cleaned up lots of not-so-niceties and a few bugs

I built everything with clang (hackishly in some areas) and it spit out a bunch
of warnings.
diff --git a/aos/common/logging/logging.h b/aos/common/logging/logging.h
index 114007b..6487b64 100644
--- a/aos/common/logging/logging.h
+++ b/aos/common/logging/logging.h
@@ -33,27 +33,20 @@
 // Not static const size_t for C code.
 #define LOG_MESSAGE_LEN 400
 
-#ifdef __VXWORKS__
-// We're using ancient glibc, so sticking to just what the syscall can handle is
-// probably safer.
-#define LOG_PRINTF_FORMAT_TYPE printf
-#else
-#define LOG_PRINTF_FORMAT_TYPE gnu_printf
-#endif
 #ifdef __cplusplus
 extern "C" {
 #endif
 // Actually implements the basic logging call.
 // Does not check that level is valid.
 void log_do(log_level level, const char *format, ...)
-  __attribute__((format(LOG_PRINTF_FORMAT_TYPE, 2, 3)));
+  __attribute__((format(GOOD_PRINTF_FORMAT_TYPE, 2, 3)));
 
 void log_cork(int line, const char *function, const char *format, ...)
-  __attribute__((format(LOG_PRINTF_FORMAT_TYPE, 3, 4)));
+  __attribute__((format(GOOD_PRINTF_FORMAT_TYPE, 3, 4)));
 // Implements the uncork logging call.
 void log_uncork(int line, const char *function, log_level level,
                 const char *file, const char *format, ...)
-  __attribute__((format(LOG_PRINTF_FORMAT_TYPE, 5, 6)));
+  __attribute__((format(GOOD_PRINTF_FORMAT_TYPE, 5, 6)));
 #ifdef __cplusplus
 }
 #endif
diff --git a/aos/common/logging/logging_impl.cc b/aos/common/logging/logging_impl.cc
index 5c5dfc4..714aaf1 100644
--- a/aos/common/logging/logging_impl.cc
+++ b/aos/common/logging/logging_impl.cc
@@ -25,6 +25,7 @@
     LOG(FATAL, "can't have a next logger from here\n");
   }
 
+  __attribute__((format(GOOD_PRINTF_FORMAT_TYPE, 3, 0)))
   virtual void DoLog(log_level level, const char *format, va_list ap) {
     LogMessage message;
     internal::FillInMessage(level, format, ap, &message);
diff --git a/aos/common/logging/logging_impl.h b/aos/common/logging/logging_impl.h
index 440e3fe..57f09ec 100644
--- a/aos/common/logging/logging_impl.h
+++ b/aos/common/logging/logging_impl.h
@@ -15,10 +15,11 @@
 #include "aos/common/logging/logging.h"
 #include "aos/common/type_traits.h"
 #include "aos/common/mutex.h"
+#include "aos/common/macros.h"
 
 namespace aos {
 
-class MessageType;
+struct MessageType;
 
 }  // namespace aos
 
@@ -101,16 +102,19 @@
 
 // Takes a message and logs it. It will set everything up and then call DoLog
 // for the current LogImplementation.
-void VLog(log_level level, const char *format, va_list ap);
+void VLog(log_level level, const char *format, va_list ap)
+    __attribute__((format(GOOD_PRINTF_FORMAT_TYPE, 2, 0)));
 // Adds to the saved up message.
-void VCork(int line, const char *format, va_list ap);
+void VCork(int line, const char *function, const char *format, va_list ap)
+    __attribute__((format(GOOD_PRINTF_FORMAT_TYPE, 3, 0)));
 // Actually logs the saved up message.
-void VUnCork(int line, log_level level, const char *file,
-             const char *format, va_list ap);
+void VUnCork(int line, const char *function, log_level level, const char *file,
+             const char *format, va_list ap)
+    __attribute__((format(GOOD_PRINTF_FORMAT_TYPE, 5, 0)));
 
 // Will call VLog with the given arguments for the next logger in the chain.
 void LogNext(log_level level, const char *format, ...)
-  __attribute__((format(LOG_PRINTF_FORMAT_TYPE, 2, 3)));
+  __attribute__((format(GOOD_PRINTF_FORMAT_TYPE, 2, 3)));
 
 // Takes a structure and log it.
 template <class T>
@@ -140,7 +144,9 @@
  private:
   // Actually logs the given message. Implementations should somehow create a
   // LogMessage and then call internal::FillInMessage.
+  __attribute__((format(GOOD_PRINTF_FORMAT_TYPE, 3, 0)))
   virtual void DoLog(log_level level, const char *format, va_list ap) = 0;
+  __attribute__((format(GOOD_PRINTF_FORMAT_TYPE, 3, 4)))
   void DoLogVariadic(log_level level, const char *format, ...) {
     va_list ap;
     va_start(ap, format);
@@ -167,7 +173,8 @@
   // These functions call similar methods on the "current" LogImplementation or
   // Die if they can't find one.
   // levels is how many LogImplementations to not use off the stack.
-  static void DoVLog(log_level, const char *format, va_list ap, int levels);
+  static void DoVLog(log_level, const char *format, va_list ap, int levels)
+      __attribute__((format(GOOD_PRINTF_FORMAT_TYPE, 2, 0)));
   // This one is implemented in queue_logging.cc.
   static void DoLogStruct(log_level level, const ::std::string &message,
                           size_t size, const MessageType *type,
@@ -195,6 +202,7 @@
   StreamLogImplementation(FILE *stream);
 
  private:
+  __attribute__((format(GOOD_PRINTF_FORMAT_TYPE, 3, 0)))
   virtual void DoLog(log_level level, const char *format, va_list ap);
 
   FILE *const stream_;
@@ -297,8 +305,10 @@
 // Fills in *message according to the given inputs (with type kString).
 // Used for implementing LogImplementation::DoLog.
 void FillInMessage(log_level level, const char *format, va_list ap,
-                   LogMessage *message);
+                   LogMessage *message)
+    __attribute__((format(GOOD_PRINTF_FORMAT_TYPE, 2, 0)));
 
+__attribute__((format(GOOD_PRINTF_FORMAT_TYPE, 3, 4)))
 static inline void FillInMessageVarargs(log_level level, LogMessage *message,
                                         const char *format, ...) {
   va_list ap;
@@ -313,7 +323,8 @@
 // Prints format (with ap) into output and correctly deals with the result
 // being too long etc.
 size_t ExecuteFormat(char *output, size_t output_size, const char *format,
-                     va_list ap);
+                     va_list ap)
+    __attribute__((format(GOOD_PRINTF_FORMAT_TYPE, 3, 0)));
 
 // Runs the given function with the current LogImplementation (handles switching
 // it out while running function etc).
diff --git a/aos/common/logging/logging_impl_test.cc b/aos/common/logging/logging_impl_test.cc
index dea1815..f472bef 100644
--- a/aos/common/logging/logging_impl_test.cc
+++ b/aos/common/logging/logging_impl_test.cc
@@ -16,6 +16,7 @@
 namespace testing {
 
 class TestLogImplementation : public LogImplementation {
+  __attribute__((format(GOOD_PRINTF_FORMAT_TYPE, 3, 0)))
   virtual void DoLog(log_level level, const char *format, va_list ap) {
     internal::FillInMessage(level, format, ap, &message_);