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https://github.com/wpilibsuite/allwpilib
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[wpiutil] Add high speed data logging
This commit is contained in:
Peter Johnson
680
wpiutil/src/main/native/include/wpi/DataLog.h
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680
wpiutil/src/main/native/include/wpi/DataLog.h
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// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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#pragma once
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#include <stdint.h>
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#include <functional>
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#include <initializer_list>
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#include <memory>
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#include <string>
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#include <string_view>
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#include <thread>
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#include <vector>
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#include "wpi/DenseMap.h"
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#include "wpi/StringMap.h"
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#include "wpi/condition_variable.h"
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#include "wpi/mutex.h"
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#include "wpi/span.h"
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namespace wpi {
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class Logger;
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} // namespace wpi
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namespace wpi::log {
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namespace impl {
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enum ControlRecordType {
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kControlStart = 0,
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kControlFinish,
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kControlSetMetadata
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};
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} // namespace impl
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/**
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* A data log. The log file is created immediately upon construction with a
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* temporary filename. The file may be renamed at any time using the
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* SetFilename() function.
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*
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* The lifetime of the data log object must be longer than any data log entry
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* objects that refer to it.
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*
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* The data log is periodically flushed to disk. It can also be explicitly
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* flushed to disk by using the Flush() function.
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*/
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class DataLog final {
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public:
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/**
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* Construct a new Data Log. The log will be initially created with a
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* temporary filename.
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*
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* @param dir directory to store the log
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* @param filename filename to use; if none provided, a random filename is
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* generated of the form "wpilog_{}.wpilog"
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* @param period time between automatic flushes to disk, in seconds;
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* this is a time/storage tradeoff
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* @param extraHeader extra header data
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*/
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explicit DataLog(std::string_view dir = "", std::string_view filename = "",
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double period = 0.25, std::string_view extraHeader = "");
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/**
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* Construct a new Data Log. The log will be initially created with a
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* temporary filename.
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*
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* @param msglog message logger (will be called from separate thread)
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* @param dir directory to store the log
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* @param filename filename to use; if none provided, a random filename is
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* generated of the form "wpilog_{}.wpilog"
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* @param period time between automatic flushes to disk, in seconds;
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* this is a time/storage tradeoff
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* @param extraHeader extra header data
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*/
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explicit DataLog(wpi::Logger& msglog, std::string_view dir = "",
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std::string_view filename = "", double period = 0.25,
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std::string_view extraHeader = "");
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/**
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* Construct a new Data Log that passes its output to the provided function
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* rather than a file. The write function will be called on a separate
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* background thread and may block. The write function is called with an
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* empty data array when the thread is terminating.
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*
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* @param write write function
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* @param period time between automatic calls to write, in seconds;
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* this is a time/storage tradeoff
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* @param extraHeader extra header data
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*/
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explicit DataLog(std::function<void(wpi::span<const uint8_t> data)> write,
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double period = 0.25, std::string_view extraHeader = "");
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/**
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* Construct a new Data Log that passes its output to the provided function
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* rather than a file. The write function will be called on a separate
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* background thread and may block. The write function is called with an
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* empty data array when the thread is terminating.
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*
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* @param msglog message logger (will be called from separate thread)
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* @param write write function
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* @param period time between automatic calls to write, in seconds;
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* this is a time/storage tradeoff
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* @param extraHeader extra header data
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*/
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explicit DataLog(wpi::Logger& msglog,
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std::function<void(wpi::span<const uint8_t> data)> write,
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double period = 0.25, std::string_view extraHeader = "");
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~DataLog();
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DataLog(const DataLog&) = delete;
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DataLog& operator=(const DataLog&) = delete;
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DataLog(DataLog&&) = delete;
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DataLog& operator=(const DataLog&&) = delete;
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/**
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* Change log filename.
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*
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* @param filename filename
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*/
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void SetFilename(std::string_view filename);
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/**
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* Explicitly flushes the log data to disk.
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*/
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void Flush();
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/**
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* Pauses appending of data records to the log. While paused, no data records
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* are saved (e.g. AppendX is a no-op). Has no effect on entry starts /
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* finishes / metadata changes.
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*/
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void Pause();
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/**
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* Resumes appending of data records to the log.
