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d/psmv: Use new logging functions
This commit is contained in:
Jakob Bornecrantz
parent
b26c8135ae
commit
ffcc06e099
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@ -24,6 +24,7 @@
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#include "util/u_misc.h"
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#include "util/u_debug.h"
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#include "util/u_device.h"
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#include "util/u_logging.h"
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#include "psmv_interface.h"
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@ -47,32 +48,13 @@
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#define PSMV_BALL_DIAMETER_M 0.045 // 45 mm
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#define PSMV_BALL_FROM_IMU_Y_M 0.09 // 9 cm
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#define PSMV_SPEW(p, ...) \
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do { \
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if (p->print_spew) { \
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fprintf(stderr, "%s - ", __func__); \
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fprintf(stderr, __VA_ARGS__); \
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fprintf(stderr, "\n"); \
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} \
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} while (false)
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// clang-format off
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#define PSMV_TRACE(p, ...) U_LOG_XDEV_IFL_T(&p->base, p->log_level, __VA_ARGS__)
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#define PSMV_DEBUG(p, ...) U_LOG_XDEV_IFL_D(&p->base, p->log_level, __VA_ARGS__)
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#define PSMV_ERROR(p, ...) U_LOG_XDEV_IFL_E(&p->base, p->log_level, __VA_ARGS__)
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// clang-format on
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#define PSMV_DEBUG(p, ...) \
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do { \
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if (p->print_debug) { \
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fprintf(stderr, "%s - ", __func__); \
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fprintf(stderr, __VA_ARGS__); \
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fprintf(stderr, "\n"); \
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} \
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} while (false)
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#define PSMV_ERROR(p, ...) \
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do { \
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fprintf(stderr, "%s - ", __func__); \
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fprintf(stderr, __VA_ARGS__); \
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fprintf(stderr, "\n"); \
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} while (false)
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DEBUG_GET_ONCE_BOOL_OPTION(psmv_spew, "PSMV_PRINT_SPEW", false)
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DEBUG_GET_ONCE_BOOL_OPTION(psmv_trace, "PSMV_PRINT_TRACE", false)
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DEBUG_GET_ONCE_BOOL_OPTION(psmv_debug, "PSMV_PRINT_DEBUG", false)
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/*!
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@ -511,8 +493,7 @@ struct psmv_device
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// Product ID used to tell the difference between ZCM1 and ZCM2.
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uint16_t pid;
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bool print_spew;
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bool print_debug;
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enum u_logging_level log_level;
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struct
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{
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@ -987,8 +968,6 @@ psmv_found(struct xrt_prober *xp,
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enum u_device_alloc_flags flags = U_DEVICE_ALLOC_TRACKING_NONE;
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struct psmv_device *psmv =
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U_DEVICE_ALLOCATE(struct psmv_device, flags, 12, 1);
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psmv->print_spew = debug_get_bool_option_psmv_spew();
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psmv->print_debug = debug_get_bool_option_psmv_debug();
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psmv->base.destroy = psmv_device_destroy;
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psmv->base.update_inputs = psmv_device_update_inputs;
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psmv->base.get_tracked_pose = psmv_device_get_tracked_pose;
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@ -1001,6 +980,14 @@ psmv_found(struct xrt_prober *xp,
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snprintf(psmv->base.str, XRT_DEVICE_NAME_LEN, "%s",
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"PS Move Controller");
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if (debug_get_bool_option_psmv_trace()) {
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psmv->log_level = U_LOGGING_TRACE;
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} else if (debug_get_bool_option_psmv_debug()) {
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psmv->log_level = U_LOGGING_DEBUG;
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} else {
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psmv->log_level = U_LOGGING_INFO;
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}
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m_imu_pre_filter_init(&psmv->calibration.prefilter, 1.f, 1.f);
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// Default variance
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@ -1169,8 +1156,7 @@ psmv_found(struct xrt_prober *xp,
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u_var_add_gui_header(psmv, &psmv->gui.control, "Control");
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u_var_add_rgb_u8(psmv, &psmv->wants.led, "Led");
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u_var_add_u8(psmv, &psmv->wants.rumble, "Rumble");
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u_var_add_bool(psmv, &psmv->print_debug, "Debug");
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u_var_add_bool(psmv, &psmv->print_spew, "Spew");
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u_var_add_i32(psmv, (int*)&psmv->log_level, "Log level");
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// clang-format on
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// And finally done
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@ -1462,29 +1448,29 @@ psmv_parse_input_zcm1(struct psmv_device *psmv,
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* Print
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*/
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PSMV_SPEW(psmv,
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"\n\t"
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"missed: %s\n\t"
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"buttons: %08x\n\t"
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"battery: %x\n\t"
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"samples[0].accel: %6i %6i %6i\n\t"
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"samples[1].accel: %6i %6i %6i\n\t"
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"samples[0].gyro: %6i %6i %6i\n\t"
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"samples[1].gyro: %6i %6i %6i\n\t"
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"trigger_values[0]: %02x\n\t"
