOG(INFO, "Waiting for vision to be aligned\n");
WaitForAlignedWithVision(chrono::milliseconds(2000));
if (ShouldCancel()) return;
- LOG(INFO, "Waiting for shooter to be up to speed\n");
+ AOS_LOG(INFO, "Waiting for shooter to be up to speed\n");
WaitForShooterSpeed();
if (ShouldCancel()) return;
this_thread::sleep_for(chrono::milliseconds(300));
- LOG(INFO, "Shoot!\n");
+ AOS_LOG(INFO, "Shoot!\n");
Shoot();
// Turn off the shooter and fold up the superstructure.
if (ShouldCancel()) return;
- LOG(INFO, "Stopping shooter\n");
+ AOS_LOG(INFO, "Stopping shooter\n");
SetShooterSpeed(0.0);
- LOG(INFO, "Folding superstructure back down\n");
+ AOS_LOG(INFO, "Folding superstructure back down\n");
TuckArm(false, false);
// Wait for everything to be folded up.
- LOG(INFO, "Waiting for superstructure to be folded back down\n");
+ AOS_LOG(INFO, "Waiting for superstructure to be folded back down\n");
WaitForSuperstructureLow();
}
@@ -505,7 +505,7 @@
const double distance_to_go = (left_error + right_error) / 2.0;
const double distance_compensation =
goal_distance - tip_distance - distance_to_go;
- LOG(INFO, "Going %f further at the bump\n", distance_compensation);
+ AOS_LOG(INFO, "Going %f further at the bump\n", distance_compensation);
StartDrive(distance_compensation, 0.0, kMoatDrive, kSlowTurn);
}
}
@@ -577,11 +577,11 @@
MoveSuperstructure(0.10, -0.010, 0.0, {8.0, 60.0}, {4.0, 10.0}, {10.0, 25.0},
false, 12.0);
if (ShouldCancel()) return;
- LOG(INFO, "Waiting for the intake to come down.\n");
+ AOS_LOG(INFO, "Waiting for the intake to come down.\n");
WaitForIntake();
- LOG(INFO, "Intake done at %f seconds, starting to drive\n",
- ::aos::time::DurationInSeconds(monotonic_now() - start_time));
+ AOS_LOG(INFO, "Intake done at %f seconds, starting to drive\n",
+ ::aos::time::DurationInSeconds(monotonic_now() - start_time));
if (ShouldCancel()) return;
const double kDriveDistance = 5.05;
StartDrive(-kDriveDistance, 0.0, kTwoBallLowDrive, kSlowTurn);
@@ -595,13 +595,14 @@
if (ball_detector_fetcher_.get()) {
const bool ball_detected = ball_detector_fetcher_->voltage > 2.5;
first_ball_there = ball_detected;
- LOG(INFO, "Saw the ball: %d at %f\n", first_ball_there,
- ::aos::time::DurationInSeconds(monotonic_now() - start_time));
+ AOS_LOG(INFO, "Saw the ball: %d at %f\n", first_ball_there,
+ ::aos::time::DurationInSeconds(monotonic_now() - start_time));
}
MoveSuperstructure(0.10, -0.010, 0.0, {8.0, 40.0}, {4.0, 10.0}, {10.0, 25.0},
false, 0.0);
- LOG(INFO, "Shutting off rollers at %f seconds, starting to straighten out\n",
- ::aos::time::DurationInSeconds(monotonic_now() - start_time));
+ AOS_LOG(INFO,
+ "Shutting off rollers at %f seconds, starting to straighten out\n",
+ ::aos::time::DurationInSeconds(monotonic_now() - start_time));
StartDrive(0.0, -0.4, kTwoBallLowDrive, kSwerveTurn);
MoveSuperstructure(-0.05, -0.010, 0.0, {8.0, 40.0}, {4.0, 10.0}, {10.0, 25.0},
false, 0.0);
@@ -610,7 +611,7 @@
// We are now under the low bar. Start lifting.
BackLongShotLowBarTwoBall();
- LOG(INFO, "Spinning up the shooter wheels\n");
+ AOS_LOG(INFO, "Spinning up the shooter wheels\n");
SetShooterSpeed(640.0);
StartDrive(0.0, 0.0, kTwoBallFastDrive, kSwerveTurn);
@@ -620,8 +621,8 @@
BackLongShotTwoBall();
if (!WaitForDriveDone()) return;
- LOG(INFO, "First shot done driving at %f seconds\n",
- ::aos::time::DurationInSeconds(monotonic_now() - start_time));
+ AOS_LOG(INFO, "First shot done driving at %f seconds\n",
+ ::aos::time::DurationInSeconds(monotonic_now() - start_time));
WaitForSuperstructureProfile();
@@ -636,19 +637,19 @@
BackLongShotTwoBallFinish();
WaitForSuperstructureProfile();
if (ShouldCancel()) return;
- LOG(INFO, "Shoot!\n");
+ AOS_LOG(INFO, "Shoot!\n");
if (first_ball_there) {
Shoot();
} else {
- LOG(INFO, "Nah, not shooting\n");
+ AOS_LOG(INFO, "Nah, not shooting\n");
}
- LOG(INFO, "First shot at %f seconds\n",
- ::aos::time::DurationInSeconds(monotonic_now() - start_time));
+ AOS_LOG(INFO, "First shot at %f seconds\n",
+ ::aos::time::DurationInSeconds(monotonic_now() - start_time));
if (ShouldCancel()) return;
SetShooterSpeed(0.0);
- LOG(INFO, "Folding superstructure back down\n");
+ AOS_LOG(INFO, "Folding superstructure back down\n");
TuckArm(true, true);
// Undo vision move.
