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_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);