Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-19 00:41:43 +00:00
Code Issues Packages Projects Releases Wiki Activity

[datalog] Move all DataLog functionality to new datalog library (#7641)

Browse Source 
Currently the major DataLog backend API (reading and writing) is split between wpiutil and glass. In the interest of allowing code that wants to use these APIs to not need to link to glass and declutter wpiutil, all of those APIs are moved to a new library named "datalog".

Signed-off-by: Jade Turner <spacey-sooty@proton.me>
Co-authored-by: Jade Turner <spacey-sooty@proton.me>
Co-authored-by: Gold856 <117957790+Gold856@users.noreply.github.com>
This commit is contained in:
DeltaDizzy
2025-02-19 23:08:17 -06:00
committed by GitHub
parent ac1705ae2b
commit da47f06d70
99 changed files with 778 additions and 330 deletions
Download Patch File Download Diff File Expand all files Collapse all files

2
CMakeLists.txt
View File

@@ -291,6 +291,8 @@ set(WPIUNITS_DEP_REPLACE_IMPL "find_dependency(wpiunits)")
set(WPIUTIL_DEP_REPLACE "find_dependency(wpiutil)")
add_subdirectory(wpiutil)
add_subdirectory(datalog)
if(WITH_NTCORE)
set(NTCORE_DEP_REPLACE "find_dependency(ntcore)")
set(WPINET_DEP_REPLACE "find_dependency(wpinet)")

29
datalog/.styleguide Normal file
View File

@@ -0,0 +1,29 @@
cppHeaderFileInclude {
\.h$
}
cppSrcFileInclude {
\.cpp$
}
licenseUpdateExclude {
examples/printlog
}
modifiableFileExclude {
examples/printlog/datalog\.py$
}
repoRootNameOverride {
datalog
}
includeOtherLibs {
^fmt/
^gtest/
^wpi/(?!datalog)
}
includeProject {
^wpi/datalog/
}

106
datalog/BUILD.bazel Normal file
View File

@@ -0,0 +1,106 @@
load("@rules_cc//cc:defs.bzl", "cc_binary", "cc_library", "cc_test")
load("@rules_java//java:defs.bzl", "java_binary")
load("@rules_python//python:defs.bzl", "py_binary")
load("//shared/bazel/rules:java_rules.bzl", "wpilib_java_junit5_test")
load("//shared/bazel/rules:jni_rules.bzl", "wpilib_jni_cc_library", "wpilib_jni_java_library")
cc_library(
name = "datalog.static",
srcs = glob(
["src/main/native/cpp/**"],
exclude = ["src/main/native/cpp/jni/**"],
),
hdrs = glob(["src/main/native/include/**"]),
includes = [
"src/main/native/cpp",
"src/main/native/include",
],
strip_include_prefix = "src/main/native/include",
visibility = ["//visibility:public"],
deps = [
"//wpiutil:wpiutil.static",
],
)
wpilib_jni_cc_library(
name = "datalogjni",
srcs = glob(["src/main/native/cpp/jni/**"]),
java_dep = ":datalog-java",
visibility = ["//visibility:public"],
deps = [
":datalog.static",
],
)
wpilib_jni_java_library(
name = "datalog-java",
srcs = glob(["src/main/java/**/*.java"]),
native_libs = [":datalogjni"],
visibility = ["//visibility:public"],
deps = [
"//wpiutil:wpiutil-java",
"@maven//:us_hebi_quickbuf_quickbuf_runtime",
],
)
py_binary(
name = "datalog",
srcs = ["examples/printlog/datalog.py"],
tags = ["manual"],
)
cc_binary(
name = "printlog",
srcs = ["examples/printlog/printlog.cpp"],
deps = [
":datalog.static",
"//wpiutil:wpiutil.static",
],
)
cc_binary(
name = "writelog",
srcs = ["examples/writelog/writelog.cpp"],
deps = [
":datalog.static",
"//wpiutil:wpiutil.static",
],
)
java_binary(
name = "printlog-java",
srcs = ["src/printlog/java/printlog/PrintLog.java"],
main_class = "printlog.PrintLog",
deps = [
":datalog-java",
],
)
cc_test(
name = "datalog-cpp-test",
size = "small",
srcs = glob([
"src/test/native/**/*.cpp",
"src/test/native/**/*.h",
]),
tags = [
"exclusive",
"no-asan",
"no-tsan",
],
deps = [
":datalog.static",
"//thirdparty/googletest:googletest.static",
"//wpiutil:wpiutil-testlib",
],
)
wpilib_java_junit5_test(
name = "datalog-java-test",
srcs = glob(["src/test/java/**/*.java"]),
tags = ["exclusive"],
deps = [
":datalog-java",
"//wpiutil:wpiutil-java",
],
)