@@ -663,8 +664,8 @@
StartDrive(0, 0, kTwoBallReturnSlow, kSwerveTurn);
if (!WaitForDriveNear(0.06, kDoNotTurnCare)) return;
- LOG(INFO, "At Low Bar %f\n",
- ::aos::time::DurationInSeconds(monotonic_now() - start_time));
+ AOS_LOG(INFO, "At Low Bar %f\n",
+ ::aos::time::DurationInSeconds(monotonic_now() - start_time));
OpenShooter();
constexpr double kSecondBallAfterBarDrive = 2.10;
@@ -681,8 +682,8 @@
MoveSuperstructure(0.10, -0.010, 0.0, {8.0, 60.0}, {4.0, 10.0}, {10.0, 25.0},
false, 12.0);
- LOG(INFO, "Done backing up %f\n",
- ::aos::time::DurationInSeconds(monotonic_now() - start_time));
+ AOS_LOG(INFO, "Done backing up %f\n",
+ ::aos::time::DurationInSeconds(monotonic_now() - start_time));
constexpr double kDriveBackDistance = 5.15 - 0.4;
StartDrive(-kDriveBackDistance, 0.0, kTwoBallLowDrive, kFinishTurn);
@@ -690,8 +691,8 @@
if (!WaitForDriveNear(kDriveBackDistance - 0.75, kDoNotTurnCare)) return;
StartDrive(0.0, -kBallSmallWallTurn, kTwoBallLowDrive, kFinishTurn);
- LOG(INFO, "Straightening up at %f\n",
- ::aos::time::DurationInSeconds(monotonic_now() - start_time));
+ AOS_LOG(INFO, "Straightening up at %f\n",
+ ::aos::time::DurationInSeconds(monotonic_now() - start_time));
CloseIfBall();
if (!WaitForDriveNear(kDriveBackDistance - 2.3, kDoNotTurnCare)) return;
@@ -701,15 +702,15 @@
const bool ball_detected = ball_detector_fetcher_->voltage > 2.5;
if (!ball_detected) {
if (!WaitForDriveDone()) return;
- LOG(INFO, "Aborting, no ball %f\n",
- ::aos::time::DurationInSeconds(monotonic_now() - start_time));
+ AOS_LOG(INFO, "Aborting, no ball %f\n",
+ ::aos::time::DurationInSeconds(monotonic_now() - start_time));
return;
}
}
CloseShooter();
BackLongShotLowBarTwoBall();
- LOG(INFO, "Spinning up the shooter wheels\n");
+ AOS_LOG(INFO, "Spinning up the shooter wheels\n");
SetShooterSpeed(640.0);
StartDrive(0.0, 0.0, kTwoBallFastDrive, kSwerveTurn);
@@ -718,8 +719,8 @@
BackLongShotTwoBall();
if (!WaitForDriveDone()) return;
- LOG(INFO, "Second shot done driving at %f seconds\n",
- ::aos::time::DurationInSeconds(monotonic_now() - start_time));
+ AOS_LOG(INFO, "Second shot done driving at %f seconds\n",
+ ::aos::time::DurationInSeconds(monotonic_now() - start_time));
WaitForSuperstructure();
AlignWithVisionGoal();
if (ShouldCancel()) return;
@@ -729,32 +730,32 @@
// 2.2 with 0.4 of vision.
// 1.8 without any vision.
- LOG(INFO, "Going to vision align at %f\n",
- ::aos::time::DurationInSeconds(monotonic_now() - start_time));
+ AOS_LOG(INFO, "Going to vision align at %f\n",
+ ::aos::time::DurationInSeconds(monotonic_now() - start_time));
WaitForAlignedWithVision(
(start_time + chrono::milliseconds(13500) + kVisionExtra * 2) -
monotonic_now());
BackLongShotTwoBallFinish();
WaitForSuperstructureProfile();
if (ShouldCancel()) return;
- LOG(INFO, "Shoot at %f\n",
- ::aos::time::DurationInSeconds(monotonic_now() - start_time));
+ AOS_LOG(INFO, "Shoot at %f\n",
+ ::aos::time::DurationInSeconds(monotonic_now() - start_time));
Shoot();
- LOG(INFO, "Second shot at %f seconds\n",
- ::aos::time::DurationInSeconds(monotonic_now() - start_time));
+ AOS_LOG(INFO, "Second shot at %f seconds\n",
+ ::aos::time::DurationInSeconds(monotonic_now() - start_time));
if (ShouldCancel()) return;
SetShooterSpeed(0.0);
- LOG(INFO, "Folding superstructure back down\n");
+ AOS_LOG(INFO, "Folding superstructure back down\n");
TuckArm(true, false);
- LOG(INFO, "Shot %f\n",
- ::aos::time::DurationInSeconds(monotonic_now() - start_time));
+ AOS_LOG(INFO, "Shot %f\n",
+ ::aos::time::DurationInSeconds(monotonic_now() - start_time));
WaitForSuperstructureLow();
- LOG(INFO, "Done %f\n",
- ::aos::time::DurationInSeconds(monotonic_now() - start_time));
+ AOS_LOG(INFO, "Done %f\n",
+ ::aos::time::DurationInSeconds(monotonic_now() - start_time));
}
void AutonomousActor::StealAndMoveOverBy(double distance) {
@@ -762,7 +763,7 @@
MoveSuperstructure(0.10, -0.010, 0.0, {8.0, 60.0}, {4.0, 10.0}, {10.0, 25.0},
true, 12.0);
if (ShouldCancel()) return;
- LOG(INFO, "Waiting for the intake to come down.\n");
+ AOS_LOG(INFO, "Waiting for the intake to come down.\n");
WaitForIntake();
if (ShouldCancel()) return;
@@ -780,7 +781,8 @@
bool AutonomousActor::RunAction(
const ::frc971::autonomous::AutonomousActionParams ¶ms) {
monotonic_clock::time_point start_time = monotonic_now();
- LOG(INFO, "Starting autonomous action with mode %" PRId32 "\n", params.mode);
+ AOS_LOG(INFO, "Starting autonomous action with mode %" PRId32 "\n",
+ params.mode);
InitializeEncoders();
ResetDrivetrain();
@@ -790,11 +792,11 @@
LowBarDrive();
if (!WaitForDriveDone()) return true;
// Get the superstructure to unfold and get ready for shooting.
- LOG(INFO, "Unfolding superstructure\n");
+ AOS_LOG(INFO, "Unfolding superstructure\n");
FrontLongShot();
// Spin up the shooter wheels.
