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/y2017/control_loops/superstructure/column/column.cc b/y2017/control_loops/superstructure/column/column.cc
index 2a3cde7..ab1ff72 100644
--- a/y2017/control_loops/superstructure/column/column.cc
+++ b/y2017/control_loops/superstructure/column/column.cc
@@ -71,10 +71,10 @@
const double indexer_doffset = indexer_offset - offset_(0, 0);
const double turret_doffset = turret_offset - offset_(1, 0);
- LOG(INFO, "Adjusting indexer offset from %f to %f\n", offset_(0, 0),
- indexer_offset);
- LOG(INFO, "Adjusting turret offset from %f to %f\n", offset_(1, 0),
- turret_offset);
+ AOS_LOG(INFO, "Adjusting indexer offset from %f to %f\n", offset_(0, 0),
+ indexer_offset);
+ AOS_LOG(INFO, "Adjusting turret offset from %f to %f\n", offset_(1, 0),
+ turret_offset);
loop_->mutable_X_hat()(0, 0) += indexer_doffset;
loop_->mutable_X_hat()(2, 0) += turret_doffset + indexer_doffset;
@@ -99,7 +99,7 @@
estimators_[0].UpdateEstimate(new_position);
if (estimators_[0].error()) {
- LOG(ERROR, "zeroing error\n");
+ AOS_LOG(ERROR, "zeroing error\n");
return;
}
@@ -162,13 +162,13 @@
// Limit the goal to min/max allowable positions.
if (zeroed()) {
if ((*goal)(2, 0) > range_.upper) {
- LOG(WARNING, "Goal %s above limit, %f > %f\n", name, (*goal)(2, 0),
- range_.upper);
+ AOS_LOG(WARNING, "Goal %s above limit, %f > %f\n", name, (*goal)(2, 0),
+ range_.upper);
(*goal)(2, 0) = range_.upper;
}
if ((*goal)(2, 0) < range_.lower) {
- LOG(WARNING, "Goal %s below limit, %f < %f\n", name, (*goal)(2, 0),
- range_.lower);
+ AOS_LOG(WARNING, "Goal %s below limit, %f < %f\n", name, (*goal)(2, 0),
+ range_.lower);
(*goal)(2, 0) = range_.lower;
}
} else {
@@ -181,13 +181,13 @@
// Upper - lower hard may be a bit generous, but we are moving slow.
if ((*goal)(2, 0) > kMaxRange) {
- LOG(WARNING, "Goal %s above limit, %f > %f\n", name, (*goal)(2, 0),
- kMaxRange);
+ AOS_LOG(WARNING, "Goal %s above limit, %f > %f\n", name, (*goal)(2, 0),
+ kMaxRange);
(*goal)(2, 0) = kMaxRange;
}
if ((*goal)(2, 0) < -kMaxRange) {
- LOG(WARNING, "Goal %s below limit, %f < %f\n", name, (*goal)(2, 0),
- -kMaxRange);
+ AOS_LOG(WARNING, "Goal %s below limit, %f < %f\n", name, (*goal)(2, 0),
+ -kMaxRange);
(*goal)(2, 0) = -kMaxRange;
}
}
@@ -241,7 +241,7 @@
loop_->mutable_X_hat(4, 0) = 0.0;
loop_->mutable_X_hat(5, 0) = 0.0;
- LOG(INFO, "Resetting\n");
+ AOS_LOG(INFO, "Resetting\n");
stuck_indexer_detector_->mutable_X_hat() = loop_->X_hat();
should_reset_ = false;
saturated_ = false;
@@ -294,9 +294,9 @@
if (turret_position() > range_.upper_hard ||
turret_position() < range_.lower_hard) {
- LOG(ERROR,
- "ColumnProfiledSubsystem at %f out of bounds [%f, %f], ESTOPing\n",
- turret_position(), range_.lower_hard, range_.upper_hard);
+ AOS_LOG(ERROR,
+ "ColumnProfiledSubsystem at %f out of bounds [%f, %f], ESTOPing\n",
+ turret_position(), range_.lower_hard, range_.upper_hard);
return true;
}
@@ -465,7 +465,8 @@
profiled_subsystem_.goal(2, 0) -
kStuckZeroingTrackingError ||
profiled_subsystem_.saturated()) {
- LOG(INFO,
+ AOS_LOG(
+ INFO,
"Turret stuck going positive, switching directions. At %f, goal "
"%f\n",
profiled_subsystem_.turret_position(),
@@ -499,7 +500,8 @@
kStuckZeroingTrackingError ||
profiled_subsystem_.saturated()) {
// The turret got too far behind. Declare it stuck and reverse.
- LOG(INFO,
+ AOS_LOG(
+ INFO,
"Turret stuck going negative, switching directions. At %f, goal "
"%f\n",
profiled_subsystem_.turret_position(),
@@ -530,7 +532,8 @@
if (unsafe_turret_goal->track) {
if (vision_time_adjuster_.valid()) {
- LOG(INFO, "Vision aligning to %f\n", vision_time_adjuster_.goal());
+ AOS_LOG(INFO, "Vision aligning to %f\n",
+ vision_time_adjuster_.goal());
profiled_subsystem_.set_turret_unprofiled_goal(
vision_time_adjuster_.goal() + vision_error_);
}
@@ -552,7 +555,7 @@
} break;
case State::ESTOP:
- LOG(ERROR, "Estop\n");
+ AOS_LOG(ERROR, "Estop\n");
disable = true;
break;
}
@@ -574,8 +577,8 @@
indexer_state_ = IndexerState::REVERSING;
last_transition_time_ = monotonic_now;
profiled_subsystem_.PartialIndexerReset();
- LOG(INFO, "Partial indexer reset while going forwards\n");
- LOG(INFO, "Indexer RUNNING -> REVERSING\n");
+ AOS_LOG(INFO, "Partial indexer reset while going forwards\n");
+ AOS_LOG(INFO, "Indexer RUNNING -> REVERSING\n");
}
break;
case IndexerState::REVERSING:
@@ -588,12 +591,12 @@
monotonic_now > last_transition_time_ + kReverseMinTimeout) ||
monotonic_now > kReverseTimeout + last_transition_time_) {
indexer_state_ = IndexerState::RUNNING;
- LOG(INFO, "Indexer REVERSING -> RUNNING, stuck %d\n",
- profiled_subsystem_.IsIndexerStuck());
+ AOS_LOG(INFO, "Indexer REVERSING -> RUNNING, stuck %d\n",
+ profiled_subsystem_.IsIndexerStuck());
// Only reset if we got stuck going this way too.
if (monotonic_now > kReverseTimeout + last_transition_time_) {
- LOG(INFO, "Partial indexer reset while reversing\n");
+ AOS_LOG(INFO, "Partial indexer reset while reversing\n");
profiled_subsystem_.PartialIndexerReset();
}
last_transition_time_ = monotonic_now;