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[wpiutil] Add high speed data logging
This commit is contained in:
Peter Johnson
369
wpiutil/src/main/native/include/wpi/DataLogReader.h
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369
wpiutil/src/main/native/include/wpi/DataLogReader.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 <iterator>
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#include <memory>
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#include <utility>
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#include <vector>
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#include "wpi/MemoryBuffer.h"
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#include "wpi/span.h"
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namespace wpi::log {
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/**
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* Data contained in a start control record as created by DataLog::Start() when
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* writing the log. This can be read by calling DataLogRecord::GetStartData().
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*/
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struct StartRecordData {
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/** Entry ID; this will be used for this entry in future records. */
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int entry;
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/** Entry name. */
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std::string_view name;
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/** Type of the stored data for this entry, as a string, e.g. "double". */
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std::string_view type;
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/** Initial metadata. */
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std::string_view metadata;
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};
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/**
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* Data contained in a set metadata control record as created by
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* DataLog::SetMetadata(). This can be read by calling
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* DataLogRecord::GetSetMetadataData().
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*/
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struct MetadataRecordData {
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/** Entry ID. */
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int entry;
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/** New metadata for the entry. */
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std::string_view metadata;
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};
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/**
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* A record in the data log. May represent either a control record (entry == 0)
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* or a data record. Used only for reading (e.g. with DataLogReader).
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*/
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class DataLogRecord {
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public:
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DataLogRecord() = default;
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DataLogRecord(int entry, int64_t timestamp, wpi::span<const uint8_t> data)
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: m_timestamp{timestamp}, m_data{data}, m_entry{entry} {}
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/**
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* Gets the entry ID.
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*
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* @return entry ID
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*/
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int GetEntry() const { return m_entry; }
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/**
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* Gets the record timestamp.
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*
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* @return Timestamp, in integer microseconds
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*/
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int64_t GetTimestamp() const { return m_timestamp; }
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/**
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* Gets the size of the raw data.
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*
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* @return size
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*/
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size_t GetSize() const { return m_data.size(); }
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/**
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* Gets the raw data. Use the GetX functions to decode based on the data type
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* in the entry's start record.
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*/
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wpi::span<const uint8_t> GetRaw() const { return m_data; }
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/**
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* Returns true if the record is a control record.
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*
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* @return True if control record, false if normal data record.
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*/
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bool IsControl() const { return m_entry == 0; }
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/**
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* Returns true if the record is a start control record. Use GetStartData()
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* to decode the contents.
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*
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* @return True if start control record, false otherwise.
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*/
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bool IsStart() const;
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/**
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* Returns true if the record is a finish control record. Use GetFinishEntry()
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* to decode the contents.
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*
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* @return True if finish control record, false otherwise.
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*/
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bool IsFinish() const;
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/**
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* Returns true if the record is a set metadata control record. Use
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* GetSetMetadataData() to decode the contents.
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*
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* @return True if set metadata control record, false otherwise.
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*/
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bool IsSetMetadata() const;
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/**
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* Decodes a start control record.
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*
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* @param[out] out start record decoded data (if successful)
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* @return True on success, false on error
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*/
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bool GetStartData(StartRecordData* out) const;
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/**
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* Decodes a finish control record.
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*
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* @param[out] out finish record entry ID (if successful)
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* @return True on success, false on error
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*/
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bool GetFinishEntry(int* out) const;
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/**
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* Decodes a set metadata control record.
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*
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* @param[out] out set metadata record decoded data (if successful)
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* @return True on success, false on error
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*/
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bool GetSetMetadataData(MetadataRecordData* out) const;
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/**
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* Decodes a data record as a boolean. Note if the data type (as indicated in
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* the corresponding start control record for this entry) is not "boolean",
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* invalid results may be returned.
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*
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* @param[out] value boolean value (if successful)
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* @return True on success, false on error
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*/
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bool GetBoolean(bool* value) const;
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/**
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* Decodes a data record as an integer. Note if the data type (as indicated in
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* the corresponding start control record for this entry) is not "int64",
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* invalid results may be returned.
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*
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* @param[out] value integer value (if successful)
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* @return True on success, false on error
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*/
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bool GetInteger(int64_t* value) const;
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/**
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* Decodes a data record as a float. Note if the data type (as indicated in
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* the corresponding start control record for this entry) is not "float",
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* invalid results may be returned.
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*
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* @param[out] value float value (if successful)
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* @return True on success, false on error
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*/
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bool GetFloat(float* value) const;
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/**
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* Decodes a data record as a double. Note if the data type (as indicated in
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* the corresponding start control record for this entry) is not "double",
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* invalid results may be returned.
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*
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* @param[out] value double value (if successful)
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* @return True on success, false on error
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*/
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bool GetDouble(double* value) const;
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/**
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* Decodes a data record as a string. Note if the data type (as indicated in
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* the corresponding start control record for this entry) is not "string",
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* invalid results may be returned.
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*
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* @param[out] value string value
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* @return True (never fails)
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*/
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bool GetString(std::string_view* value) const;
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/**
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* Decodes a data record as a boolean array. Note if the data type (as
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* indicated in the corresponding start control record for this entry) is not
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* "boolean[]", invalid results may be returned.