- LOG(INFO, "Spinning up the shooter wheels\n");
+ AOS_LOG(INFO, "Spinning up the shooter wheels\n");
SetShooterSpeed(640.0);
break;
@@ -802,11 +804,11 @@
TwoFromMiddleDrive();
if (!WaitForDriveDone()) return true;
// Get the superstructure to unfold and get ready for shooting.
- LOG(INFO, "Unfolding superstructure\n");
+ AOS_LOG(INFO, "Unfolding superstructure\n");
FrontMiddleShot();
// Spin up the shooter wheels.
- LOG(INFO, "Spinning up the shooter wheels\n");
+ AOS_LOG(INFO, "Spinning up the shooter wheels\n");
SetShooterSpeed(600.0);
break;
@@ -814,11 +816,11 @@
OneFromMiddleDrive(true);
if (!WaitForDriveDone()) return true;
// Get the superstructure to unfold and get ready for shooting.
- LOG(INFO, "Unfolding superstructure\n");
+ AOS_LOG(INFO, "Unfolding superstructure\n");
FrontMiddleShot();
// Spin up the shooter wheels.
- LOG(INFO, "Spinning up the shooter wheels\n");
+ AOS_LOG(INFO, "Spinning up the shooter wheels\n");
SetShooterSpeed(600.0);
break;
@@ -826,11 +828,11 @@
MiddleDrive();
if (!WaitForDriveDone()) return true;
// Get the superstructure to unfold and get ready for shooting.
- LOG(INFO, "Unfolding superstructure\n");
+ AOS_LOG(INFO, "Unfolding superstructure\n");
FrontMiddleShot();
// Spin up the shooter wheels.
- LOG(INFO, "Spinning up the shooter wheels\n");
+ AOS_LOG(INFO, "Spinning up the shooter wheels\n");
SetShooterSpeed(600.0);
break;
@@ -838,11 +840,11 @@
OneFromMiddleDrive(false);
if (!WaitForDriveDone()) return true;
// Get the superstructure to unfold and get ready for shooting.
- LOG(INFO, "Unfolding superstructure\n");
+ AOS_LOG(INFO, "Unfolding superstructure\n");
FrontMiddleShot();
// Spin up the shooter wheels.
- LOG(INFO, "Spinning up the shooter wheels\n");
+ AOS_LOG(INFO, "Spinning up the shooter wheels\n");
SetShooterSpeed(600.0);
break;
@@ -858,11 +860,11 @@
TwoFromMiddleDrive();
if (!WaitForDriveDone()) return true;
// Get the superstructure to unfold and get ready for shooting.
- LOG(INFO, "Unfolding superstructure\n");
+ AOS_LOG(INFO, "Unfolding superstructure\n");
FrontMiddleShot();
// Spin up the shooter wheels.
- LOG(INFO, "Spinning up the shooter wheels\n");
+ AOS_LOG(INFO, "Spinning up the shooter wheels\n");
SetShooterSpeed(600.0);
break;
@@ -873,11 +875,11 @@
OneFromMiddleDrive(true);
if (!WaitForDriveDone()) return true;
// Get the superstructure to unfold and get ready for shooting.
- LOG(INFO, "Unfolding superstructure\n");
+ AOS_LOG(INFO, "Unfolding superstructure\n");
FrontMiddleShot();
// Spin up the shooter wheels.
- LOG(INFO, "Spinning up the shooter wheels\n");
+ AOS_LOG(INFO, "Spinning up the shooter wheels\n");
SetShooterSpeed(600.0);
break;
@@ -888,11 +890,11 @@
MiddleDrive();
if (!WaitForDriveDone()) return true;
// Get the superstructure to unfold and get ready for shooting.
- LOG(INFO, "Unfolding superstructure\n");
+ AOS_LOG(INFO, "Unfolding superstructure\n");
FrontMiddleShot();
// Spin up the shooter wheels.
- LOG(INFO, "Spinning up the shooter wheels\n");
+ AOS_LOG(INFO, "Spinning up the shooter wheels\n");
SetShooterSpeed(600.0);
} break;
@@ -903,16 +905,16 @@
OneFromMiddleDrive(false);
if (!WaitForDriveDone()) return true;
// Get the superstructure to unfold and get ready for shooting.
- LOG(INFO, "Unfolding superstructure\n");
+ AOS_LOG(INFO, "Unfolding superstructure\n");
FrontMiddleShot();
// Spin up the shooter wheels.
- LOG(INFO, "Spinning up the shooter wheels\n");
+ AOS_LOG(INFO, "Spinning up the shooter wheels\n");
SetShooterSpeed(600.0);
} break;
default:
- LOG(ERROR, "Invalid auto mode %d\n", params.mode);
+ AOS_LOG(ERROR, "Invalid auto mode %d\n", params.mode);
return true;
}
@@ -921,7 +923,7 @@
StartDrive(0.5, 0.0, kMoatDrive, kFastTurn);
if (!WaitForDriveDone()) return true;
- LOG(INFO, "Done %f\n",
+ AOS_LOG(INFO, "Done %f\n",
::aos::time::DurationInSeconds(monotonic_now() - start_time));
::aos::time::PhasedLoop phased_loop(::std::chrono::milliseconds(5),
@@ -931,7 +933,7 @@
while (!ShouldCancel()) {
phased_loop.SleepUntilNext();
}
- LOG(DEBUG, "Done running\n");
+ AOS_LOG(DEBUG, "Done running\n");
return true;
}
diff --git a/y2016/actors/superstructure_actor.cc b/y2016/actors/superstructure_actor.cc
index 26fdd7e..2875cbd 100644
--- a/y2016/actors/superstructure_actor.cc
+++ b/y2016/actors/superstructure_actor.cc
@@ -26,7 +26,7 @@
bool SuperstructureActor::RunAction(
const actors::SuperstructureActionParams ¶ms) {
- LOG(INFO, "Starting superstructure action\n");
+ AOS_LOG(INFO, "Starting superstructure action\n");
MoveSuperstructure(params.partial_angle, params.shooter_angle, false);
WaitForSuperstructure();
@@ -68,7 +68,7 @@
new_superstructure_goal->unfold_climber = unfold_climber;
if (!new_superstructure_goal.Send()) {
- LOG(ERROR, "Sending superstructure move failed.\n");
+ AOS_LOG(ERROR, "Sending superstructure move failed.\n");
}
}
@@ -93,13 +93,13 @@
// estopped.
