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

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+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#include "frc/DataLogManager.h"
+
+#include <frc/Errors.h>
+
+#include <algorithm>
+#include <ctime>
+#include <random>
+#include <string>
+#include <vector>
+
+#include <fmt/chrono.h>
+#include <hal/UsageReporting.h>
+#include <networktables/NetworkTableInstance.h>
+#include <wpi/SafeThread.h>
+#include <wpi/StringExtras.h>
+#include <wpi/datalog/DataLog.h>
+#include <wpi/datalog/DataLogBackgroundWriter.h>
+#include <wpi/datalog/FileLogger.h>
+#include <wpi/fs.h>
+#include <wpi/print.h>
+#include <wpi/timestamp.h>
+
+#include "frc/DriverStation.h"
+#include "frc/Filesystem.h"
+#include "frc/RobotBase.h"
+#include "frc/RobotController.h"
+
+using namespace frc;
+
+namespace {
+
+struct Thread final : public wpi::SafeThread {
+  Thread(std::string_view dir, std::string_view filename, double period);
+  ~Thread() override;
+
+  void Main() final;
+
+  void StartNTLog();
+  void StopNTLog();
+  void StartConsoleLog();
+  void StopConsoleLog();
+
+  std::string m_logDir;
+  bool m_filenameOverride;
+  wpi::log::DataLogBackgroundWriter m_log;
+  bool m_ntLoggerEnabled = false;
+  NT_DataLogger m_ntEntryLogger = 0;
+  NT_ConnectionDataLogger m_ntConnLogger = 0;
+  bool m_consoleLoggerEnabled = false;
+  wpi::log::FileLogger m_consoleLogger;
+  wpi::log::StringLogEntry m_messageLog;
+};
+
+struct Instance {
+  Instance(std::string_view dir, std::string_view filename, double period);
+  wpi::SafeThreadOwner<Thread> owner;
+};
+
+}  // namespace
+
+// if less than this much free space, delete log files until there is this much
+// free space OR there are this many files remaining.
+static constexpr uintmax_t kFreeSpaceThreshold = 50000000;
+static constexpr int kFileCountThreshold = 10;
+
+static std::string MakeLogDir(std::string_view dir) {
+  if (!dir.empty()) {
+    return std::string{dir};
+  }
+#ifdef __FRC_SYSTEMCORE__
+  // prefer a mounted USB drive if one is accessible
+  std::error_code ec;
+  auto s = fs::status("/u", ec);
+  if (!ec && fs::is_directory(s) &&
+      (s.permissions() & fs::perms::others_write) != fs::perms::none) {
+    fs::create_directory("/u/logs", ec);
+    return "/u/logs";
+    HAL_ReportUsage("DataLogManager", "USB");
+  }
+  fs::create_directory("/home/systemcore/logs", ec);
+  HAL_ReportUsage("DataLogManager", "Onboard");
+  return "/home/systemcore/logs";
+#else
+  std::string logDir = filesystem::GetOperatingDirectory() + "/logs";
+  std::error_code ec;
+  fs::create_directory(logDir, ec);
+  return logDir;
+#endif
+}
+
+static std::string MakeLogFilename(std::string_view filenameOverride) {
+  if (!filenameOverride.empty()) {
+    return std::string{filenameOverride};
+  }
+  static std::random_device dev;
+  static std::mt19937 rng(dev());
+  std::uniform_int_distribution<int> dist(0, 15);
+  const char* v = "0123456789abcdef";
+  std::string filename = "FRC_TBD_";
+  for (int i = 0; i < 16; i++) {
+    filename += v[dist(rng)];
+  }
+  filename += ".wpilog";
+  return filename;
+}
+
+Thread::Thread(std::string_view dir, std::string_view filename, double period)
+    : m_logDir{dir},
+      m_filenameOverride{!filename.empty()},
+      m_log{dir, MakeLogFilename(filename), period},
+      m_messageLog{m_log, "messages"} {
+  StartNTLog();
+  StartConsoleLog();
+}
+
+Thread::~Thread() {
+  StopNTLog();
+  StopConsoleLog();
+}
+
+void Thread::Main() {
+  // based on free disk space, scan for "old" FRC_*.wpilog files and remove
+  {
+    std::error_code ec;
+    uintmax_t freeSpace;
+    auto freeSpaceInfo = fs::space(m_logDir, ec);
+    if (!ec) {
+      freeSpace = freeSpaceInfo.available;
+    } else {
+      freeSpace = UINTMAX_MAX;
+    }
+    if (freeSpace < kFreeSpaceThreshold) {
+      // Delete oldest FRC_*.wpilog files (ignore FRC_TBD_*.wpilog as we just