108
datalog/CMakeLists.txt Normal file
View File

@@ -0,0 +1,108 @@
project(datalog)
include(CompileWarnings)
file(GLOB datalog_native_src src/main/native/cpp/*.cpp)
file(GLOB datalog_jni_src src/main/native/cpp/jni/DataLogJNI.cpp)
list(REMOVE_ITEM datalog_native_src ${datalog_jni_src})
add_library(datalog ${datalog_native_src})
set_target_properties(datalog PROPERTIES DEBUG_POSTFIX "d")
target_compile_features(datalog PUBLIC cxx_std_20)
if(MSVC)
target_compile_options(
datalog
PUBLIC /permissive- /Zc:preprocessor /Zc:__cplusplus /Zc:throwingNew /MP /bigobj /utf-8
)
target_compile_definitions(datalog PRIVATE -D_CRT_SECURE_NO_WARNINGS)
endif()
wpilib_target_warnings(datalog)
target_include_directories(
datalog
PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src/main/native/include>
)
target_link_libraries(datalog PRIVATE wpiutil)
subdir_list(datalog_examples "${CMAKE_CURRENT_SOURCE_DIR}/examples")
foreach(example ${datalog_examples})
file(GLOB datalog_example_src examples/${example}/*.cpp)
if(datalog_example_src)
add_executable(datalog_${example} ${datalog_example_src})
wpilib_target_warnings(datalog_${example})
target_link_libraries(datalog_${example} datalog wpiutil)
set_property(TARGET datalog_${example} PROPERTY FOLDER "examples")
endif()
endforeach()
# Java bindings
if(WITH_JAVA)
include(UseJava)
set(CMAKE_JNI_TARGET true)
file(GLOB_RECURSE JAVA_SOURCES src/main/java/*.java)
file(GLOB QUICKBUF_JAR ${WPILIB_BINARY_DIR}/wpiutil/thirdparty/quickbuf/*.jar)
add_jar(
datalog_jar
${JAVA_SOURCES}
# INCLUDE_JARS ${JACKSON_JARS} ${QUICKBUF_JAR}
INCLUDE_JARS wpiutil_jar ${QUICKBUF_JAR}
OUTPUT_NAME datalog
OUTPUT_DIR ${WPILIB_BINARY_DIR}/${java_lib_dest}
GENERATE_NATIVE_HEADERS datalog_jni_headers
)
set_property(TARGET datalog_jar PROPERTY FOLDER "java")
install_jar(datalog_jar DESTINATION ${java_lib_dest})
install_jar_exports(TARGETS datalog_jar FILE datalog_jar.cmake DESTINATION share/datalog)
add_library(datalogjni ${datalog_jni_src})
wpilib_target_warnings(datalogjni)
target_link_libraries(datalogjni PUBLIC datalog wpiutil)
set_property(TARGET datalogjni PROPERTY FOLDER "libraries")
target_link_libraries(datalogjni PRIVATE datalog_jni_headers)
add_dependencies(datalogjni datalog_jar)
install(TARGETS datalogjni EXPORT datalogjni)
export(TARGETS datalogjni FILE datalogjni.cmake NAMESPACE datalogjni::)
endif()
if(WITH_JAVA_SOURCE)
include(UseJava)
include(CreateSourceJar)
add_source_jar(
datalog_src_jar
BASE_DIRECTORIES ${CMAKE_CURRENT_SOURCE_DIR}/src/main/java
OUTPUT_NAME datalog-sources
OUTPUT_DIR ${WPILIB_BINARY_DIR}/${java_lib_dest}
)
set_property(TARGET datalog_src_jar PROPERTY FOLDER "java")
install_jar(datalog_src_jar DESTINATION ${java_lib_dest})
endif()
install(TARGETS datalog EXPORT datalog)
export(TARGETS datalog FILE datalog.cmake NAMESPACE datalog::)
configure_file(datalog-config.cmake.in ${WPILIB_BINARY_DIR}/datalog-config.cmake)
install(FILES ${WPILIB_BINARY_DIR}/datalog-config.cmake DESTINATION share/datalog)
install(EXPORT datalog DESTINATION share/datalog)
if(WITH_TESTS)
file(GLOB_RECURSE datalog_testlib_src src/test/native/include/*.h)
add_library(datalog_testlib INTERFACE ${datalog_test_src})
target_include_directories(datalog_testlib INTERFACE src/test/native/include)
wpilib_add_test(datalog src/test/native/cpp)
target_link_libraries(datalog_test datalog googletest datalog_testlib wpiutil)
if(MSVC)
target_compile_options(datalog_test PRIVATE /utf-8)
endif()
endif()

