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[wpiutil] DataLog: Add last value and change detection (#6674)

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Update() checks/updates the last value and appends only if changed.
GetLastValue() gets the last value.

Also add OutputStream support to Java DataLogWriter.
This commit is contained in:
Peter Johnson
2024-07-21 13:08:15 -07:00
committed by GitHub
parent 57205c8d15
commit 4c7fe73f69
23 changed files with 3398 additions and 40 deletions
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102
wpiutil/src/main/native/cpp/DataLog.cpp
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@@ -4,6 +4,7 @@
#include "wpi/DataLog.h"
#include <algorithm>
#include <bit>
#include <cstdio>
#include <cstdlib>
@@ -618,6 +619,107 @@ void DataLog::AppendStringArray(int entry,
}
}
template <typename V1, typename V2>
inline bool UpdateImpl(std::optional<std::vector<V1>>& lastValue,
std::span<const V2> data) {
if (!lastValue || !std::equal(data.begin(), data.end(), lastValue->begin(),
lastValue->end())) {
if (lastValue) {
lastValue->assign(data.begin(), data.end());
} else {
lastValue = std::vector<V1>{data.begin(), data.end()};
}
return true;
}
return false;
}
template <typename V1>
inline bool UpdateImpl(std::optional<std::vector<V1>>& lastValue,
std::span<const bool> data) {
if (!lastValue || !std::equal(data.begin(), data.end(), lastValue->begin(),
lastValue->end(), [](auto a, auto b) {
return a == static_cast<bool>(b);
})) {
if (lastValue) {
lastValue->assign(data.begin(), data.end());
} else {
lastValue = std::vector<V1>{data.begin(), data.end()};
}
return true;
}
return false;
}
void RawLogEntry::Update(std::span<const uint8_t> data, int64_t timestamp) {
std::scoped_lock lock{m_mutex};
if (UpdateImpl(m_lastValue, data)) {
Append(data, timestamp);
}
}
void BooleanArrayLogEntry::Update(std::span<const bool> arr,
int64_t timestamp) {
std::scoped_lock lock{m_mutex};
if (UpdateImpl(m_lastValue, arr)) {
Append(arr, timestamp);
}
}
void BooleanArrayLogEntry::Update(std::span<const int> arr, int64_t timestamp) {
std::scoped_lock lock{m_mutex};
if (UpdateImpl(m_lastValue, arr)) {
Append(arr, timestamp);
}
}
void BooleanArrayLogEntry::Update(std::span<const uint8_t> arr,
int64_t timestamp) {
std::scoped_lock lock{m_mutex};
if (UpdateImpl(m_lastValue, arr)) {
Append(arr, timestamp);
}
}
void IntegerArrayLogEntry::Update(std::span<const int64_t> arr,
int64_t timestamp) {
std::scoped_lock lock{m_mutex};
if (UpdateImpl(m_lastValue, arr)) {
Append(arr, timestamp);
}
}
void FloatArrayLogEntry::Update(std::span<const float> arr, int64_t timestamp) {
std::scoped_lock lock{m_mutex};
if (UpdateImpl(m_lastValue, arr)) {
Append(arr, timestamp);
}
}
void DoubleArrayLogEntry::Update(std::span<const double> arr,
int64_t timestamp) {
std::scoped_lock lock{m_mutex};
if (UpdateImpl(m_lastValue, arr)) {
Append(arr, timestamp);
}
}
void StringArrayLogEntry::Update(std::span<const std::string> arr,
int64_t timestamp) {
std::scoped_lock lock{m_mutex};
if (UpdateImpl(m_lastValue, arr)) {
Append(arr, timestamp);
}
}
void StringArrayLogEntry::Update(std::span<const std::string_view> arr,
int64_t timestamp) {
std::scoped_lock lock{m_mutex};
if (UpdateImpl(m_lastValue, arr)) {
Append(arr, timestamp);
}
}
extern "C" {
void WPI_DataLog_Release(struct WPI_DataLog* datalog) {