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*/
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void Resume();
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/**
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* Start an entry. Duplicate names are allowed (with the same type), and
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* result in the same index being returned (Start/Finish are reference
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* counted). A duplicate name with a different type will result in an error
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* message being printed to the console and 0 being returned (which will be
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* ignored by the Append functions).
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*
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* @param name Name
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* @param type Data type
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* @param metadata Initial metadata (e.g. data properties)
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* @param timestamp Time stamp (may be 0 to indicate now)
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*
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* @return Entry index
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*/
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int Start(std::string_view name, std::string_view type,
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std::string_view metadata = {}, int64_t timestamp = 0);
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/**
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* Finish an entry.
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*
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* @param entry Entry index
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* @param timestamp Time stamp (may be 0 to indicate now)
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*/
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void Finish(int entry, int64_t timestamp = 0);
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/**
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* Updates the metadata for an entry.
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*
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* @param entry Entry index
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* @param metadata New metadata for the entry
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* @param timestamp Time stamp (may be 0 to indicate now)
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*/
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void SetMetadata(int entry, std::string_view metadata, int64_t timestamp = 0);
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/**
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* Appends a record to the log.
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*
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* @param entry Entry index, as returned by Start()
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* @param data Data to record
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* @param timestamp Time stamp (may be 0 to indicate now)
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*/
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void AppendRaw(int entry, wpi::span<const uint8_t> data, int64_t timestamp);
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/**
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* Appends a record to the log.
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*
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* @param entry Entry index, as returned by Start()
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* @param data Data to record
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* @param timestamp Time stamp (may be 0 to indicate now)
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*/
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void AppendRaw2(int entry, wpi::span<const wpi::span<const uint8_t>> data,
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int64_t timestamp);
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void AppendBoolean(int entry, bool value, int64_t timestamp);
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void AppendInteger(int entry, int64_t value, int64_t timestamp);
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void AppendFloat(int entry, float value, int64_t timestamp);
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void AppendDouble(int entry, double value, int64_t timestamp);
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void AppendString(int entry, std::string_view value, int64_t timestamp);
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void AppendBooleanArray(int entry, wpi::span<const bool> arr,
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int64_t timestamp);
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void AppendBooleanArray(int entry, wpi::span<const int> arr,
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int64_t timestamp);
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void AppendBooleanArray(int entry, wpi::span<const uint8_t> arr,
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int64_t timestamp);
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void AppendIntegerArray(int entry, wpi::span<const int64_t> arr,
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int64_t timestamp);
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void AppendFloatArray(int entry, wpi::span<const float> arr,
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int64_t timestamp);
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void AppendDoubleArray(int entry, wpi::span<const double> arr,
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int64_t timestamp);
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void AppendStringArray(int entry, wpi::span<const std::string> arr,
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int64_t timestamp);
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void AppendStringArray(int entry, wpi::span<const std::string_view> arr,
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int64_t timestamp);
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private:
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void WriterThreadMain(std::string_view dir);
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void WriterThreadMain(
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std::function<void(wpi::span<const uint8_t> data)> write);
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// must be called with m_mutex held
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uint8_t* StartRecord(uint32_t entry, uint64_t timestamp, uint32_t payloadSize,
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size_t reserveSize);
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uint8_t* Reserve(size_t size);
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void AppendImpl(wpi::span<const uint8_t> data);
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void AppendStringImpl(std::string_view str);
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wpi::Logger& m_msglog;
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mutable wpi::mutex m_mutex;
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wpi::condition_variable m_cond;
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bool m_active{true};
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bool m_doFlush{false};
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bool m_paused{false};
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double m_period;
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std::string m_extraHeader;
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std::string m_newFilename;
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class Buffer;
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std::vector<Buffer> m_free;
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std::vector<Buffer> m_outgoing;
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struct EntryInfo {
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std::string type;
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int id{0};
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};
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wpi::StringMap<EntryInfo> m_entries;
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wpi::DenseMap<int, unsigned int> m_entryCounts;
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int m_lastId = 0;
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std::thread m_thread;
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};
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/**
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* Log entry base class.