32
datalog/build.gradle Normal file
View File

@@ -0,0 +1,32 @@
ext {
useJava = true
useCpp = true
baseId = 'datalog'
groupId = 'edu.wpi.first.datalog'
nativeName = 'datalog'
devMain = 'edu.wpi.first.datalog.DevMain'
}
apply from: "${rootDir}/shared/jni/setupBuild.gradle"
nativeUtils.exportsConfigs {
datalog {
}
}
model {
components {
all {
it.sources.each {
it.exportedHeaders {
srcDirs 'src/main/native/include'
}
}
}
}
}
dependencies {
api project(":wpiutil")
}

5
datalog/datalog-config.cmake.in Normal file
View File

@@ -0,0 +1,5 @@
@FILENAME_DEP_REPLACE@
include(${SELF_DIR}/wpiutil.cmake)
if(@WITH_JAVA@)
include(${SELF_DIR}/wpiutil_jar.cmake)
endif()

0
wpiutil/doc/datalog.adoc → datalog/doc/datalog.adoc
View File

0
wpiutil/examples/printlog/datalog.py → datalog/examples/printlog/datalog.py
View File

8
wpiutil/examples/printlog/printlog.cpp → datalog/examples/printlog/printlog.cpp
View File

@@ -9,11 +9,11 @@
#include <fmt/chrono.h>
#include <fmt/format.h>
#include <fmt/ranges.h>
#include <wpi/DenseMap.h>
#include <wpi/MemoryBuffer.h>
#include <wpi/print.h>
#include "wpi/DataLogReader.h"
#include "wpi/DenseMap.h"
#include "wpi/MemoryBuffer.h"
#include "wpi/print.h"
#include "wpi/datalog/DataLogReader.h"
int main(int argc, const char** argv) {
if (argc != 2) {

5
wpiutil/examples/writelog/writelog.cpp → datalog/examples/writelog/writelog.cpp
View File

@@ -8,8 +8,9 @@
#include <utility>
#include <vector>
#include "wpi/DataLogBackgroundWriter.h"
#include "wpi/print.h"
#include <wpi/print.h>
#include "wpi/datalog/DataLogBackgroundWriter.h"
int main(int argc, char** argv) {
using std::chrono::duration_cast;

12
datalog/src/dev/java/edu/wpi/first/datalog/DevMain.java Normal file
View File

@@ -0,0 +1,12 @@
// 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.
package edu.wpi.first.datalog;
public final class DevMain {
/** Main entry point. */
public static void main(String[] args) {}
private DevMain() {}
}

5
datalog/src/dev/native/cpp/main.cpp Normal file
View File

@@ -0,0 +1,5 @@
// 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.
int main() {}

2
wpiutil/src/main/java/edu/wpi/first/util/datalog/BooleanArrayLogEntry.java → datalog/src/main/java/edu/wpi/first/datalog/BooleanArrayLogEntry.java
View File

@@ -2,7 +2,7 @@
// 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.
package edu.wpi.first.util.datalog;
package edu.wpi.first.datalog;
import java.util.Arrays;

2
wpiutil/src/main/java/edu/wpi/first/util/datalog/BooleanLogEntry.java → datalog/src/main/java/edu/wpi/first/datalog/BooleanLogEntry.java
View File

