SITL: avoid use of stderr/::fprintf

libraries/SITL/SIM_FETtecOneWireESC.cpp

@@ -37,6 +37,10 @@ Protocol:
  - in the case that we don't have ESC telemetry, consider probing ESCs periodically with an "OK"-request while disarmed
 */
 
+#include <AP_HAL/AP_HAL.h>
+
+extern const AP_HAL::HAL& hal;
+
 #include <AP_Math/AP_Math.h>
 
 #include "SIM_FETtecOneWireESC.h"
@@ -227,7 +231,7 @@ void FETtecOneWireESC::running_handle_config_message(FETtecOneWireESC::ESC &esc)
     case ConfigMessageType::NOT_OK:
         break;
     case ConfigMessageType::BL_START_FW:       // BL only
-        ::fprintf(stderr, "received unexpected BL_START_FW message\n");
+        hal.console->printf("received unexpected BL_START_FW message\n");
         AP_HAL::panic("received unexpected BL_START_FW message");
         return;
     case ConfigMessageType::BL_PAGES_TO_FLASH: // BL only

libraries/SITL/SIM_Frsky_D.cpp

@@ -18,7 +18,9 @@
 
 #include "SIM_Frsky_D.h"
 
-#include <stdio.h>
+#include <AP_HAL/AP_HAL.h>
+
+extern const AP_HAL::HAL& hal;
 
 using namespace SITL;
 
@@ -30,7 +32,7 @@ static const uint8_t BYTESTUFF_D               = 0x5D;
 
 void Frsky_D::handle_data(uint8_t id, uint16_t data)
 {
-    ::fprintf(stderr,
+    hal.console->printf(
               "Frsky: id=%s (0x%02X) data=%u\n",
               dataid_string((DataID)id),
               (unsigned)_id,

libraries/SITL/SIM_Gripper_EPM.cpp

@@ -21,6 +21,8 @@
 #include <stdio.h>
 #include <AP_Math/AP_Math.h>
 
+extern const AP_HAL::HAL& hal;
+
 using namespace SITL;
 
 // table of user settable parameters
@@ -81,9 +83,9 @@ void Gripper_EPM::update_from_demand()
     }
 
     if (should_report()) {
-        ::fprintf(stderr, "demand=%f\n", demand);
-        printf("Field strength: %f%%\n", field_strength);
-        printf("Field strength: %f Tesla\n", tesla());
+        hal.console->printf("demand=%f\n", demand);
+        hal.console->printf("Field strength: %f%%\n", field_strength);
+        hal.console->printf("Field strength: %f Tesla\n", tesla());
         last_report_us = now;
         reported_field_strength = field_strength;
     }

libraries/SITL/SIM_Gripper_Servo.cpp

@@ -21,6 +21,8 @@
 #include "AP_Math/AP_Math.h"
 #include <stdio.h>
 
+extern const AP_HAL::HAL& hal;
+
 using namespace SITL;
 
 // table of user settable parameters
@@ -96,7 +98,7 @@ void Gripper_Servo::update(const struct sitl_input &input)
         jaw_gap = gap * (1.0f - position);
     }
     if (should_report()) {
-        ::fprintf(stderr, "position_demand=%f jaw_gap=%f load=%f\n", position_demand, jaw_gap, load_mass);
+        hal.console->printf("position_demand=%f jaw_gap=%f load=%f\n", position_demand, jaw_gap, load_mass);
         last_report_us = now;
         reported_position = position;
     }

libraries/SITL/SIM_MS5XXX.cpp

@@ -6,6 +6,9 @@
 
 using namespace SITL;
 
+#include <AP_HAL/AP_HAL.h>
+extern const AP_HAL::HAL& hal;
+
 MS5XXX::MS5XXX() :
     I2CDevice()
 {
@@ -163,7 +166,7 @@ int MS5XXX::rdwr(I2C::i2c_rdwr_ioctl_data *&data)
             cmd == Command::RESET) {
             // this is OK - RESET is OK in UNINITIALISED
         } else {
-            ::fprintf(stderr, "Command (0x%02x) received while not running (state=%u)\n", (unsigned)cmd, (unsigned)state);
+            hal.console->printf("Command (0x%02x) received while not running (state=%u)\n", (unsigned)cmd, (unsigned)state);
             return -1;  // we could die instead...
         }
     }
@@ -199,7 +202,7 @@ int MS5XXX::rdwr(I2C::i2c_rdwr_ioctl_data *&data)
         if (data->msgs[1].len == 0) {
             // upon not getting a reading back the driver commands a
             // conversion-read but doesn't wait for a response!
-            ::fprintf(stderr, "read of length zero\n");
+            hal.console->printf("read of length zero\n");
             return -1;
         }
         if (data->msgs[1].len != 3) {

libraries/SITL/SIM_Vicon.cpp

@@ -24,6 +24,8 @@
 #include <unistd.h>
 #include <fcntl.h>
 
+extern const AP_HAL::HAL& hal;
+
 using namespace SITL;
 
 Vicon::Vicon() :
@@ -89,7 +91,7 @@ void Vicon::update_vicon_position_estimate(const Location &loc,
             uint16_t buf_len = mavlink_msg_to_send_buffer(buf, &msg_buf[i].obs_msg);
 
             if (::write(fd_my_end, (void*)&buf, buf_len) != buf_len) {
-                ::fprintf(stderr, "Vicon: write failure\n");
+                hal.console->printf("Vicon: write failure\n");
             }
             msg_buf[i].time_send_us = 0;
         }