if (superstructure_status_fetcher_->state < 12 ||
superstructure_status_fetcher_->state == 16) {
- LOG(ERROR, "Superstructure no longer running, aborting action\n");
+ AOS_LOG(ERROR, "Superstructure no longer running, aborting action\n");
return true;
}
if (SuperstructureProfileDone()) {
- LOG(DEBUG, "Profile done.\n");
- return true;
+ AOS_LOG(DEBUG, "Profile done.\n");
+ return true;
}
return false;
}
diff --git a/y2016/actors/vision_align_actor.cc b/y2016/actors/vision_align_actor.cc
index f42aad9..1685d22 100644
--- a/y2016/actors/vision_align_actor.cc
+++ b/y2016/actors/vision_align_actor.cc
@@ -42,8 +42,8 @@
while (true) {
const int iterations = phased_loop.SleepUntilNext();
if (iterations != 1) {
- LOG(WARNING, "vision align actor skipped %d iterations\n",
- iterations - 1);
+ AOS_LOG(WARNING, "vision align actor skipped %d iterations\n",
+ iterations - 1);
}
if (ShouldCancel()) {
@@ -77,11 +77,11 @@
drivetrain_message->right_goal = right_current - side_distance_change;
if (!drivetrain_message.Send()) {
- LOG(WARNING, "sending drivetrain goal failed\n");
+ AOS_LOG(WARNING, "sending drivetrain goal failed\n");
}
}
- LOG(INFO, "Done moving\n");
+ AOS_LOG(INFO, "Done moving\n");
return true;
}
diff --git a/y2016/constants.cc b/y2016/constants.cc
index d4f61c1..8518b6b 100644
--- a/y2016/constants.cc
+++ b/y2016/constants.cc
@@ -142,13 +142,13 @@
};
break;
default:
- LOG(FATAL, "unknown team #%" PRIu16 "\n", team);
+ AOS_LOG(FATAL, "unknown team #%" PRIu16 "\n", team);
}
}
const Values *DoGetValues() {
uint16_t team = ::aos::network::GetTeamNumber();
- LOG(INFO, "creating a Constants for team %" PRIu16 "\n", team);
+ AOS_LOG(INFO, "creating a Constants for team %" PRIu16 "\n", team);
return DoGetValuesForTeam(team);
}
diff --git a/y2016/control_loops/superstructure/superstructure.cc b/y2016/control_loops/superstructure/superstructure.cc
index c3155bf..99a130c 100644
--- a/y2016/control_loops/superstructure/superstructure.cc
+++ b/y2016/control_loops/superstructure/superstructure.cc
@@ -175,11 +175,12 @@
shoulder_angle <=
CollisionAvoidance::kMinShoulderAngleForIntakeUpInterference &&
intake_angle > CollisionAvoidance::kMaxIntakeAngleBeforeArmInterference) {
- LOG(DEBUG, "Collided: Intake %f > %f, and shoulder %f < %f < %f.\n",
- intake_angle, CollisionAvoidance::kMaxIntakeAngleBeforeArmInterference,
- CollisionAvoidance::kMaxShoulderAngleUntilSafeIntakeStowing,
- shoulder_angle,
- CollisionAvoidance::kMinShoulderAngleForIntakeUpInterference);
+ AOS_LOG(DEBUG, "Collided: Intake %f > %f, and shoulder %f < %f < %f.\n",
+ intake_angle,
+ CollisionAvoidance::kMaxIntakeAngleBeforeArmInterference,
+ CollisionAvoidance::kMaxShoulderAngleUntilSafeIntakeStowing,
+ shoulder_angle,
+ CollisionAvoidance::kMinShoulderAngleForIntakeUpInterference);
return true;
}
@@ -191,7 +192,8 @@
intake_angle > Superstructure::kIntakeLowerClear &&
(wrist_angle > CollisionAvoidance::kMaxWristAngleForMovingByIntake ||
wrist_angle < CollisionAvoidance::kMinWristAngleForMovingByIntake)) {
- LOG(DEBUG,
+ AOS_LOG(
+ DEBUG,
"Collided: Intake %f < %f < %f, shoulder %f < %f < %f, and %f < %f < "
"%f.\n",
Superstructure::kIntakeLowerClear, intake_angle,
@@ -209,10 +211,10 @@
if (shoulder_angle <
CollisionAvoidance::kMinShoulderAngleForHorizontalShooter &&
::std::abs(wrist_angle) > kMaxWristAngleForSafeArmStowing) {
- LOG(DEBUG, "Collided: Shoulder %f < %f and wrist |%f| > %f.\n",
- shoulder_angle,
- CollisionAvoidance::kMinShoulderAngleForHorizontalShooter, wrist_angle,
- kMaxWristAngleForSafeArmStowing);
+ AOS_LOG(DEBUG, "Collided: Shoulder %f < %f and wrist |%f| > %f.\n",
+ shoulder_angle,
+ CollisionAvoidance::kMinShoulderAngleForHorizontalShooter,
+ wrist_angle, kMaxWristAngleForSafeArmStowing);
return true;
}
@@ -293,7 +295,7 @@
control_loops::SuperstructureQueue::Status *status) {
const State state_before_switch = state_;
if (WasReset()) {
- LOG(ERROR, "WPILib reset, restarting\n");
+ AOS_LOG(ERROR, "WPILib reset, restarting\n");
arm_.Reset();
intake_.Reset();
state_ = UNINITIALIZED;
@@ -323,7 +325,7 @@
case UNINITIALIZED:
// Wait in the uninitialized state until both the arm and intake are
// initialized.
