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[wpiutil, ntcore] Add structured data support (#5391)

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This adds support for two serialization formats for complex data types:

- Protobuf for complex objects with variable length internals that need forward and backward wire compatibility (lower speed, more flexible)
- Raw struct (ByteBuffer-style) for fixed-length objects (higher speed, less flexible)

Deserialization can be done either by creating a new object (for immutable objects) or overwriting the contents of an existing object (for mutable objects).

Implementing classes should provide inner classes that implement the Protobuf or Struct interface (in Java) or specialize the wpi::Protobuf or wpi::Struct struct (in C++). It is possible for classes to implement both. If the class itself does not implement serialization, it's possible for third parties/users to provide an implementation instead.

Uses the Google protobuf implementation for C++ and the QuickBuffers alternative protobuf implementation for Java.
This commit is contained in:
Peter Johnson
2023-10-19 21:41:47 -07:00
committed by GitHub
parent ecb7cfa9ef
commit cf54d9ccb7
133 changed files with 13506 additions and 90 deletions
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41
wpiutil/src/main/native/cpp/jni/DataLogJNI.cpp
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@@ -111,6 +111,47 @@ Java_edu_wpi_first_util_datalog_DataLogJNI_resume
reinterpret_cast<DataLog*>(impl)->Resume();
}
/*
* Class: edu_wpi_first_util_datalog_DataLogJNI
* Method: addSchema
* Signature: (JLjava/lang/String;Ljava/lang/String;[BJ)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_util_datalog_DataLogJNI_addSchema
(JNIEnv* env, jclass, jlong impl, jstring name, jstring type,
jbyteArray schema, jlong timestamp)
{
if (impl == 0) {
wpi::ThrowNullPointerException(env, "impl is null");
return;
}
reinterpret_cast<DataLog*>(impl)->AddSchema(
JStringRef{env, name}, JStringRef{env, type},
JSpan<const jbyte>{env, schema}.uarray(), timestamp);
}
/*
* Class: edu_wpi_first_util_datalog_DataLogJNI
* Method: addSchemaString
* Signature: (JLjava/lang/String;Ljava/lang/String;Ljava/lang/String;J)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_util_datalog_DataLogJNI_addSchemaString
(JNIEnv* env, jclass, jlong impl, jstring name, jstring type, jstring schema,
jlong timestamp)
{
if (impl == 0) {
wpi::ThrowNullPointerException(env, "impl is null");
return;
}
JStringRef schemaStr{env, schema};
std::string_view schemaView = schemaStr.str();
reinterpret_cast<DataLog*>(impl)->AddSchema(
JStringRef{env, name}, JStringRef{env, type},
{reinterpret_cast<const uint8_t*>(schemaView.data()), schemaView.size()},
timestamp);
}
/*
* Class: edu_wpi_first_util_datalog_DataLogJNI
* Method: start