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*
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* @param[out] arr boolean array
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* @return True (never fails)
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*/
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bool GetBooleanArray(std::vector<int>* arr) const;
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/**
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* Decodes a data record as an integer array. Note if the data type (as
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* indicated in the corresponding start control record for this entry) is not
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* "int64[]", invalid results may be returned.
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*
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* @param[out] arr integer array (if successful)
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* @return True on success, false on error
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*/
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bool GetIntegerArray(std::vector<int64_t>* arr) const;
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/**
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* Decodes a data record as a float array. Note if the data type (as
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* indicated in the corresponding start control record for this entry) is not
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* "float[]", invalid results may be returned.
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*
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* @param[out] arr float array (if successful)
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* @return True on success, false on error
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*/
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bool GetFloatArray(std::vector<float>* arr) const;
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/**
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* Decodes a data record as a double array. Note if the data type (as
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* indicated in the corresponding start control record for this entry) is not
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* "double[]", invalid results may be returned.
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*
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* @param[out] arr double array (if successful)
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* @return True on success, false on error
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*/
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bool GetDoubleArray(std::vector<double>* arr) const;
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/**
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* Decodes a data record as a string array. Note if the data type (as
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* indicated in the corresponding start control record for this entry) is not
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* "string[]", invalid results may be returned.
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*
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* @param[out] arr string array (if successful)
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* @return True on success, false on error
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*/
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bool GetStringArray(std::vector<std::string_view>* arr) const;
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private:
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int64_t m_timestamp{0};
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wpi::span<const uint8_t> m_data;
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int m_entry{-1};
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};
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class DataLogReader;
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/** DataLogReader iterator. */
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class DataLogIterator {
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public:
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using iterator_category = std::forward_iterator_tag;
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using value_type = DataLogRecord;
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using pointer = const value_type*;
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using reference = const value_type&;
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DataLogIterator(const DataLogReader* reader, size_t pos)
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: m_reader{reader}, m_pos{pos} {}
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bool operator==(const DataLogIterator& oth) const {
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return m_reader == oth.m_reader && m_pos == oth.m_pos;
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}
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bool operator!=(const DataLogIterator& oth) const {
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return !this->operator==(oth);
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}
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bool operator<(const DataLogIterator& oth) const { return m_pos < oth.m_pos; }
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bool operator>(const DataLogIterator& oth) const {
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return !this->operator<(oth) && !this->operator==(oth);
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}
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bool operator<=(const DataLogIterator& oth) const {
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return !this->operator>(oth);
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}
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bool operator>=(const DataLogIterator& oth) const {
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return !this->operator<(oth);
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}
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DataLogIterator& operator++();
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DataLogIterator operator++(int) {
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DataLogIterator tmp = *this;
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++*this;
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return tmp;
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}
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reference operator*() const;
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pointer operator->() const { return &this->operator*(); }
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private:
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const DataLogReader* m_reader;
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size_t m_pos;
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mutable bool m_valid = false;
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mutable DataLogRecord m_value;
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};
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/** Data log reader (reads logs written by the DataLog class). */
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class DataLogReader {
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friend class DataLogIterator;
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public:
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using iterator = DataLogIterator;
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/** Constructs from a memory buffer. */
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explicit DataLogReader(std::unique_ptr<MemoryBuffer> buffer);
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/** Returns true if the data log is valid (e.g. has a valid header). */
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explicit operator bool() const { return IsValid(); }
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/** Returns true if the data log is valid (e.g. has a valid header). */
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bool IsValid() const;
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/**
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* Gets the data log version. Returns 0 if data log is invalid.
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*
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* @return Version number; most significant byte is major, least significant
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* is minor (so version 1.0 will be 0x0100)
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*/
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uint16_t GetVersion() const;
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/**
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* Gets the extra header data.
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*
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* @return Extra header data
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*/
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std::string_view GetExtraHeader() const;
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/**
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* Gets the buffer identifier, typically the filename.
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*
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* @return Identifier string
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*/
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std::string_view GetBufferIdentifier() const {
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return m_buf ? m_buf->GetBufferIdentifier() : "Invalid";
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}
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/** Returns iterator to first record. */
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iterator begin() const;
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/** Returns end iterator. */
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iterator end() const { return DataLogIterator{this, SIZE_MAX}; }
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private:
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std::unique_ptr<MemoryBuffer> m_buf;
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bool GetRecord(size_t* pos, DataLogRecord* out) const;
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bool GetNextRecord(size_t* pos) const;
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};
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inline DataLogIterator& DataLogIterator::operator++() {
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if (!m_reader->GetNextRecord(&m_pos)) {
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m_pos = SIZE_MAX;
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}
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m_valid = false;
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return *this;
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}
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inline DataLogIterator::reference DataLogIterator::operator*() const {
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if (!m_valid) {
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size_t pos = m_pos;
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if (m_reader->GetRecord(&pos, &m_value)) {
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m_valid = true;
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}
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}
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return m_value;
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}
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} // namespace wpi::log
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