@@ -2,7 +2,7 @@
// 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.
package edu.wpi.first.util.datalog;
package edu.wpi.first.datalog;
/** Log boolean values. */
public class BooleanLogEntry extends DataLogEntry {

2
wpiutil/src/main/java/edu/wpi/first/util/datalog/DataLog.java → datalog/src/main/java/edu/wpi/first/datalog/DataLog.java
View File

@@ -2,7 +2,7 @@
// 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.
package edu.wpi.first.util.datalog;
package edu.wpi.first.datalog;
import edu.wpi.first.util.WPIUtilJNI;
import edu.wpi.first.util.protobuf.Protobuf;

2
wpiutil/src/main/java/edu/wpi/first/util/datalog/DataLogBackgroundWriter.java → datalog/src/main/java/edu/wpi/first/datalog/DataLogBackgroundWriter.java
View File

@@ -2,7 +2,7 @@
// 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.
package edu.wpi.first.util.datalog;
package edu.wpi.first.datalog;
/**
* A data log background writer that periodically flushes the data log on a background thread. The

2
wpiutil/src/main/java/edu/wpi/first/util/datalog/DataLogEntry.java → datalog/src/main/java/edu/wpi/first/datalog/DataLogEntry.java
View File

@@ -2,7 +2,7 @@
// 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.
package edu.wpi.first.util.datalog;
package edu.wpi.first.datalog;
/** Log entry base class. */
public class DataLogEntry {

2
wpiutil/src/main/java/edu/wpi/first/util/datalog/DataLogIterator.java → datalog/src/main/java/edu/wpi/first/datalog/DataLogIterator.java
View File

@@ -2,7 +2,7 @@
// 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.
package edu.wpi.first.util.datalog;
package edu.wpi.first.datalog;
import java.util.Iterator;
import java.util.NoSuchElementException;

82
wpiutil/src/main/java/edu/wpi/first/util/datalog/DataLogJNI.java → datalog/src/main/java/edu/wpi/first/datalog/DataLogJNI.java
View File

@@ -2,18 +2,72 @@
// 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.
package edu.wpi.first.util.datalog;
package edu.wpi.first.datalog;
import edu.wpi.first.util.WPIUtilJNI;
import edu.wpi.first.util.RuntimeLoader;
import java.io.IOException;
import java.nio.ByteBuffer;
import java.util.concurrent.atomic.AtomicBoolean;
/**
* DataLog wpiutil JNI Functions.
* DataLog JNI Functions.
*
* @see "wpiutil/DataLog.h"
* @see "datalog/DataLog.h"
*/
public class DataLogJNI extends WPIUtilJNI {
public class DataLogJNI {
static boolean libraryLoaded = false;
/** Sets whether JNI should be loaded in the static block. */
public static class Helper {
private static AtomicBoolean extractOnStaticLoad = new AtomicBoolean(true);
/**
* Returns true if the JNI should be loaded in the static block.
*
* @return True if the JNI should be loaded in the static block.
*/
public static boolean getExtractOnStaticLoad() {
return extractOnStaticLoad.get();
}
/**
* Sets whether the JNI should be loaded in the static block.
*
* @param load Whether the JNI should be loaded in the static block.
*/
public static void setExtractOnStaticLoad(boolean load) {
extractOnStaticLoad.set(load);
}
/** Utility class. */
private Helper() {}
}
static {
if (Helper.getExtractOnStaticLoad()) {
try {
RuntimeLoader.loadLibrary("datalogjni");
} catch (Exception ex) {
ex.printStackTrace();
System.exit(1);
}
libraryLoaded = true;
}
}
/**
* Force load the library.
*
* @throws IOException if the library failed to load
*/
public static synchronized void forceLoad() throws IOException {
if (libraryLoaded) {
return;
}
RuntimeLoader.loadLibrary("datalogjni");
libraryLoaded = true;
}
/**
* Create a new Data Log background writer. The log will be initially created with a temporary
* filename.
@@ -298,6 +352,24 @@ public class DataLogJNI extends WPIUtilJNI {
*/
static native void appendStringArray(long impl, int entry, String[] value, long timestamp);
/**
* Create a native FileLogger. When the specified file is modified, appended data will be appended
* to the specified data log.
*
* @param file path to the file
* @param log data log implementation handle
* @param key log key to append data to
* @return The FileLogger handle.
*/
public static native long createFileLogger(String file, long log, String key);
/**
* Free a native FileLogger. This causes the FileLogger to stop appending data to the log.
*
* @param fileTail The FileLogger handle.
*/
public static native void freeFileLogger(long fileTail);
/** Utility class. */
private DataLogJNI() {}
}