- LOG(DEBUG, "Uninitialized, waiting for intake and arm\n");
+ AOS_LOG(DEBUG, "Uninitialized, waiting for intake and arm\n");
if (arm_.initialized() && intake_.initialized()) {
state_ = DISABLED_INITIALIZED;
}
@@ -414,10 +416,10 @@
if (arm_.zeroed() && intake_.zeroed()) {
state_ = RUNNING;
} else if (IsArmNear(kLooseTolerance)) {
- LOG(ERROR,
- "Failed to zero while executing the HIGH_ARM_ZERO sequence. "
- "Arm: %d Intake %d\n",
- arm_.zeroed(), intake_.zeroed());
+ AOS_LOG(ERROR,
+ "Failed to zero while executing the HIGH_ARM_ZERO sequence. "
+ "Arm: %d Intake %d\n",
+ arm_.zeroed(), intake_.zeroed());
state_ = ESTOP;
}
}
@@ -515,10 +517,10 @@
if (arm_.zeroed() && intake_.zeroed()) {
state_ = RUNNING;
} else {
- LOG(ERROR,
- "Failed to zero while executing the LOW_ARM_ZERO sequence. "
- "Arm: %d Intake %d\n",
- arm_.zeroed(), intake_.zeroed());
+ AOS_LOG(ERROR,
+ "Failed to zero while executing the LOW_ARM_ZERO sequence. "
+ "Arm: %d Intake %d\n",
+ arm_.zeroed(), intake_.zeroed());
state_ = ESTOP;
}
}
@@ -627,7 +629,7 @@
} break;
case ESTOP:
- LOG(ERROR, "Estop\n");
+ AOS_LOG(ERROR, "Estop\n");
disable = true;
break;
}
diff --git a/y2016/control_loops/superstructure/superstructure_controls.cc b/y2016/control_loops/superstructure/superstructure_controls.cc
index e787f79..b8f3a48 100644
--- a/y2016/control_loops/superstructure/superstructure_controls.cc
+++ b/y2016/control_loops/superstructure/superstructure_controls.cc
@@ -55,7 +55,8 @@
void Arm::UpdateWristOffset(double offset) {
const double doffset = offset - offset_(1, 0);
- LOG(INFO, "Adjusting Wrist offset from %f to %f\n", offset_(1, 0), offset);
+ AOS_LOG(INFO, "Adjusting Wrist offset from %f to %f\n", offset_(1, 0),
+ offset);
loop_->mutable_X_hat()(2, 0) += doffset;
Y_(1, 0) += doffset;
@@ -72,7 +73,8 @@
void Arm::UpdateShoulderOffset(double offset) {
const double doffset = offset - offset_(0, 0);
- LOG(INFO, "Adjusting Shoulder offset from %f to %f\n", offset_(0, 0), offset);
+ AOS_LOG(INFO, "Adjusting Shoulder offset from %f to %f\n", offset_(0, 0),
+ offset);
loop_->mutable_X_hat()(0, 0) += doffset;
loop_->mutable_X_hat()(2, 0) += doffset;
@@ -101,11 +103,11 @@
// Handle zeroing errors
if (estimators_[kShoulderIndex].error()) {
- LOG(ERROR, "zeroing error with shoulder_estimator\n");
+ AOS_LOG(ERROR, "zeroing error with shoulder_estimator\n");
return;
}
if (estimators_[kWristIndex].error()) {
- LOG(ERROR, "zeroing error with wrist_estimator\n");
+ AOS_LOG(ERROR, "zeroing error with wrist_estimator\n");
return;
}
@@ -138,26 +140,26 @@
// Limit the goals to min/max allowable angles.
if ((*goal)(0, 0) > constants::Values::kShoulderRange.upper) {
- LOG(WARNING, "Shoulder goal %s above limit, %f > %f\n", name, (*goal)(0, 0),
- constants::Values::kShoulderRange.upper);
+ AOS_LOG(WARNING, "Shoulder goal %s above limit, %f > %f\n", name,
+ (*goal)(0, 0), constants::Values::kShoulderRange.upper);
(*goal)(0, 0) = constants::Values::kShoulderRange.upper;
}
if ((*goal)(0, 0) < constants::Values::kShoulderRange.lower) {
- LOG(WARNING, "Shoulder goal %s below limit, %f < %f\n", name, (*goal)(0, 0),
- constants::Values::kShoulderRange.lower);
+ AOS_LOG(WARNING, "Shoulder goal %s below limit, %f < %f\n", name,
+ (*goal)(0, 0), constants::Values::kShoulderRange.lower);
(*goal)(0, 0) = constants::Values::kShoulderRange.lower;
}
const double wrist_goal_angle_ungrounded = (*goal)(2, 0) - (*goal)(0, 0);
if (wrist_goal_angle_ungrounded > constants::Values::kWristRange.upper) {
- LOG(WARNING, "Wrist goal %s above limit, %f > %f\n", name,
- wrist_goal_angle_ungrounded, constants::Values::kWristRange.upper);
+ AOS_LOG(WARNING, "Wrist goal %s above limit, %f > %f\n", name,
+ wrist_goal_angle_ungrounded, constants::Values::kWristRange.upper);
(*goal)(2, 0) = constants::Values::kWristRange.upper + (*goal)(0, 0);
}
if (wrist_goal_angle_ungrounded < constants::Values::kWristRange.lower) {
- LOG(WARNING, "Wrist goal %s below limit, %f < %f\n", name,
- wrist_goal_angle_ungrounded, constants::Values::kWristRange.lower);
+ AOS_LOG(WARNING, "Wrist goal %s below limit, %f < %f\n", name,
+ wrist_goal_angle_ungrounded, constants::Values::kWristRange.lower);
(*goal)(2, 0) = constants::Values::kWristRange.lower + (*goal)(0, 0);
}
}
@@ -195,9 +197,9 @@
bool Arm::CheckHardLimits() {
if (shoulder_angle() > constants::Values::kShoulderRange.upper_hard ||
shoulder_angle() < constants::Values::kShoulderRange.lower_hard) {
- LOG(ERROR, "Shoulder at %f out of bounds [%f, %f], ESTOPing\n",
- shoulder_angle(), constants::Values::kShoulderRange.lower_hard,
- constants::Values::kShoulderRange.upper_hard);
+ AOS_LOG(ERROR, "Shoulder at %f out of bounds [%f, %f], ESTOPing\n",
+ shoulder_angle(), constants::Values::kShoulderRange.lower_hard,
+ constants::Values::kShoulderRange.upper_hard);
return true;
}
@@ -205,10 +207,10 @@
constants::Values::kWristRange.upper_hard ||
wrist_angle() - shoulder_angle() <
constants::Values::kWristRange.lower_hard) {
- LOG(ERROR, "Wrist at %f out of bounds [%f, %f], ESTOPing\n",
