Rover: Unify from print or println to printf.

APMrover2/Log.cpp

@@ -23,10 +23,10 @@ MENU2(log_menu, "Log", log_menu_commands, FUNCTOR_BIND(&rover, &Rover::print_log
 
 bool Rover::print_log_menu(void)
 {
-    cliSerial->print("logs enabled: ");
+    cliSerial->printf("logs enabled: ");
 
     if (0 == g.log_bitmask) {
-        cliSerial->print("none");
+        cliSerial->printf("none");
     } else {
         // Macro to make the following code a bit easier on the eye.
         // Pass it the capitalised name of the log option, as defined
@@ -50,7 +50,7 @@ bool Rover::print_log_menu(void)
         #undef PLOG
     }
 
-    cliSerial->println();
+    cliSerial->printf("\n");
 
     DataFlash.ListAvailableLogs(cliSerial);
     return(true);
@@ -69,11 +69,11 @@ int8_t Rover::dump_log(uint8_t argc, const Menu::arg *argv)
         DataFlash.DumpPageInfo(cliSerial);
         return(-1);
     } else if (dump_log_num <= 0) {
-        cliSerial->println("dumping all");
+        cliSerial->printf("dumping all\n");
         Log_Read(0, 1, 0);
         return(-1);
     } else if ((argc != 2) || ((uint16_t)dump_log_num > DataFlash.get_num_logs())) {
-        cliSerial->println("bad log number");
+        cliSerial->printf("bad log number\n");
         return(-1);
     }
 
@@ -96,7 +96,7 @@ int8_t Rover::select_logs(uint8_t argc, const Menu::arg *argv)
     uint16_t bits;
 
     if (argc != 2) {
-        cliSerial->println("missing log type");
+        cliSerial->printf("missing log type\n");
         return(-1);
     }
 
@@ -486,7 +486,7 @@ void Rover::Log_Read(uint16_t list_entry, uint16_t start_page, uint16_t end_page
                              "\nFree RAM: %u\n",
                         (unsigned)hal.util->available_memory());
 
-    cliSerial->println(HAL_BOARD_NAME);
+    cliSerial->printf("%s\n", HAL_BOARD_NAME);
 
     DataFlash.LogReadProcess(list_entry, start_page, end_page,
                              FUNCTOR_BIND_MEMBER(&Rover::print_mode, void, AP_HAL::BetterStream *, uint8_t),

APMrover2/Parameters.cpp

@@ -575,19 +575,19 @@ const AP_Param::ConversionInfo conversion_table[] = {
 void Rover::load_parameters(void)
 {
     if (!AP_Param::check_var_info()) {
-        cliSerial->println("Bad var table");
+        cliSerial->printf("Bad var table\n");
         AP_HAL::panic("Bad var table");
     }
 
     if (!g.format_version.load() ||
          g.format_version != Parameters::k_format_version) {
         // erase all parameters
-        cliSerial->println("Firmware change: erasing EEPROM...");
+        cliSerial->printf("Firmware change: erasing EEPROM...\n");
         AP_Param::erase_all();
 
         // save the current format version
         g.format_version.set_and_save(Parameters::k_format_version);
-        cliSerial->println("done.");
+        cliSerial->printf("done.\n");
     }
 
     unsigned long before = micros();

APMrover2/control_modes.cpp

@@ -94,7 +94,7 @@ void Rover::read_trim_switch()
 
                 switch (control_mode) {
                 case MANUAL:
-                    hal.console->println("Erasing waypoints");
+                    hal.console->printf("Erasing waypoints\n");
                     // if SW7 is ON in MANUAL = Erase the Flight Plan
                     mission.clear();
                     if (channel_steer->get_control_in() > 3000) {

APMrover2/setup.cpp

@@ -49,7 +49,7 @@ void Rover::zero_eeprom(void)
 {
     cliSerial->printf("\nErasing EEPROM\n");
     StorageManager::erase();
-    cliSerial->println("done");
+    cliSerial->printf("done\n");
 }
 