2
wpiutil/src/main/java/edu/wpi/first/util/datalog/DataLogReader.java → datalog/src/main/java/edu/wpi/first/datalog/DataLogReader.java
View File

@@ -2,7 +2,7 @@
// 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.
package edu.wpi.first.util.datalog;
package edu.wpi.first.datalog;
import java.io.IOException;
import java.io.RandomAccessFile;

2
wpiutil/src/main/java/edu/wpi/first/util/datalog/DataLogRecord.java → datalog/src/main/java/edu/wpi/first/datalog/DataLogRecord.java
View File

@@ -2,7 +2,7 @@
// 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.
package edu.wpi.first.util.datalog;
package edu.wpi.first.datalog;
import java.nio.BufferUnderflowException;
import java.nio.ByteBuffer;

2
wpiutil/src/main/java/edu/wpi/first/util/datalog/DataLogWriter.java → datalog/src/main/java/edu/wpi/first/datalog/DataLogWriter.java
View File

@@ -2,7 +2,7 @@
// 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.
package edu.wpi.first.util.datalog;
package edu.wpi.first.datalog;
import java.io.IOException;
import java.io.OutputStream;

2
wpiutil/src/main/java/edu/wpi/first/util/datalog/DoubleArrayLogEntry.java → datalog/src/main/java/edu/wpi/first/datalog/DoubleArrayLogEntry.java
View File

@@ -2,7 +2,7 @@
// 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.
package edu.wpi.first.util.datalog;
package edu.wpi.first.datalog;
import java.util.Arrays;

2
wpiutil/src/main/java/edu/wpi/first/util/datalog/DoubleLogEntry.java → datalog/src/main/java/edu/wpi/first/datalog/DoubleLogEntry.java
View File

@@ -2,7 +2,7 @@
// 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.
package edu.wpi.first.util.datalog;
package edu.wpi.first.datalog;
/** Log double values. */
public class DoubleLogEntry extends DataLogEntry {

8
wpiutil/src/main/java/edu/wpi/first/util/FileLogger.java → datalog/src/main/java/edu/wpi/first/datalog/FileLogger.java
View File

@@ -2,9 +2,7 @@
// 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.
package edu.wpi.first.util;
import edu.wpi.first.util.datalog.DataLog;
package edu.wpi.first.datalog;
/**
* A class version of `tail -f`, otherwise known as `tail -f` at home. Watches a file and puts the
@@ -22,11 +20,11 @@ public class FileLogger implements AutoCloseable {
* @param key The log key to append data to.
*/
public FileLogger(String file, DataLog log, String key) {
m_impl = WPIUtilJNI.createFileLogger(file, log.getImpl(), key);
m_impl = DataLogJNI.createFileLogger(file, log.getImpl(), key);
}
@Override
public void close() {
WPIUtilJNI.freeFileLogger(m_impl);
DataLogJNI.freeFileLogger(m_impl);
}
}

2
wpiutil/src/main/java/edu/wpi/first/util/datalog/FloatArrayLogEntry.java → datalog/src/main/java/edu/wpi/first/datalog/FloatArrayLogEntry.java
View File

@@ -2,7 +2,7 @@
// 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.
package edu.wpi.first.util.datalog;
package edu.wpi.first.datalog;
import java.util.Arrays;

2
wpiutil/src/main/java/edu/wpi/first/util/datalog/FloatLogEntry.java → datalog/src/main/java/edu/wpi/first/datalog/FloatLogEntry.java
View File

@@ -2,7 +2,7 @@
// 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.
package edu.wpi.first.util.datalog;
package edu.wpi.first.datalog;
/** Log float values. */
public class FloatLogEntry extends DataLogEntry {

