From 5728d2fd7cbaf37015f6bdcbf4649db884958dcf Mon Sep 17 00:00:00 2001
From: murata <ma2maru@gmail.com>
Date: Mon, 21 Mar 2022 18:25:36 +0900
Subject: [PATCH] AP_RangeFinder: Console output can be disabled

---
 .../AP_RangeFinder/AP_RangeFinder_Bebop.cpp   | 20 +++++++++----------
 .../AP_RangeFinder_Benewake_TFMiniPlus.cpp    |  4 ++--
 .../AP_RangeFinder_LightWareI2C.cpp           |  8 ++++----
 3 files changed, 16 insertions(+), 16 deletions(-)

diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_Bebop.cpp b/libraries/AP_RangeFinder/AP_RangeFinder_Bebop.cpp
index a9028ef2c9..bfc85d4a04 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_Bebop.cpp
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_Bebop.cpp
@@ -245,12 +245,12 @@ void AP_RangeFinder_Bebop::_loop(void)
         _capture();
 
         if (_apply_averaging_filter() < 0) {
-            hal.console->printf(
+            DEV_PRINTF(
                     "AR_RangeFinder_Bebop: could not apply averaging filter");
         }
 
         if (_search_local_maxima() < 0) {
-            hal.console->printf("Did not find any local maximum");
+            DEV_PRINTF("Did not find any local maximum");
         }
 
         max_index = _search_maximum_with_max_amplitude();
@@ -296,7 +296,7 @@ void AP_RangeFinder_Bebop::_configure_gpio(int value)
         _gpio->write(LINUX_GPIO_ULTRASOUND_VOLTAGE, 0);
         break;
     default:
-        hal.console->printf("bad gpio value (%d)", value);
+        DEV_PRINTF("bad gpio value (%d)", value);
         break;
     }
 }
@@ -310,10 +310,10 @@ void AP_RangeFinder_Bebop::_reconfigure_wave()
     /* configure the output buffer for a purge */
     /* perform a purge */
     if (_launch_purge() < 0) {
-        hal.console->printf("purge could not send data overspi");
+        DEV_PRINTF("purge could not send data overspi");
     }
     if (_capture() < 0) {
-        hal.console->printf("purge could not capture data");
+        DEV_PRINTF("purge could not capture data");
     }
 
     _tx_buf = _tx[_mode];
@@ -325,7 +325,7 @@ void AP_RangeFinder_Bebop::_reconfigure_wave()
         _configure_gpio(1);
         break;
     default:
-        hal.console->printf("WARNING, invalid value to configure gpio\n");
+        DEV_PRINTF("WARNING, invalid value to configure gpio\n");
         break;
     }
 }
@@ -355,13 +355,13 @@ int AP_RangeFinder_Bebop::_configure_capture()
     _adc.device = iio_context_find_device(_iio, adcname);
 
     if (!_adc.device) {
-        hal.console->printf("Unable to find %s", adcname);
+        DEV_PRINTF("Unable to find %s", adcname);
         goto error_destroy_context;
     }
     _adc.channel = iio_device_find_channel(_adc.device, adcchannel,
             false);
     if (!_adc.channel) {
-        hal.console->printf("Fail to init adc channel %s", adcchannel);
+        DEV_PRINTF("Fail to init adc channel %s", adcchannel);
         goto error_destroy_context;
     }
 
@@ -374,13 +374,13 @@ int AP_RangeFinder_Bebop::_configure_capture()
     /* Create input buffer */
     _adc.buffer_size = RNFD_BEBOP_P7_COUNT;
     if (iio_device_set_kernel_buffers_count(_adc.device, 1)) {
-        hal.console->printf("cannot set buffer count");
+        DEV_PRINTF("cannot set buffer count");
         goto error_destroy_context;
     }
     _adc.buffer = iio_device_create_buffer(_adc.device,
             _adc.buffer_size, false);
     if (!_adc.buffer) {
-        hal.console->printf("Fail to create buffer : %s", strerror(errno));
+        DEV_PRINTF("Fail to create buffer : %s", strerror(errno));
         goto error_destroy_context;
     }
 
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_Benewake_TFMiniPlus.cpp b/libraries/AP_RangeFinder/AP_RangeFinder_Benewake_TFMiniPlus.cpp
index 6b0cd40cab..75ca56277e 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_Benewake_TFMiniPlus.cpp
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_Benewake_TFMiniPlus.cpp
@@ -107,13 +107,13 @@ bool AP_RangeFinder_Benewake_TFMiniPlus::init()
         goto fail;
     }
 
-    hal.console->printf(DRIVER ": found fw version %u.%u.%u\n",
+    DEV_PRINTF(DRIVER ": found fw version %u.%u.%u\n",
                         val[5], val[4], val[3]);
 
     for (i = 0; i < ARRAY_SIZE(cmds); i++) {
         ret = _dev->transfer(cmds[i], cmds[i][1], nullptr, 0);
         if (!ret) {
-            hal.console->printf(DRIVER ": Unable to set configuration register %u\n",
+            DEV_PRINTF(DRIVER ": Unable to set configuration register %u\n",
                                 cmds[i][2]);
             goto fail;
         }
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_LightWareI2C.cpp b/libraries/AP_RangeFinder/AP_RangeFinder_LightWareI2C.cpp
index 8ae8e50e3b..d8d5ac2acf 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_LightWareI2C.cpp
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_LightWareI2C.cpp
@@ -188,14 +188,14 @@ void AP_RangeFinder_LightWareI2C::sf20_get_version(const char* send_msg, const c
 bool AP_RangeFinder_LightWareI2C::init()
 {
     if (sf20_init()) {
-        hal.console->printf("Found SF20 native Lidar\n");
+        DEV_PRINTF("Found SF20 native Lidar\n");
         return true;
     }
     if (legacy_init()) {
-        hal.console->printf("Found SF20 legacy Lidar\n");
+        DEV_PRINTF("Found SF20 legacy Lidar\n");
         return true;
     }
-    hal.console->printf("SF20 not found\n");
+    DEV_PRINTF("SF20 not found\n");
     return false;
 }
 
@@ -242,7 +242,7 @@ bool AP_RangeFinder_LightWareI2C::sf20_init()
     sf20_get_version("?P\r\n", "p:", version);
 
     if (version[0]) {
-        hal.console->printf("SF20 Lidar version %s\n", version);
+        DEV_PRINTF("SF20 Lidar version %s\n", version);
     }
 
     // Makes sure that "address tagging" is turned off.