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Remove uses of iostream (#4004)

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Most of these were unused, the IMU ones were just debug messages.

The only one that wasn't removed is in portable-file-dialogs.cpp since
the replacement looks less trivial.
This commit is contained in:
Tyler Veness
2022-02-05 23:00:31 -08:00
committed by GitHub
parent 5635f33a32
commit 3f77725cd3
12 changed files with 0 additions and 77 deletions
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28
wpilibc/src/main/native/cpp/ADIS16470_IMU.cpp
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@@ -19,7 +19,6 @@
#include <frc/Timer.h>
#include <cmath>
#include <iostream>
#include <string>
#include <hal/HAL.h>
@@ -171,7 +170,6 @@ bool ADIS16470_IMU::SwitchToStandardSPI() {
while (!m_thread_idle) {
Wait(10_ms);
}
std::cout << "Paused the IMU processing thread successfully!" << std::endl;
// Maybe we're in auto SPI mode? If so, kill auto SPI, and then SPI.
if (m_spi != nullptr && m_auto_configured) {
m_spi->StopAuto();
@@ -190,12 +188,10 @@ bool ADIS16470_IMU::SwitchToStandardSPI() {
/*Get the reamining data count */
data_count = m_spi->ReadAutoReceivedData(trashBuffer, 0, 0_s);
}
std::cout << "Paused the auto SPI successfully!" << std::endl;
}
}
// There doesn't seem to be a SPI port active. Let's try to set one up
if (m_spi == nullptr) {
std::cout << "Setting up a new SPI port." << std::endl;
m_spi = new SPI(m_spi_port);
m_spi->SetClockRate(2000000);
m_spi->SetMSBFirst();
@@ -284,11 +280,9 @@ bool ADIS16470_IMU::SwitchToAutoSPI() {
m_first_run = true;
m_thread_active = true;
m_acquire_task = std::thread(&ADIS16470_IMU::Acquire, this);
std::cout << "New IMU Processing thread activated!" << std::endl;
} else {
m_first_run = true;
m_thread_active = true;
std::cout << "Old IMU Processing thread re-activated!" << std::endl;
}
// Looks like the thread didn't start for some reason. Abort.
/*
@@ -465,7 +459,6 @@ void ADIS16470_IMU::Close() {
}
m_spi = nullptr;
}
std::cout << "Finished cleaning up after the IMU driver." << std::endl;
}
ADIS16470_IMU::~ADIS16470_IMU() {
@@ -547,18 +540,6 @@ void ADIS16470_IMU::Acquire() {
buffer, data_to_read,
0_s); // Read data from DMA buffer (only complete sets)
/*
// DEBUG: Print buffer size and contents to terminal
std::cout << "Start - " << data_count << "," << data_remainder << "," <<
data_to_read << std::endl; for (int m = 0; m < data_to_read - 1; m++ )
{
std::cout << buffer[m] << ",";
}
std::cout << " " << std::endl;
std::cout << "End" << std::endl;
std::cout << "Reading " << data_count << " bytes." << std::endl;
*/
// Could be multiple data sets in the buffer. Handle each one.
for (int i = 0; i < data_to_read; i += dataset_len) {
// Timestamp is at buffer[i]
@@ -585,12 +566,6 @@ void ADIS16470_IMU::Acquire() {
// Store timestamp for next iteration
previous_timestamp = buffer[i];
/*
// DEBUG: Print timestamp and delta values
std::cout << previous_timestamp << "," << delta_x << "," << delta_y <<
"," << delta_z << std::endl;
*/
m_alpha = m_tau / (m_tau + m_dt);
if (m_first_run) {
@@ -614,9 +589,6 @@ void ADIS16470_IMU::Acquire() {
CompFilterProcess(compAngleY, accelAngleY, gyro_rate_x_si);
}
// DEBUG: Print accumulated values
// std::cout << m_compAngleX << "," << m_compAngleY << std::endl;
{
std::scoped_lock sync(m_mutex);
/* Push data to global variables */