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

wpilibc/src/main/native/cpp/DataLogManager.cpp

@@ -14,6 +14,7 @@
 #include <networktables/NetworkTableInstance.h>
 #include <wpi/DataLog.h>
 #include <wpi/DataLogBackgroundWriter.h>
+#include <wpi/FileLogger.h>
 #include <wpi/SafeThread.h>
 #include <wpi/StringExtras.h>
 #include <wpi/fs.h>
@@ -37,6 +38,8 @@ struct Thread final : public wpi::SafeThread {
 
   void StartNTLog();
   void StopNTLog();
+  void StartConsoleLog();
+  void StopConsoleLog();
 
   std::string m_logDir;
   bool m_filenameOverride;
@@ -44,6 +47,8 @@ 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;
 };
 
@@ -109,10 +114,12 @@ Thread::Thread(std::string_view dir, std::string_view filename, double period)
       m_log{dir, MakeLogFilename(filename), period},
       m_messageLog{m_log, "messages"} {
   StartNTLog();
+  StartConsoleLog();
 }
 
 Thread::~Thread() {
   StopNTLog();
+  StopConsoleLog();
 }
 
 void Thread::Main() {
@@ -297,6 +304,20 @@ void Thread::StopNTLog() {
   }
 }
 
+void Thread::StartConsoleLog() {
+  if (!m_consoleLoggerEnabled && RobotBase::IsReal()) {
+    m_consoleLoggerEnabled = true;
+    m_consoleLogger = {"/home/lvuser/FRC_UserProgram.log", m_log, "output"};
+  }
+}
+
+void Thread::StopConsoleLog() {
+  if (m_consoleLoggerEnabled && RobotBase::IsReal()) {
+    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
@@ -360,3 +381,13 @@ 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();
+    }
+  }
+}