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*/
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class DataLogEntry {
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protected:
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DataLogEntry() = default;
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DataLogEntry(DataLog& log, std::string_view name, std::string_view type,
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std::string_view metadata = {}, int64_t timestamp = 0)
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: m_log{&log}, m_entry{log.Start(name, type, metadata, timestamp)} {}
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public:
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DataLogEntry(const DataLogEntry&) = delete;
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DataLogEntry& operator=(const DataLogEntry&) = delete;
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DataLogEntry(DataLogEntry&& rhs) : m_log{rhs.m_log}, m_entry{rhs.m_entry} {
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rhs.m_log = nullptr;
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}
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DataLogEntry& operator=(DataLogEntry&& rhs) {
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if (m_log) {
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m_log->Finish(m_entry);
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}
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m_log = rhs.m_log;
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rhs.m_log = nullptr;
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m_entry = rhs.m_entry;
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return *this;
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}
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explicit operator bool() const { return m_log != nullptr; }
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/**
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* Updates the metadata for the entry.
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*
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* @param metadata New metadata for the entry
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* @param timestamp Time stamp (may be 0 to indicate now)
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*/
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void SetMetadata(std::string_view metadata, int64_t timestamp = 0) {
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m_log->SetMetadata(m_entry, metadata, timestamp);
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}
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/**
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* Finishes the entry.
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*
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* @param timestamp Time stamp (may be 0 to indicate now)
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*/
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void Finish(int64_t timestamp = 0) { m_log->Finish(m_entry, timestamp); }
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protected:
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DataLog* m_log = nullptr;
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int m_entry = 0;
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};
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/**
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* Log arbitrary byte data.
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*/
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class RawLogEntry : public DataLogEntry {
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public:
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static constexpr std::string_view kDataType = "raw";
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RawLogEntry() = default;
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RawLogEntry(DataLog& log, std::string_view name, int64_t timestamp = 0)
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: RawLogEntry{log, name, {}, kDataType, timestamp} {}
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RawLogEntry(DataLog& log, std::string_view name, std::string_view metadata,
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int64_t timestamp = 0)
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: RawLogEntry{log, name, metadata, kDataType, timestamp} {}
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RawLogEntry(DataLog& log, std::string_view name, std::string_view metadata,
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std::string_view type, int64_t timestamp = 0)
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: DataLogEntry{log, name, type, metadata, timestamp} {}
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/**
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* Appends a record to the log.
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*
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* @param data Data to record
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* @param timestamp Time stamp (may be 0 to indicate now)
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*/
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void Append(wpi::span<const uint8_t> data, int64_t timestamp = 0) {
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m_log->AppendRaw(m_entry, data, timestamp);
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}
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};
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/**
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* Log boolean values.
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*/
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class BooleanLogEntry : public DataLogEntry {
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public:
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static constexpr std::string_view kDataType = "boolean";
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BooleanLogEntry() = default;
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BooleanLogEntry(DataLog& log, std::string_view name, int64_t timestamp = 0)
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: BooleanLogEntry{log, name, {}, timestamp} {}
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BooleanLogEntry(DataLog& log, std::string_view name,
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std::string_view metadata, int64_t timestamp = 0)
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: DataLogEntry{log, name, kDataType, metadata, timestamp} {}
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/**
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* Appends a record to the log.
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*
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* @param value Value to record
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* @param timestamp Time stamp (may be 0 to indicate now)
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*/
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void Append(bool value, int64_t timestamp = 0) {
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m_log->AppendBoolean(m_entry, value, timestamp);
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}
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};
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/**
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* Log integer values.
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*/
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class IntegerLogEntry : public DataLogEntry {
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public:
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static constexpr std::string_view kDataType = "int64";
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IntegerLogEntry() = default;
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IntegerLogEntry(DataLog& log, std::string_view name, int64_t timestamp = 0)
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: IntegerLogEntry{log, name, {}, timestamp} {}
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IntegerLogEntry(DataLog& log, std::string_view name,
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std::string_view metadata, int64_t timestamp = 0)
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: DataLogEntry{log, name, kDataType, metadata, timestamp} {}
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/**
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* Appends a record to the log.
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*
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* @param value Value to record
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* @param timestamp Time stamp (may be 0 to indicate now)
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*/
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void Append(int64_t value, int64_t timestamp = 0) {
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m_log->AppendInteger(m_entry, value, timestamp);
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}
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};
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/**
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* Log float values.