+      // created one)
+      std::vector<fs::directory_entry> entries;
+      for (auto&& entry : fs::directory_iterator{m_logDir, ec}) {
+        auto stem = entry.path().stem().string();
+        if (wpi::starts_with(stem, "FRC_") &&
+            entry.path().extension() == ".wpilog" &&
+            !wpi::starts_with(stem, "FRC_TBD_")) {
+          entries.emplace_back(entry);
+        }
+      }
+      std::sort(entries.begin(), entries.end(),
+                [](const auto& a, const auto& b) {
+                  return a.last_write_time() < b.last_write_time();
+                });
+
+      int count = entries.size();
+      for (auto&& entry : entries) {
+        --count;
+        if (count < kFileCountThreshold) {
+          break;
+        }
+        auto size = entry.file_size();
+        if (fs::remove(entry.path(), ec)) {
+          FRC_ReportWarning("DataLogManager: Deleted {}",
+                            entry.path().string());
+          freeSpace += size;
+          if (freeSpace >= kFreeSpaceThreshold) {
+            break;
+          }
+        } else {
+          wpi::print(stderr, "DataLogManager: could not delete {}\n",
+                     entry.path().string());
+        }
+      }
+    } else if (freeSpace < 2 * kFreeSpaceThreshold) {
+      FRC_ReportError(
+          warn::Warning,
+          "DataLogManager: Log storage device has {} MB of free space "
+          "remaining! Logs will get deleted below {} MB of free space. "
+          "Consider deleting logs off the storage device.",
+          freeSpace / 1000000, kFreeSpaceThreshold / 1000000);
+    }
+  }
+
+  int timeoutCount = 0;
+  bool paused = false;
+  int dsAttachCount = 0;
+  int fmsAttachCount = 0;
+  bool dsRenamed = m_filenameOverride;
+  bool fmsRenamed = m_filenameOverride;
+  int sysTimeCount = 0;
+  wpi::log::IntegerLogEntry sysTimeEntry{
+      m_log, "systemTime",
+      "{\"source\":\"DataLogManager\",\"format\":\"time_t_us\"}"};
+
+  wpi::Event newDataEvent;
+  DriverStation::ProvideRefreshedDataEventHandle(newDataEvent.GetHandle());
+
+  for (;;) {
+    bool timedOut = false;
+    bool newData =
+        wpi::WaitForObject(newDataEvent.GetHandle(), 0.25, &timedOut);
+    if (!m_active) {
+      break;
+    }
+    if (!newData) {
+      ++timeoutCount;
+      // pause logging after being disconnected for 10 seconds
+      if (timeoutCount > 40 && !paused) {
+        timeoutCount = 0;
+        paused = true;
+        m_log.Pause();
+      }
+      continue;
+    }
+    // when we connect to the DS, resume logging
+    timeoutCount = 0;
+    if (paused) {
+      paused = false;
+      m_log.Resume();
+    }
+
+    if (!dsRenamed) {
+      // track DS attach
+      if (DriverStation::IsDSAttached()) {
+        ++dsAttachCount;
+      } else {
+        dsAttachCount = 0;
+      }
+      if (dsAttachCount > 50) {  // 1 second
+        if (RobotController::IsSystemTimeValid()) {
+          std::time_t now = std::time(nullptr);
+          auto tm = std::gmtime(&now);
+          m_log.SetFilename(fmt::format("FRC_{:%Y%m%d_%H%M%S}.wpilog", *tm));
+          dsRenamed = true;
+        } else {
+          dsAttachCount = 0;  // wait a bit and try again
+        }
+      }
+    }
+
+    if (!fmsRenamed) {
+      // track FMS attach
+      if (DriverStation::IsFMSAttached()) {
+        ++fmsAttachCount;
+      } else {
+        fmsAttachCount = 0;
+      }
+      if (fmsAttachCount > 250) {  // 5 seconds
+        // match info comes through TCP, so we need to double-check we've
+        // actually received it
+        auto matchType = DriverStation::GetMatchType();
+        if (matchType != DriverStation::kNone) {
+          // rename per match info
+          char matchTypeChar;
+          switch (matchType) {
+            case DriverStation::kPractice:
+              matchTypeChar = 'P';
+              break;