- wrist_angle() - shoulder_angle(),
- constants::Values::kWristRange.lower_hard,
- constants::Values::kWristRange.upper_hard);
+ AOS_LOG(ERROR, "Wrist at %f out of bounds [%f, %f], ESTOPing\n",
+ wrist_angle() - shoulder_angle(),
+ constants::Values::kWristRange.lower_hard,
+ constants::Values::kWristRange.upper_hard);
return true;
}
@@ -239,15 +241,15 @@
// Shoulder saturated
if (!disable && loop_->U(0, 0) != loop_->U_uncapped(0, 0)) {
- LOG(DEBUG, "Moving shoulder state. U: %f, %f\n", loop_->U(0, 0),
- loop_->U_uncapped(0, 0));
+ AOS_LOG(DEBUG, "Moving shoulder state. U: %f, %f\n", loop_->U(0, 0),
+ loop_->U_uncapped(0, 0));
shoulder_profile_.MoveCurrentState(loop_->R().block<2, 1>(0, 0));
}
// Wrist saturated
if (!disable && loop_->U(1, 0) != loop_->U_uncapped(1, 0)) {
- LOG(DEBUG, "Moving shooter state. U: %f, %f\n", loop_->U(1, 0),
- loop_->U_uncapped(1, 0));
+ AOS_LOG(DEBUG, "Moving shooter state. U: %f, %f\n", loop_->U(1, 0),
+ loop_->U_uncapped(1, 0));
wrist_profile_.MoveCurrentState(loop_->R().block<2, 1>(2, 0));
}
}
diff --git a/y2016/control_loops/superstructure/superstructure_controls.h b/y2016/control_loops/superstructure/superstructure_controls.h
index 49c8097..8936650 100644
--- a/y2016/control_loops/superstructure/superstructure_controls.h
+++ b/y2016/control_loops/superstructure/superstructure_controls.h
@@ -41,9 +41,9 @@
const double bemf_voltage = X_hat(1, 0) / kV_shoulder;
bool use_accelerating_controller = true;
- LOG(DEBUG, "Accelerating at %f, decel %f, bemf %f\n",
- accelerating_controller(0, 0), accelerating_controller(1, 0),
- bemf_voltage);
+ AOS_LOG(DEBUG, "Accelerating at %f, decel %f, bemf %f\n",
+ accelerating_controller(0, 0), accelerating_controller(1, 0),
+ bemf_voltage);
if (IsAccelerating(bemf_voltage, accelerating_controller(0, 0))) {
use_accelerating_controller = true;
} else {
@@ -71,7 +71,7 @@
const double coupled_amount = (controller().Kff().block<1, 2>(1, 2) *
plant().B().block<2, 1>(2, 0))(0, 0) *
overage_amount;
- LOG(DEBUG, "Removing coupled amount %f\n", coupled_amount);
+ AOS_LOG(DEBUG, "Removing coupled amount %f\n", coupled_amount);
mutable_U(1, 0) += coupled_amount;
}
if (U(0, 0) < min_voltage(0)) {
@@ -80,7 +80,7 @@
const double coupled_amount = (controller().Kff().block<1, 2>(1, 2) *
plant().B().block<2, 1>(2, 0))(0, 0) *
under_amount;
- LOG(DEBUG, "Removing coupled amount %f\n", coupled_amount);
+ AOS_LOG(DEBUG, "Removing coupled amount %f\n", coupled_amount);
mutable_U(1, 0) += coupled_amount;
}
diff --git a/y2016/control_loops/superstructure/superstructure_lib_test.cc b/y2016/control_loops/superstructure/superstructure_lib_test.cc
index 969102f..79b4d24 100644
--- a/y2016/control_loops/superstructure/superstructure_lib_test.cc
+++ b/y2016/control_loops/superstructure/superstructure_lib_test.cc
@@ -194,24 +194,24 @@
if (superstructure_status_fetcher_->state == Superstructure::RUNNING ||
superstructure_status_fetcher_->state ==
Superstructure::LANDING_RUNNING) {
- CHECK_LE(::std::abs(superstructure_output_fetcher_->voltage_intake),
- Superstructure::kOperatingVoltage);
- CHECK_LE(::std::abs(superstructure_output_fetcher_->voltage_shoulder),
- Superstructure::kOperatingVoltage);
- CHECK_LE(::std::abs(superstructure_output_fetcher_->voltage_wrist),
- Superstructure::kOperatingVoltage);
+ AOS_CHECK_LE(::std::abs(superstructure_output_fetcher_->voltage_intake),
+ Superstructure::kOperatingVoltage);
+ AOS_CHECK_LE(::std::abs(superstructure_output_fetcher_->voltage_shoulder),
+ Superstructure::kOperatingVoltage);
+ AOS_CHECK_LE(::std::abs(superstructure_output_fetcher_->voltage_wrist),
+ Superstructure::kOperatingVoltage);
} else {
- CHECK_LE(::std::abs(superstructure_output_fetcher_->voltage_intake),
- Superstructure::kZeroingVoltage);
- CHECK_LE(::std::abs(superstructure_output_fetcher_->voltage_shoulder),
- Superstructure::kZeroingVoltage);
- CHECK_LE(::std::abs(superstructure_output_fetcher_->voltage_wrist),
- Superstructure::kZeroingVoltage);
+ AOS_CHECK_LE(::std::abs(superstructure_output_fetcher_->voltage_intake),
+ Superstructure::kZeroingVoltage);
+ AOS_CHECK_LE(::std::abs(superstructure_output_fetcher_->voltage_shoulder),
+ Superstructure::kZeroingVoltage);
+ AOS_CHECK_LE(::std::abs(superstructure_output_fetcher_->voltage_wrist),
+ Superstructure::kZeroingVoltage);
}
if (arm_plant_->X(0, 0) <=
Superstructure::kShoulderTransitionToLanded + 1e-4) {
- CHECK_GE(superstructure_output_fetcher_->voltage_shoulder,
- Superstructure::kLandingShoulderDownVoltage - 0.00001);
+ AOS_CHECK_GE(superstructure_output_fetcher_->voltage_shoulder,
+ Superstructure::kLandingShoulderDownVoltage - 0.00001);
}
// Use the plant to generate the next physical state given the voltages to
diff --git a/y2016/dashboard/dashboard.cc b/y2016/dashboard/dashboard.cc
index d69afcb..27036e0 100644
--- a/y2016/dashboard/dashboard.cc
+++ b/y2016/dashboard/dashboard.cc
@@ -152,7 +152,7 @@
void DataCollector::AddPoint(const ::std::string &name, double value) {
// Mutex should be locked when this method is called to synchronize packets.
