From 8c2a546251ba70567e880d106aea5d3877ff883f Mon Sep 17 00:00:00 2001
From: Vincent Belpois <vincent.belpois@gmail.com>
Date: Thu, 9 May 2024 10:47:34 +0200
Subject: [PATCH] changed prints to loggers

---
 src/ezbot_command_module/include/tirette.hpp  | 12 ++++++------
 src/ezbot_command_module/src/tirette_node.cpp |  2 +-
 src/listen_package/listen_package/ecoute.py   |  2 +-
 3 files changed, 8 insertions(+), 8 deletions(-)

diff --git a/src/ezbot_command_module/include/tirette.hpp b/src/ezbot_command_module/include/tirette.hpp
index c9e7562..9179ec1 100644
--- 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
index 323688d..fc54f9f 100644
--- 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
index 61848c0..dc2e5d8 100644
--- 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