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*/
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class FloatLogEntry : public DataLogEntry {
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public:
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static constexpr std::string_view kDataType = "float";
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FloatLogEntry() = default;
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FloatLogEntry(DataLog& log, std::string_view name, int64_t timestamp = 0)
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: FloatLogEntry{log, name, {}, timestamp} {}
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FloatLogEntry(DataLog& log, std::string_view name, std::string_view metadata,
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int64_t timestamp = 0)
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: DataLogEntry{log, name, kDataType, metadata, timestamp} {}
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/**
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* Appends a record to the log.
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*
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* @param value Value to record
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* @param timestamp Time stamp (may be 0 to indicate now)
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*/
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void Append(float value, int64_t timestamp = 0) {
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m_log->AppendFloat(m_entry, value, timestamp);
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}
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};
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/**
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* Log double values.
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*/
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class DoubleLogEntry : public DataLogEntry {
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public:
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static constexpr std::string_view kDataType = "double";
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DoubleLogEntry() = default;
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DoubleLogEntry(DataLog& log, std::string_view name, int64_t timestamp = 0)
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: DoubleLogEntry{log, name, {}, timestamp} {}
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DoubleLogEntry(DataLog& log, std::string_view name, std::string_view metadata,
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int64_t timestamp = 0)
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: DataLogEntry{log, name, kDataType, metadata, timestamp} {}
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/**
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* Appends a record to the log.
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||||
*
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* @param value Value to record
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||||
* @param timestamp Time stamp (may be 0 to indicate now)
|
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*/
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void Append(double value, int64_t timestamp = 0) {
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m_log->AppendDouble(m_entry, value, timestamp);
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}
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};
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/**
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* Log string values.
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*/
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class StringLogEntry : public DataLogEntry {
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public:
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static constexpr const char* kDataType = "string";
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StringLogEntry() = default;
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StringLogEntry(DataLog& log, std::string_view name, int64_t timestamp = 0)
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: StringLogEntry{log, name, {}, kDataType, timestamp} {}
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StringLogEntry(DataLog& log, std::string_view name, std::string_view metadata,
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int64_t timestamp = 0)
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: StringLogEntry{log, name, metadata, kDataType, timestamp} {}
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StringLogEntry(DataLog& log, std::string_view name, std::string_view metadata,
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std::string_view type, int64_t timestamp = 0)
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: DataLogEntry{log, name, type, metadata, timestamp} {}
|
||||
|
||||
/**
|
||||
* Appends a record to the log.
|
||||
*
|
||||
* @param value Value to record
|
||||
* @param timestamp Time stamp (may be 0 to indicate now)
|
||||
*/
|
||||
void Append(std::string_view value, int64_t timestamp = 0) {
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m_log->AppendString(m_entry, value, timestamp);
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}
|
||||
};
|
||||
|
||||
/**
|
||||
* Log array of boolean values.
|
||||
*/
|
||||
class BooleanArrayLogEntry : public DataLogEntry {
|
||||
public:
|
||||
static constexpr const char* kDataType = "boolean[]";
|
||||
|
||||
BooleanArrayLogEntry() = default;
|
||||
BooleanArrayLogEntry(DataLog& log, std::string_view name,
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int64_t timestamp = 0)
|
||||
: BooleanArrayLogEntry{log, name, {}, timestamp} {}
|
||||
BooleanArrayLogEntry(DataLog& log, std::string_view name,
|
||||
std::string_view metadata, int64_t timestamp = 0)
|
||||
: DataLogEntry{log, name, kDataType, metadata, timestamp} {}
|
||||
|
||||
/**
|
||||
* Appends a record to the log. For find functions to work, timestamp
|
||||
* must be monotonically increasing.
|
||||
*
|
||||
* @param arr Values to record
|
||||
* @param timestamp Time stamp (may be 0 to indicate now)
|
||||
*/
|
||||
void Append(wpi::span<const bool> arr, int64_t timestamp = 0) {
|
||||
m_log->AppendBooleanArray(m_entry, arr, timestamp);
|
||||
}
|
||||
|
||||
/**
|
||||
* Appends a record to the log.