- CHECK(mutex_.OwnedBySelf());
+ AOS_CHECK(mutex_.OwnedBySelf());
size_t index = GetIndex(sample_id_);
@@ -254,8 +254,8 @@
void SocketHandler::onConnect(seasocks::WebSocket *connection) {
connections_.insert(connection);
- LOG(INFO, "Connected: %s : %s\n", connection->getRequestUri().c_str(),
- seasocks::formatAddress(connection->getRemoteAddress()).c_str());
+ AOS_LOG(INFO, "Connected: %s : %s\n", connection->getRequestUri().c_str(),
+ seasocks::formatAddress(connection->getRemoteAddress()).c_str());
}
void SocketHandler::onData(seasocks::WebSocket *connection, const char *data) {
@@ -267,8 +267,8 @@
void SocketHandler::onDisconnect(seasocks::WebSocket *connection) {
connections_.erase(connection);
- LOG(INFO, "Disconnected: %s : %s\n", connection->getRequestUri().c_str(),
- seasocks::formatAddress(connection->getRemoteAddress()).c_str());
+ AOS_LOG(INFO, "Disconnected: %s : %s\n", connection->getRequestUri().c_str(),
+ seasocks::formatAddress(connection->getRemoteAddress()).c_str());
}
void SocketHandler::Quit() {
diff --git a/y2016/joystick_reader.cc b/y2016/joystick_reader.cc
index 4e4ccef..276fda6 100644
--- a/y2016/joystick_reader.cc
+++ b/y2016/joystick_reader.cc
@@ -126,10 +126,10 @@
actors::VisionAlignActionParams params;
EnqueueAction(vision_align_action_factory_.Make(params));
vision_action_running_ = true;
- LOG(INFO, "Starting vision align\n");
+ AOS_LOG(INFO, "Starting vision align\n");
} else {
if (!vision_valid_) {
- LOG(INFO, "Vision align but not valid\n");
+ AOS_LOG(INFO, "Vision align but not valid\n");
}
}
}
@@ -147,7 +147,7 @@
void HandleTeleop(const ::aos::input::driver_station::Data &data) {
if (!data.GetControlBit(ControlBit::kEnabled)) {
// If we are not enabled, reset the waiting for zero bit.
- LOG(DEBUG, "Waiting for zero.\n");
+ AOS_LOG(DEBUG, "Waiting for zero.\n");
waiting_for_zero_ = true;
}
@@ -158,18 +158,18 @@
bool force_lights_on = false;
if (!data.GetControlBit(ControlBit::kEnabled)) {
CancelAllActions();
- LOG(DEBUG, "Canceling\n");
+ AOS_LOG(DEBUG, "Canceling\n");
}
superstructure_status_fetcher_.Fetch();
if (!superstructure_status_fetcher_.get()) {
- LOG(ERROR, "Got no superstructure status packet.\n");
+ AOS_LOG(ERROR, "Got no superstructure status packet.\n");
}
if (superstructure_status_fetcher_.get() &&
superstructure_status_fetcher_->zeroed) {
if (waiting_for_zero_) {
- LOG(DEBUG, "Zeroed! Starting teleop mode.\n");
+ AOS_LOG(DEBUG, "Zeroed! Starting teleop mode.\n");
waiting_for_zero_ = false;
}
} else {
@@ -379,10 +379,10 @@
new_superstructure_goal->force_intake = true;
if (!new_superstructure_goal.Send()) {
- LOG(ERROR, "Sending superstructure goal failed.\n");
+ AOS_LOG(ERROR, "Sending superstructure goal failed.\n");
} else {
- LOG(DEBUG, "sending goals: intake: %f, shoulder: %f, wrist: %f\n",
- intake_goal_, shoulder_goal_, wrist_goal_);
+ AOS_LOG(DEBUG, "sending goals: intake: %f, shoulder: %f, wrist: %f\n",
+ intake_goal_, shoulder_goal_, wrist_goal_);
}
}
@@ -394,7 +394,7 @@
shooter_message->shooting_forwards = wrist_goal_ > 0;
if (!shooter_message.Send()) {
- LOG(ERROR, "Sending shooter goal failed.\n");
+ AOS_LOG(ERROR, "Sending shooter goal failed.\n");
}
}
}
diff --git a/y2016/vision/stereo_geometry.cc b/y2016/vision/stereo_geometry.cc
index b58cb82..a58675c 100644
--- a/y2016/vision/stereo_geometry.cc
+++ b/y2016/vision/stereo_geometry.cc
@@ -10,8 +10,8 @@
return calibration.calibration();
}
}
- LOG(FATAL, "no calibration for %s found in %s\n", robot_name.c_str(),
- calibration_file.ShortDebugString().c_str());
+ AOS_LOG(FATAL, "no calibration for %s found in %s\n", robot_name.c_str(),
+ calibration_file.ShortDebugString().c_str());
}
} // namespace vision
diff --git a/y2016/vision/target_receiver.cc b/y2016/vision/target_receiver.cc
index a496848..a66be59 100644
--- a/y2016/vision/target_receiver.cc
+++ b/y2016/vision/target_receiver.cc
@@ -304,8 +304,8 @@
".y2016.vision.vision_status");
StereoGeometry stereo(constants::GetValues().vision_name);
- LOG(INFO, "calibration: %s\n",
- stereo.calibration().ShortDebugString().c_str());
