changed prints to loggers

Ensmasteel · May 9, 2024 · 8c2a546 · 8c2a546
1 parent abc8146
commit 8c2a546
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Showing 3 changed files with 8 additions and 8 deletions.
diff --git a/src/ezbot_command_module/include/tirette.hpp b/src/ezbot_command_module/include/tirette.hpp
@@ -4,7 +4,7 @@
 #include <rclcpp/rclcpp.hpp>
 #include <std_msgs/msg/bool.hpp>
 #include <gpiod.h>
-
+#include <rclcpp/logger.hpp>
 
 class TiretteNode : public rclcpp::Node
 {
@@ -33,24 +33,24 @@ bool TiretteNode::init_gpiod(void)
       gpiochip = gpiod_chip_open_by_name("gpiochip0");
   if(gpiochip == NULL)
     {
-        printf("unable to open GPIO\n");
+        RCLCPP_WARN(get_logger(), "unable to open GPIO");
         return false;
     }
-    printf("gpiochip successful = %d\n",gpiochip);
+    RCLCPP_INFO(get_logger(), "gpiochip successful = %d\n",gpiochip);
 
     gpioline = gpiod_chip_get_line(gpiochip,gpioTirette);
     if (gpioline == NULL)
     {
-        printf("unable to get GPIO line\n");
+        RCLCPP_WARN(get_logger(), "unable to get GPIO line\n");
         return false;
     }
-    printf("gpioTirette successful = %d\n",gpioTirette);
+    RCLCPP_INFO(get_logger(), "gpioTirette successful = %d\n",gpioTirette);
 
     int temp;
     // temp = gpiod_line_request_input_flags(gpioline,"Tirette", GPIOD_LINE_BIAS_PULL_UP);
 
     temp = gpiod_line_request_input(gpioline,"Tirette");
-    printf("gpiod_line_request_input_flags = %d\n",temp);
+    RCLCPP_INFO(get_logger(),"gpiod_line_request_input_flags = %d\n",temp);
     return true;
 
 }

diff --git a/src/ezbot_command_module/src/tirette_node.cpp b/src/ezbot_command_module/src/tirette_node.cpp
@@ -10,7 +10,7 @@ void TiretteNode::readGPIO()
 
 
     value = gpiod_line_get_value(gpioline);
-    printf("value = %d\n",value);
+    RCLCPP_INFO(get_logger(),"value = %d\n",value);
 
     message.data = value ? true : false;
 

diff --git a/src/listen_package/listen_package/ecoute.py b/src/listen_package/listen_package/ecoute.py
@@ -26,7 +26,7 @@ def listener_callback(self, msg):
         for range_value in msg.ranges:
             if min_distance < range_value < max_distance:
                 # If an object is detected within the specified range, publish a message
-                print("y a un truc")
+                self.get_logger().info("Object detected")
                 self.publisher.publish(String(data='Object detected'))
                 break