|
||||
*
|
||||
* @param arr Values to record
|
||||
* @param timestamp Time stamp (may be 0 to indicate now)
|
||||
*/
|
||||
void Append(std::initializer_list<bool> arr, int64_t timestamp = 0) {
|
||||
Append(wpi::span{arr.begin(), arr.end()}, timestamp);
|
||||
}
|
||||
|
||||
/**
|
||||
* Appends a record to the log.
|
||||
*
|
||||
* @param arr Values to record
|
||||
* @param timestamp Time stamp (may be 0 to indicate now)
|
||||
*/
|
||||
void Append(wpi::span<const int> arr, int64_t timestamp = 0) {
|
||||
m_log->AppendBooleanArray(m_entry, arr, timestamp);
|
||||
}
|
||||
|
||||
/**
|
||||
* Appends a record to the log.
|
||||
*
|
||||
* @param arr Values to record
|
||||
* @param timestamp Time stamp (may be 0 to indicate now)
|
||||
*/
|
||||
void Append(std::initializer_list<int> arr, int64_t timestamp = 0) {
|
||||
Append(wpi::span{arr.begin(), arr.end()}, timestamp);
|
||||
}
|
||||
|
||||
/**
|
||||
* Appends a record to the log.
|
||||
*
|
||||
* @param arr Values to record
|
||||
* @param timestamp Time stamp (may be 0 to indicate now)
|
||||
*/
|
||||
void Append(wpi::span<const uint8_t> arr, int64_t timestamp = 0) {
|
||||
m_log->AppendBooleanArray(m_entry, arr, timestamp);
|
||||
}
|
||||
};
|
||||
|
||||
/**
|
||||
* Log array of integer values.
|
||||
*/
|
||||
class IntegerArrayLogEntry : public DataLogEntry {
|
||||
public:
|
||||
static constexpr const char* kDataType = "int64[]";
|
||||
|
||||
IntegerArrayLogEntry() = default;
|
||||
IntegerArrayLogEntry(DataLog& log, std::string_view name,
|
||||
int64_t timestamp = 0)
|
||||
: IntegerArrayLogEntry{log, name, {}, timestamp} {}
|
||||
IntegerArrayLogEntry(DataLog& log, std::string_view name,
|
||||
std::string_view metadata, int64_t timestamp = 0)
|
||||
: DataLogEntry{log, name, kDataType, metadata, timestamp} {}
|
||||
|
||||
/**
|
||||
* Appends a record to the log.
|
||||
*
|
||||
* @param arr Values to record
|
||||
* @param timestamp Time stamp (may be 0 to indicate now)
|
||||
*/
|
||||
void Append(wpi::span<const int64_t> arr, int64_t timestamp = 0) {
|
||||
m_log->AppendIntegerArray(m_entry, arr, timestamp);
|
||||
}
|
||||
|
||||
/**
|
||||
* Appends a record to the log.
|
||||
*
|
||||
* @param arr Values to record
|
||||
* @param timestamp Time stamp (may be 0 to indicate now)
|
||||
*/
|
||||
void Append(std::initializer_list<int64_t> arr, int64_t timestamp = 0) {
|
||||
Append({arr.begin(), arr.end()}, timestamp);
|
||||
}
|
||||
};
|
||||
|
||||
/**
|
||||
* Log array of float values.
|
||||
*/
|
||||
class FloatArrayLogEntry : public DataLogEntry {
|
||||
public:
|
||||
static constexpr const char* kDataType = "float[]";
|
||||
|
||||
FloatArrayLogEntry() = default;
|
||||
FloatArrayLogEntry(DataLog& log, std::string_view name, int64_t timestamp = 0)
|
||||
: FloatArrayLogEntry{log, name, {}, timestamp} {}
|
||||
FloatArrayLogEntry(DataLog& log, std::string_view name,
|
||||
std::string_view metadata, int64_t timestamp = 0)
|
||||
: DataLogEntry{log, name, kDataType, metadata, timestamp} {}
|
||||
|
||||
/**
|
||||
* Appends a record to the log.
|
||||
*
|
||||
* @param arr Values to record
|
||||
* @param timestamp Time stamp (may be 0 to indicate now)
|
||||
*/
|
||||
void Append(wpi::span<const float> arr, int64_t timestamp = 0) {
|
||||
m_log->AppendFloatArray(m_entry, arr, timestamp);
|
||||
}
|
||||
|
||||
/**
|
||||
* Appends a record to the log.
