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;
}