Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-29 02:21:44 +00:00
Code Issues Packages Projects Releases Wiki Activity

[wpiutil] Struct: Add info template parameter pack (#6086)

Browse Source 
This allows using Struct in a dynamically typed environment by passing
additional information to the Struct serialization functions.
This commit is contained in:
Peter Johnson
2023-12-27 07:52:18 -08:00
committed by GitHub
parent e07de37e64
commit 6a2d3c30a6
9 changed files with 995 additions and 316 deletions
Download Patch File Download Diff File Expand all files Collapse all files

100
wpiutil/src/main/native/include/wpi/DataLog.h
View File

@@ -16,6 +16,7 @@
#include <string>
#include <string_view>
#include <thread>
#include <tuple>
#include <utility>
#include <vector>
#include <version>
@@ -263,16 +264,20 @@ class DataLog final {
* name are silently ignored.
*
* @tparam T struct serializable type
* @param info optional struct type info
* @param timestamp Time stamp (0 to indicate now)
*/
template <StructSerializable T>
void AddStructSchema(int64_t timestamp = 0) {
template <typename T, typename... I>
requires StructSerializable<T, I...>
void AddStructSchema(const I&... info, int64_t timestamp = 0) {
if (timestamp == 0) {
timestamp = Now();
}
ForEachStructSchema<T>([this, timestamp](auto typeString, auto schema) {
AddSchema(typeString, "structschema", schema, timestamp);
});
ForEachStructSchema<T>(
[this, timestamp](auto typeString, auto schema) {
this->AddSchema(typeString, "structschema", schema, timestamp);
},
info...);
}
/**
@@ -946,19 +951,22 @@ class StringArrayLogEntry : public DataLogEntry {
/**
* Log raw struct serializable objects.
*/
template <StructSerializable T>
template <typename T, typename... I>
requires StructSerializable<T, I...>
class StructLogEntry : public DataLogEntry {
using S = Struct<T>;
using S = Struct<T, I...>;
public:
StructLogEntry() = default;
StructLogEntry(DataLog& log, std::string_view name, int64_t timestamp = 0)
: StructLogEntry{log, name, {}, timestamp} {}
StructLogEntry(DataLog& log, std::string_view name, I... info,
int64_t timestamp = 0)
: StructLogEntry{log, name, {}, std::move(info)..., timestamp} {}
StructLogEntry(DataLog& log, std::string_view name, std::string_view metadata,
int64_t timestamp = 0) {
I... info, int64_t timestamp = 0)
: m_info{std::move(info)...} {
m_log = &log;
log.AddStructSchema<T>(timestamp);
m_entry = log.Start(name, S::kTypeString, metadata, timestamp);
log.AddStructSchema<T, I...>(info..., timestamp);
m_entry = log.Start(name, S::GetTypeString(info...), metadata, timestamp);
}
/**
@@ -968,38 +976,46 @@ class StructLogEntry : public DataLogEntry {
* @param timestamp Time stamp (may be 0 to indicate now)
*/
void Append(const T& data, int64_t timestamp = 0) {
if constexpr (wpi::is_constexpr([] { S::GetSize(); })) {
uint8_t buf[S::GetSize()];
S::Pack(buf, data);
m_log->AppendRaw(m_entry, buf, timestamp);
} else {
wpi::SmallVector<uint8_t, 128> buf;
buf.resize_for_overwrite(S::GetSize());
S::Pack(buf, data);
m_log->AppendRaw(m_entry, buf, timestamp);
if constexpr (sizeof...(I) == 0) {
if constexpr (wpi::is_constexpr([] { S::GetSize(); })) {
uint8_t buf[S::GetSize()];
S::Pack(buf, data);
m_log->AppendRaw(m_entry, buf, timestamp);
return;
}
}
wpi::SmallVector<uint8_t, 128> buf;
buf.resize_for_overwrite(std::apply(S::GetSize, m_info));
std::apply([&](const I&... info) { S::Pack(buf, data, info...); }, m_info);
m_log->AppendRaw(m_entry, buf, timestamp);
}
private:
[[no_unique_address]] std::tuple<I...> m_info;
};
/**
* Log raw struct serializable array of objects.
*/
template <StructSerializable T>
template <typename T, typename... I>
requires StructSerializable<T, I...>
class StructArrayLogEntry : public DataLogEntry {
using S = Struct<T>;
using S = Struct<T, I...>;
public:
StructArrayLogEntry() = default;
StructArrayLogEntry(DataLog& log, std::string_view name,
StructArrayLogEntry(DataLog& log, std::string_view name, I... info,
int64_t timestamp = 0)
: StructArrayLogEntry{log, name, {}, timestamp} {}
: StructArrayLogEntry{log, name, {}, std::move(info)..., timestamp} {}
StructArrayLogEntry(DataLog& log, std::string_view name,
std::string_view metadata, int64_t timestamp = 0) {
std::string_view metadata, I... info,
int64_t timestamp = 0)
: m_info{std::move(info)...} {
m_log = &log;
log.AddStructSchema<T>(timestamp);
m_entry =
log.Start(name, MakeStructArrayTypeString<T, std::dynamic_extent>(),
metadata, timestamp);
log.AddStructSchema<T, I...>(info..., timestamp);
m_entry = log.Start(
name, MakeStructArrayTypeString<T, std::dynamic_extent>(info...),
metadata, timestamp);
}
/**
@@ -1014,9 +1030,14 @@ class StructArrayLogEntry : public DataLogEntry {
std::convertible_to<std::ranges::range_value_t<U>, T>
#endif
void Append(U&& data, int64_t timestamp = 0) {
m_buf.Write(std::forward<U>(data), [&](auto bytes) {
m_log->AppendRaw(m_entry, bytes, timestamp);
});
std::apply(
[&](const I&... info) {
m_buf.Write(
std::forward<U>(data),
[&](auto bytes) { m_log->AppendRaw(m_entry, bytes, timestamp); },
info...);
},
m_info);
}
/**
@@ -1026,12 +1047,19 @@ class StructArrayLogEntry : public DataLogEntry {
* @param timestamp Time stamp (may be 0 to indicate now)
*/
void Append(std::span<const T> data, int64_t timestamp = 0) {
m_buf.Write(
data, [&](auto bytes) { m_log->AppendRaw(m_entry, bytes, timestamp); });
std::apply(
[&](const I&... info) {
m_buf.Write(
data,
[&](auto bytes) { m_log->AppendRaw(m_entry, bytes, timestamp); },
info...);
},
m_info);
}
private:
StructArrayBuffer<T> m_buf;
StructArrayBuffer<T, I...> m_buf;
[[no_unique_address]] std::tuple<I...> m_info;
};
/**