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"trigger_values[1]: %02x\n\t"
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"timestamp: %i\n\t"
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"diff: %i\n\t"
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"seq_no: %x\n",
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missed ? "yes" : "no", input->buttons, input->battery,
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input->samples[0].accel.x, input->samples[0].accel.y,
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input->samples[0].accel.z, input->samples[1].accel.x,
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input->samples[1].accel.y, input->samples[1].accel.z,
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input->samples[0].gyro.x, input->samples[0].gyro.y,
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input->samples[0].gyro.z, input->samples[1].gyro.x,
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input->samples[1].gyro.y, input->samples[1].gyro.z,
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input->trigger_values[0], input->trigger_values[1],
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input->timestamp, diff, input->seq_no);
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PSMV_TRACE(psmv,
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"\n\t"
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"missed: %s\n\t"
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"buttons: %08x\n\t"
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"battery: %x\n\t"
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"samples[0].accel: %6i %6i %6i\n\t"
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"samples[1].accel: %6i %6i %6i\n\t"
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"samples[0].gyro: %6i %6i %6i\n\t"
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"samples[1].gyro: %6i %6i %6i\n\t"
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"trigger_values[0]: %02x\n\t"
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"trigger_values[1]: %02x\n\t"
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"timestamp: %i\n\t"
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"diff: %i\n\t"
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"seq_no: %x\n",
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missed ? "yes" : "no", input->buttons, input->battery,
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input->samples[0].accel.x, input->samples[0].accel.y,
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input->samples[0].accel.z, input->samples[1].accel.x,
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input->samples[1].accel.y, input->samples[1].accel.z,
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input->samples[0].gyro.x, input->samples[0].gyro.y,
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input->samples[0].gyro.z, input->samples[1].gyro.x,
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input->samples[1].gyro.y, input->samples[1].gyro.z,
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input->trigger_values[0], input->trigger_values[1],
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input->timestamp, diff, input->seq_no);
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return 2;
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}
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@ -1712,30 +1698,30 @@ psmv_parse_input_zcm2(struct psmv_device *psmv,
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* Print
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*/
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PSMV_SPEW(psmv,
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"\n\t"
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"missed: %s\n\t"
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"buttons: %08x\n\t"
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"battery: %x\n\t"
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"sample.accel: %6i %6i %6i\n\t"
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"sample_copy.accel: %6i %6i %6i\n\t"
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"sample.gyro: %6i %6i %6i\n\t"
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"sample_copy.gyro: %6i %6i %6i\n\t"
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"sample.trigger: %02x\n\t"
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"sample.trigger_low_pass: %02x\n\t"
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"timestamp: %04x\n\t"
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"timestamp_copy: %04x\n\t"
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"diff: %i\n\t"
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"seq_no: %x\n",
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missed ? "yes" : "no", input->buttons, input->battery,
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input->samples[0].accel.x, input->samples[0].accel.y,
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input->samples[0].accel.z, input->samples[1].accel.x,
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input->samples[1].accel.y, input->samples[1].accel.z,
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input->samples[0].gyro.x, input->samples[0].gyro.y,
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input->samples[0].gyro.z, input->samples[1].gyro.x,
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input->samples[1].gyro.y, input->samples[1].gyro.z,
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input->trigger_low_pass, input->trigger, input->timestamp,
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input->timestamp_copy, diff, input->seq_no);
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PSMV_TRACE(psmv,
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"\n\t"
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"missed: %s\n\t"
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"buttons: %08x\n\t"
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"battery: %x\n\t"
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"sample.accel: %6i %6i %6i\n\t"
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"sample_copy.accel: %6i %6i %6i\n\t"
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"sample.gyro: %6i %6i %6i\n\t"
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"sample_copy.gyro: %6i %6i %6i\n\t"
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"sample.trigger: %02x\n\t"
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"sample.trigger_low_pass: %02x\n\t"
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"timestamp: %04x\n\t"
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"timestamp_copy: %04x\n\t"
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"diff: %i\n\t"
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"seq_no: %x\n",
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missed ? "yes" : "no", input->buttons, input->battery,
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input->samples[0].accel.x, input->samples[0].accel.y,
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input->samples[0].accel.z, input->samples[1].accel.x,
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input->samples[1].accel.y, input->samples[1].accel.z,
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input->samples[0].gyro.x, input->samples[0].gyro.y,
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input->samples[0].gyro.z, input->samples[1].gyro.x,
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input->samples[1].gyro.y, input->samples[1].gyro.z,
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input->trigger_low_pass, input->trigger, input->timestamp,
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input->timestamp_copy, diff, input->seq_no);
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return 1;
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}
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