+ AOS_LOG(INFO, "calibration: %s\n",
+ stereo.calibration().ShortDebugString().c_str());
DrivetrainOffsetCalculator drivetrain_offset(&event_loop);
@@ -328,7 +328,7 @@
right.Received(target, now);
}
} else {
- LOG(ERROR, "oh noes: parse error\n");
+ AOS_LOG(ERROR, "oh noes: parse error\n");
continue;
}
@@ -404,20 +404,22 @@
}
if (drivetrain_offset.CompleteVisionStatus(new_vision_status.get())) {
- LOG_STRUCT(DEBUG, "vision", *new_vision_status);
+ AOS_LOG_STRUCT(DEBUG, "vision", *new_vision_status);
if (!new_vision_status.Send()) {
- LOG(ERROR, "Failed to send vision information\n");
+ AOS_LOG(ERROR, "Failed to send vision information\n");
}
} else {
- LOG_STRUCT(WARNING, "vision without drivetrain", *new_vision_status);
+ AOS_LOG_STRUCT(WARNING, "vision without drivetrain",
+ *new_vision_status);
}
}
if (target.camera_index() == 0) {
- LOG(DEBUG, "left_target: %s\n", left.target().ShortDebugString().c_str());
+ AOS_LOG(DEBUG, "left_target: %s\n",
+ left.target().ShortDebugString().c_str());
} else {
- LOG(DEBUG, "right_target: %s\n",
- right.target().ShortDebugString().c_str());
+ AOS_LOG(DEBUG, "right_target: %s\n",
+ right.target().ShortDebugString().c_str());
}
}
}
diff --git a/y2016/wpilib_interface.cc b/y2016/wpilib_interface.cc
index 5b5fecb..9b31a0f 100644
--- a/y2016/wpilib_interface.cc
+++ b/y2016/wpilib_interface.cc
@@ -307,7 +307,7 @@
{
auto ball_detector_message = ball_detector_sender_.MakeMessage();
ball_detector_message->voltage = ball_detector_->GetVoltage();
- LOG_STRUCT(DEBUG, "ball detector", *ball_detector_message);
+ AOS_LOG_STRUCT(DEBUG, "ball detector", *ball_detector_message);
ball_detector_message.Send();
}
@@ -319,7 +319,7 @@
auto_mode_message->mode |= 1 << i;
}
}
- LOG_STRUCT(DEBUG, "auto mode", *auto_mode_message);
+ AOS_LOG_STRUCT(DEBUG, "auto mode", *auto_mode_message);
auto_mode_message.Send();
}
}
@@ -414,13 +414,13 @@
private:
void Loop(const int iterations) {
if (iterations != 1) {
- LOG(DEBUG, "Solenoids skipped %d iterations\n", iterations - 1);
+ AOS_LOG(DEBUG, "Solenoids skipped %d iterations\n", iterations - 1);
}
{
drivetrain_.Fetch();
if (drivetrain_.get()) {
- LOG_STRUCT(DEBUG, "solenoids", *drivetrain_);
+ AOS_LOG_STRUCT(DEBUG, "solenoids", *drivetrain_);
drivetrain_shifter_->Set(
!(drivetrain_->left_high || drivetrain_->right_high));
}
@@ -429,7 +429,7 @@
{
shooter_.Fetch();
if (shooter_.get()) {
- LOG_STRUCT(DEBUG, "solenoids", *shooter_);
+ AOS_LOG_STRUCT(DEBUG, "solenoids", *shooter_);
shooter_clamp_->Set(shooter_->clamp_open);
shooter_pusher_->Set(shooter_->push_to_shooter);
lights_->Set(shooter_->lights_on);
@@ -452,7 +452,7 @@
{
superstructure_.Fetch();
if (superstructure_.get()) {
- LOG_STRUCT(DEBUG, "solenoids", *superstructure_);
+ AOS_LOG_STRUCT(DEBUG, "solenoids", *superstructure_);
climber_trigger_->Set(superstructure_->unfold_climber);
@@ -467,7 +467,7 @@
pcm_->Flush();
to_log.read_solenoids = pcm_->GetAll();
- LOG_STRUCT(DEBUG, "pneumatics info", to_log);
+ AOS_LOG_STRUCT(DEBUG, "pneumatics info", to_log);
}
}
@@ -501,14 +501,14 @@
private:
void Write(const ShooterQueue::Output &output) override {
- LOG_STRUCT(DEBUG, "will output", output);
+ AOS_LOG_STRUCT(DEBUG, "will output", output);
shooter_left_talon_->SetSpeed(output.voltage_left / 12.0);
shooter_right_talon_->SetSpeed(-output.voltage_right / 12.0);
}
void Stop() override {
- LOG(WARNING, "Shooter output too old.\n");
+ AOS_LOG(WARNING, "Shooter output too old.\n");
shooter_left_talon_->SetDisabled();
shooter_right_talon_->SetDisabled();
}
@@ -551,7 +551,7 @@
private:
virtual void Write(const ::y2016::control_loops::SuperstructureQueue::Output
&output) override {
- LOG_STRUCT(DEBUG, "will output", output);
+ AOS_LOG_STRUCT(DEBUG, "will output", output);
intake_talon_->SetSpeed(::aos::Clip(output.voltage_intake,
-kMaxBringupPower, kMaxBringupPower) /
12.0);
@@ -567,7 +567,7 @@
}
virtual void Stop() override {
- LOG(WARNING, "Superstructure output too old.\n");
+ AOS_LOG(WARNING, "Superstructure output too old.\n");
intake_talon_->SetDisabled();
shoulder_talon_->SetDisabled();
wrist_talon_->SetDisabled();