[wpiutil, wpilib] Add FileLogger and log console output (#6977)

ntcoreffi/src/main/native/cpp/DataLogManager.cpp

@@ -14,6 +14,7 @@
 #include <fmt/format.h>
 #include <networktables/NetworkTableInstance.h>
 #include <wpi/DataLogBackgroundWriter.h>
+#include <wpi/FileLogger.h>
 #include <wpi/SafeThread.h>
 #include <wpi/StringExtras.h>
 #include <wpi/fs.h>
@@ -191,6 +192,8 @@ struct Thread final : public wpi::SafeThread {
 
   void StartNTLog();
   void StopNTLog();
+  void StartConsoleLog();
+  void StopConsoleLog();
 
   std::string m_logDir;
   bool m_filenameOverride;
@@ -198,6 +201,8 @@ struct Thread final : public wpi::SafeThread {
   bool m_ntLoggerEnabled = false;
   NT_DataLogger m_ntEntryLogger = 0;
   NT_ConnectionDataLogger m_ntConnLogger = 0;
+  bool m_consoleLoggerEnabled = false;
+  wpi::FileLogger m_consoleLogger;
   wpi::log::StringLogEntry m_messageLog;
 };
 
@@ -452,6 +457,20 @@ void Thread::StopNTLog() {
   }
 }
 
+void Thread::StartConsoleLog() {
+  if (!m_consoleLoggerEnabled) {
+    m_consoleLoggerEnabled = true;
+    m_consoleLogger = {"/home/lvuser/FRC_UserProgram.log", m_log, "output"};
+  }
+}
+
+void Thread::StopConsoleLog() {
+  if (m_consoleLoggerEnabled) {
+    m_consoleLoggerEnabled = false;
+    m_consoleLogger = {};
+  }
+}
+
 Instance::Instance(std::string_view dir, std::string_view filename,
                    double period) {
   // Delete all previously existing FRC_TBD_*.wpilog files. These only exist
@@ -516,6 +535,16 @@ void DataLogManager::LogNetworkTables(bool enabled) {
   }
 }
 
+void DataLogManager::LogConsoleOutput(bool enabled) {
+  if (auto thr = GetInstance().owner.GetThread()) {
+    if (enabled) {
+      thr->StartConsoleLog();
+    } else if (!enabled) {
+      thr->StopConsoleLog();
+    }
+  }
+}
+
 void DataLogManager::SignalNewDSDataOccur() {
   wpi::SetSignalObject(DriverStation::gNewDataEvent);
 }
@@ -546,6 +575,10 @@ void DLM_LogNetworkTables(int enabled) {
   DataLogManager::LogNetworkTables(enabled);
 }
 
+void DLM_LogConsoleOutput(int enabled) {
+  DataLogManager::LogConsoleOutput(enabled);
+}
+
 void DLM_SignalNewDSDataOccur(void) {
   DataLogManager::SignalNewDSDataOccur();
 }

ntcoreffi/src/main/native/include/DataLogManager.h

@@ -89,6 +89,11 @@ class DataLogManager final {
    */
   static void LogNetworkTables(bool enabled);
 
+  /**
+   * Enable or disable logging of the console output. Defaults to enabled.
+   * @param enabled  true to enable, false to disable
+   */
+  static void LogConsoleOutput(bool enabled);
   /**
    * Signal new DS data is available.
    */
@@ -152,6 +157,13 @@ const char* DLM_GetLogDir(void);
  */
 void DLM_LogNetworkTables(int enabled);
 
+
+  /**
+   * Enable or disable logging of the console output. Defaults to enabled.
+   * @param enabled  true to enable, false to disable
+   */
+void DLM_LogConsoleOutput(int enabled);
+
 /**
  * Signal new DS data is available.
  */

ntcoreffi/src/main/native/symbols.txt

@@ -1,6 +1,7 @@
 DLM_GetLog
 DLM_GetLogDir
 DLM_Log
+DLM_LogConsoleOutput
 DLM_LogNetworkTables
 DLM_SignalNewDSDataOccur
 DLM_Start