 #endif  // CLI_ENABLED

APMrover2/system.cpp

@@ -147,7 +147,7 @@ void Rover::init_ardupilot()
 
     if (g.compass_enabled == true) {
         if (!compass.init()|| !compass.read()) {
-            cliSerial->println("Compass initialisation failed!");
+            cliSerial->printf("Compass initialisation failed!\n");
             g.compass_enabled = false;
         } else {
             ahrs.set_compass(&compass);
@@ -192,12 +192,12 @@ void Rover::init_ardupilot()
     //
     if (g.cli_enabled == 1) {
         const char *msg = "\nPress ENTER 3 times to start interactive setup\n";
-        cliSerial->println(msg);
+        cliSerial->printf("%s\n", msg);
         if (gcs[1].initialised && (gcs[1].get_uart() != nullptr)) {
-            gcs[1].get_uart()->println(msg);
+            gcs[1].get_uart()->printf("%s\n", msg);
         }
         if (num_gcs > 2 && gcs[2].initialised && (gcs[2].get_uart() != nullptr)) {
-            gcs[2].get_uart()->println(msg);
+            gcs[2].get_uart()->printf("%s\n", msg);
         }
     }
 #endif
@@ -443,22 +443,22 @@ void Rover::print_mode(AP_HAL::BetterStream *port, uint8_t mode)
 {
     switch (mode) {
     case MANUAL:
-        port->print("Manual");
+        port->printf("Manual");
         break;
     case HOLD:
-        port->print("HOLD");
+        port->printf("HOLD");
         break;
     case LEARNING:
-        port->print("Learning");
+        port->printf("Learning");
         break;
     case STEERING:
-        port->print("Steering");
+        port->printf("Steering");
         break;
     case AUTO:
-        port->print("AUTO");
+        port->printf("AUTO");
         break;
     case RTL:
-        port->print("RTL");
+        port->printf("RTL");
         break;
     default:
         port->printf("Mode(%u)", (unsigned)mode);

APMrover2/test.cpp

@@ -50,13 +50,13 @@ int8_t Rover::test_passthru(uint8_t argc, const Menu::arg *argv)
 
         // New radio frame? (we could use also if((millis()- timer) > 20)
         if (hal.rcin->new_input()) {
-            cliSerial->print("CH:");
+            cliSerial->printf("CH:");
             for (int i = 0; i < 8; i++) {
-                cliSerial->print(hal.rcin->read(i));    // Print channel values
+                cliSerial->printf("%u", hal.rcin->read(i));    // Print channel values
-                cliSerial->print(",");
+                cliSerial->printf(",");
                 hal.rcout->write(i, hal.rcin->read(i));  // Copy input to Servos
             }
-            cliSerial->println();
+            cliSerial->printf("\n");
         }
         if (cliSerial->available() > 0){
             return (0);
@@ -81,7 +81,7 @@ int8_t Rover::test_failsafe(uint8_t argc, const Menu::arg *argv)
 
     oldSwitchPosition = readSwitch();
 
-    cliSerial->println("Unplug battery, throttle in neutral, turn off radio.");
+    cliSerial->printf("Unplug battery, throttle in neutral, turn off radio.\n");
     while (channel_throttle->get_control_in() > 0) {
         delay(20);
         read_radio();
@@ -97,16 +97,16 @@ int8_t Rover::test_failsafe(uint8_t argc, const Menu::arg *argv)
         }
 
         if (oldSwitchPosition != readSwitch()){
-            cliSerial->print("CONTROL MODE CHANGED: ");
+            cliSerial->printf("CONTROL MODE CHANGED: ");
             print_mode(cliSerial, readSwitch());
-            cliSerial->println();
+            cliSerial->printf("\n");
             fail_test++;
         }
 
         if (throttle_failsafe_active()) {
             cliSerial->printf("THROTTLE FAILSAFE ACTIVATED: %d, ", channel_throttle->get_radio_in());
             print_mode(cliSerial, readSwitch());
-            cliSerial->println();
+            cliSerial->printf("\n");
             fail_test++;
         }
 
@@ -114,7 +114,7 @@ int8_t Rover::test_failsafe(uint8_t argc, const Menu::arg *argv)
             return (0);
         }
         if (cliSerial->available() > 0) {
-            cliSerial->println("LOS caused no change in APM.");
+            cliSerial->printf("LOS caused no change in APM.\n");
             return (0);
         }
     }
@@ -126,14 +126,14 @@ int8_t Rover::test_relay(uint8_t argc, const Menu::arg *argv)
     delay(1000);
 
     while (1) {
-        cliSerial->println("Relay on");
+        cliSerial->printf("Relay on\n");
         relay.on(0);
         delay(3000);
         if (cliSerial->available() > 0) {
             return (0);
         }
 