|
||||
*
|
||||
* @param arr Values to record
|
||||
* @param timestamp Time stamp (may be 0 to indicate now)
|
||||
*/
|
||||
void Append(std::initializer_list<float> arr, int64_t timestamp = 0) {
|
||||
Append({arr.begin(), arr.end()}, timestamp);
|
||||
}
|
||||
};
|
||||
|
||||
/**
|
||||
* Log array of double values.
|
||||
*/
|
||||
class DoubleArrayLogEntry : public DataLogEntry {
|
||||
public:
|
||||
static constexpr const char* kDataType = "double[]";
|
||||
|
||||
DoubleArrayLogEntry() = default;
|
||||
DoubleArrayLogEntry(DataLog& log, std::string_view name,
|
||||
int64_t timestamp = 0)
|
||||
: DoubleArrayLogEntry{log, name, {}, timestamp} {}
|
||||
DoubleArrayLogEntry(DataLog& log, std::string_view name,
|
||||
std::string_view metadata, int64_t timestamp = 0)
|
||||
: DataLogEntry{log, name, kDataType, metadata, timestamp} {}
|
||||
|
||||
/**
|
||||
* Appends a record to the log.
|
||||
*
|
||||
* @param arr Values to record
|
||||
* @param timestamp Time stamp (may be 0 to indicate now)
|
||||
*/
|
||||
void Append(wpi::span<const double> arr, int64_t timestamp = 0) {
|
||||
m_log->AppendDoubleArray(m_entry, arr, timestamp);
|
||||
}
|
||||
|
||||
/**
|
||||
* Appends a record to the log.
|
||||
*
|
||||
* @param arr Values to record
|
||||
* @param timestamp Time stamp (may be 0 to indicate now)
|
||||
*/
|
||||
void Append(std::initializer_list<double> arr, int64_t timestamp = 0) {
|
||||
Append({arr.begin(), arr.end()}, timestamp);
|
||||
}
|
||||
};
|
||||
|
||||
/**
|
||||
* Log array of string values.
|
||||
*/
|
||||
class StringArrayLogEntry : public DataLogEntry {
|
||||
public:
|
||||
static constexpr const char* kDataType = "string[]";
|
||||
|
||||
StringArrayLogEntry() = default;
|
||||
StringArrayLogEntry(DataLog& log, std::string_view name,
|
||||
int64_t timestamp = 0)
|
||||
: StringArrayLogEntry{log, name, {}, timestamp} {}
|
||||
StringArrayLogEntry(DataLog& log, std::string_view name,
|
||||
std::string_view metadata, int64_t timestamp = 0)
|
||||
: DataLogEntry{log, name, kDataType, metadata, timestamp} {}
|
||||
|
||||
/**
|
||||
* Appends a record to the log.
|
||||
*
|
||||
* @param arr Values to record
|
||||
* @param timestamp Time stamp (may be 0 to indicate now)
|
||||
*/
|
||||
void Append(wpi::span<const std::string> arr, int64_t timestamp = 0) {
|
||||
m_log->AppendStringArray(m_entry, arr, timestamp);
|
||||
}
|
||||
|
||||
/**
|
||||
* Appends a record to the log.
|
||||
*
|
||||
* @param arr Values to record
|
||||
* @param timestamp Time stamp (may be 0 to indicate now)
|
||||
*/
|
||||
void Append(wpi::span<const std::string_view> arr, int64_t timestamp = 0) {
|
||||
m_log->AppendStringArray(m_entry, arr, timestamp);
|
||||
}
|
||||
|
||||
/**
|
||||
* Appends a record to the log.
|
||||
*
|
||||
* @param arr Values to record
|
||||
* @param timestamp Time stamp (may be 0 to indicate now)
|
||||
*/
|
||||
void Append(std::initializer_list<std::string_view> arr,
|
||||
int64_t timestamp = 0) {
|
||||
Append(wpi::span<const std::string_view>{arr.begin(), arr.end()},
|
||||
timestamp);
|
||||
}
|
||||
};
|
||||
|
||||
} // namespace wpi::log
|
||||
Reference in New Issue
Block a user