+            case DriverStation::kQualification:
+              matchTypeChar = 'Q';
+              break;
+            case DriverStation::kElimination:
+              matchTypeChar = 'E';
+              break;
+            default:
+              matchTypeChar = '_';
+              break;
+          }
+          std::time_t now = std::time(nullptr);
+          m_log.SetFilename(
+              fmt::format("FRC_{:%Y%m%d_%H%M%S}_{}_{}{}.wpilog",
+                          *std::gmtime(&now), DriverStation::GetEventName(),
+                          matchTypeChar, DriverStation::GetMatchNumber()));
+          fmsRenamed = true;
+          dsRenamed = true;  // don't override FMS rename
+        }
+      }
+    }
+
+    // Write system time every ~5 seconds
+    ++sysTimeCount;
+    if (sysTimeCount >= 250) {
+      sysTimeCount = 0;
+      if (RobotController::IsSystemTimeValid()) {
+        sysTimeEntry.Append(wpi::GetSystemTime(), wpi::Now());
+      }
+    }
+  }
+  DriverStation::RemoveRefreshedDataEventHandle(newDataEvent.GetHandle());
+}
+
+void Thread::StartNTLog() {
+  if (!m_ntLoggerEnabled) {
+    m_ntLoggerEnabled = true;
+    auto inst = nt::NetworkTableInstance::GetDefault();
+    m_ntEntryLogger = inst.StartEntryDataLog(m_log, "", "NT:");
+    m_ntConnLogger = inst.StartConnectionDataLog(m_log, "NTConnection");
+  }
+}
+
+void Thread::StopNTLog() {
+  if (m_ntLoggerEnabled) {
+    m_ntLoggerEnabled = false;
+    nt::NetworkTableInstance::StopEntryDataLog(m_ntEntryLogger);
+    nt::NetworkTableInstance::StopConnectionDataLog(m_ntConnLogger);
+  }
+}
+
+void Thread::StartConsoleLog() {
+  if (!m_consoleLoggerEnabled && RobotBase::IsReal()) {
+    m_consoleLoggerEnabled = true;
+    m_consoleLogger = {"/home/systemcore/FRC_UserProgram.log", m_log,
+                       "console"};
+  }
+}
+
+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
+  // when the robot never connects to the DS, so they are very unlikely to
+  // have useful data and just clutter the filesystem.
+  auto logDir = MakeLogDir(dir);
+  std::error_code ec;
+  for (auto&& entry : fs::directory_iterator{logDir, ec}) {
+    if (wpi::starts_with(entry.path().stem().string(), "FRC_TBD_") &&
+        entry.path().extension() == ".wpilog") {
+      if (!fs::remove(entry, ec)) {
+        wpi::print(stderr, "DataLogManager: could not delete {}\n",
+                   entry.path().string());
+      }
+    }
+  }
+
+  owner.Start(logDir, filename, period);
+}
+
+static Instance& GetInstance(std::string_view dir = "",
+                             std::string_view filename = "",
+                             double period = 0.25) {
+  static Instance instance(dir, filename, period);
+  if (!instance.owner) {
+    instance.owner.Start(MakeLogDir(dir), filename, period);
+  }
+  return instance;
+}
+
+void DataLogManager::Start(std::string_view dir, std::string_view filename,
+                           double period) {
+  GetInstance(dir, filename, period);
+}
+
+void DataLogManager::Stop() {
+  auto& inst = GetInstance();
+  inst.owner.GetThread()->m_log.Stop();
+  inst.owner.Join();
+}
+
+void DataLogManager::Log(std::string_view message) {
+  GetInstance().owner.GetThread()->m_messageLog.Append(message);
+  wpi::print("{}\n", message);
+}
+
+wpi::log::DataLog& DataLogManager::GetLog() {
+  return GetInstance().owner.GetThread()->m_log;
+}
+
+std::string DataLogManager::GetLogDir() {
+  return GetInstance().owner.GetThread()->m_logDir;
+}
+
+void DataLogManager::LogNetworkTables(bool enabled) {
+  if (auto thr = GetInstance().owner.GetThread()) {
+    if (enabled) {
+      thr->StartNTLog();
+    } else if (!enabled) {
+      thr->StopNTLog();
+    }
+  }
+}
+
+void DataLogManager::LogConsoleOutput(bool enabled) {
+  if (auto thr = GetInstance().owner.GetThread()) {
+    if (enabled) {
+      thr->StartConsoleLog();
+    } else if (!enabled) {
+      thr->StopConsoleLog();
+    }
+  }
+}