-        cliSerial->println("Relay off");
+        cliSerial->printf("Relay off\n");
         relay.off(0);
         delay(3000);
         if (cliSerial->available() > 0) {
@@ -176,9 +176,9 @@ int8_t Rover::test_modeswitch(uint8_t argc, const Menu::arg *argv)
     print_hit_enter();
     delay(1000);
 
-    cliSerial->print("Control CH ");
+    cliSerial->printf("Control CH ");
 
-    cliSerial->println(MODE_CHANNEL, BASE_DEC);
+    cliSerial->printf("%d\n", MODE_CHANNEL);
 
     while (1) {
         delay(20);
@@ -198,7 +198,7 @@ int8_t Rover::test_modeswitch(uint8_t argc, const Menu::arg *argv)
  */
 int8_t Rover::test_logging(uint8_t argc, const Menu::arg *argv)
 {
-    cliSerial->println("Testing dataflash logging");
+    cliSerial->printf("Testing dataflash logging\n");
     DataFlash.ShowDeviceInfo(cliSerial);
     return 0;
 }
@@ -227,7 +227,7 @@ int8_t Rover::test_gps(uint8_t argc, const Menu::arg *argv)
                                 (long)loc.alt/100,
                                 (int)gps.num_sats());
         } else {
-            cliSerial->print(".");
+            cliSerial->printf(".");
         }
         if (cliSerial->available() > 0) {
             return (0);
@@ -237,7 +237,7 @@ int8_t Rover::test_gps(uint8_t argc, const Menu::arg *argv)
 
 int8_t Rover::test_ins(uint8_t argc, const Menu::arg *argv)
 {
-    // cliSerial->print("Calibrating.");
+    // cliSerial->printf("Calibrating.");
     ahrs.init();
     ahrs.set_fly_forward(true);
 
@@ -281,23 +281,23 @@ int8_t Rover::test_ins(uint8_t argc, const Menu::arg *argv)
 void Rover::print_enabled(bool b)
 {
        if (b) {
-           cliSerial->print("en");
+           cliSerial->printf("en");
        } else {
-           cliSerial->print("dis");
+           cliSerial->printf("dis");
        }
-       cliSerial->println("abled");
+       cliSerial->printf("abled\n");
 }
 
 int8_t Rover::test_mag(uint8_t argc, const Menu::arg *argv)
 {
     if (!g.compass_enabled) {
-        cliSerial->print("Compass: ");
+        cliSerial->printf("Compass: ");
         print_enabled(false);
         return (0);
     }
 
     if (!compass.init()) {
-        cliSerial->println("Compass initialisation failed!");
+        cliSerial->printf("Compass initialisation failed!\n");
         return 0;
     }
     ahrs.init();
@@ -340,7 +340,7 @@ int8_t Rover::test_mag(uint8_t argc, const Menu::arg *argv)
                                     (double)mag.x, (double)mag.y, (double)mag.z,
                                     (double)mag_ofs.x, (double)mag_ofs.y, (double)mag_ofs.z);
             } else {
-                cliSerial->println("compass not healthy");
+                cliSerial->printf("compass not healthy\n");
             }
             counter = 0;
         }
@@ -351,7 +351,7 @@ int8_t Rover::test_mag(uint8_t argc, const Menu::arg *argv)
 
     // save offsets. This allows you to get sane offset values using
     // the CLI before you go flying.
-    cliSerial->println("saving offsets");
+    cliSerial->printf("saving offsets\n");
     compass.save_offsets();
     return (0);
 }
@@ -366,7 +366,7 @@ int8_t Rover::test_sonar(uint8_t argc, const Menu::arg *argv)
     sonar.update();
 
     if (sonar.status() == RangeFinder::RangeFinder_NotConnected) {
-        cliSerial->println("WARNING: Sonar is not enabled");
+        cliSerial->printf("WARNING: Sonar is not enabled\n");
     }
 
     print_hit_enter();