2
wpiutil/src/main/java/edu/wpi/first/util/datalog/IntegerArrayLogEntry.java → datalog/src/main/java/edu/wpi/first/datalog/IntegerArrayLogEntry.java
View File

@@ -2,7 +2,7 @@
// 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.
package edu.wpi.first.util.datalog;
package edu.wpi.first.datalog;
import java.util.Arrays;

2
wpiutil/src/main/java/edu/wpi/first/util/datalog/IntegerLogEntry.java → datalog/src/main/java/edu/wpi/first/datalog/IntegerLogEntry.java
View File

@@ -2,7 +2,7 @@
// 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.
package edu.wpi.first.util.datalog;
package edu.wpi.first.datalog;
/** Log integer values. */
public class IntegerLogEntry extends DataLogEntry {

2
wpiutil/src/main/java/edu/wpi/first/util/datalog/ProtobufLogEntry.java → datalog/src/main/java/edu/wpi/first/datalog/ProtobufLogEntry.java
View File

@@ -2,7 +2,7 @@
// 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.
package edu.wpi.first.util.datalog;
package edu.wpi.first.datalog;
import edu.wpi.first.util.protobuf.Protobuf;
import edu.wpi.first.util.protobuf.ProtobufBuffer;

2
wpiutil/src/main/java/edu/wpi/first/util/datalog/RawLogEntry.java → datalog/src/main/java/edu/wpi/first/datalog/RawLogEntry.java
View File

@@ -2,7 +2,7 @@
// 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.
package edu.wpi.first.util.datalog;
package edu.wpi.first.datalog;
import java.nio.ByteBuffer;
import java.util.Arrays;

2
wpiutil/src/main/java/edu/wpi/first/util/datalog/StringArrayLogEntry.java → datalog/src/main/java/edu/wpi/first/datalog/StringArrayLogEntry.java
View File

@@ -2,7 +2,7 @@
// 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.
package edu.wpi.first.util.datalog;
package edu.wpi.first.datalog;
import java.util.Arrays;

2
wpiutil/src/main/java/edu/wpi/first/util/datalog/StringLogEntry.java → datalog/src/main/java/edu/wpi/first/datalog/StringLogEntry.java
View File

@@ -2,7 +2,7 @@
// 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.
package edu.wpi.first.util.datalog;
package edu.wpi.first.datalog;
/** Log string values. */
public class StringLogEntry extends DataLogEntry {

2
wpiutil/src/main/java/edu/wpi/first/util/datalog/StructArrayLogEntry.java → datalog/src/main/java/edu/wpi/first/datalog/StructArrayLogEntry.java
View File

@@ -2,7 +2,7 @@
// 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.
package edu.wpi.first.util.datalog;
package edu.wpi.first.datalog;
import edu.wpi.first.util.struct.Struct;
import edu.wpi.first.util.struct.StructBuffer;

2
wpiutil/src/main/java/edu/wpi/first/util/datalog/StructLogEntry.java → datalog/src/main/java/edu/wpi/first/datalog/StructLogEntry.java
View File

@@ -2,7 +2,7 @@
// 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.
package edu.wpi.first.util.datalog;
package edu.wpi.first.datalog;
import edu.wpi.first.util.struct.Struct;
import edu.wpi.first.util.struct.StructBuffer;

14
wpiutil/src/main/native/cpp/DataLog.cpp → datalog/src/main/native/cpp/DataLog.cpp
View File

@@ -2,8 +2,6 @@
// 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 "wpi/DataLog.h"
#include <algorithm>
#include <bit>
#include <cstdio>
@@ -13,11 +11,13 @@
#include <utility>
#include <vector>
#include "wpi/Endian.h"
#include "wpi/Logger.h"
#include "wpi/SmallString.h"
#include "wpi/print.h"
#include "wpi/timestamp.h"
#include <wpi/Endian.h>
#include <wpi/Logger.h>
#include <wpi/SmallString.h>
#include <wpi/print.h>
#include <wpi/timestamp.h>
#include "wpi/datalog/DataLog.h"
using namespace wpi::log;

2
wpiutil/src/main/native/cpp/DataLogBackgroundWriter.cpp → datalog/src/main/native/cpp/DataLogBackgroundWriter.cpp
View File

@@ -2,7 +2,7 @@
// 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 "wpi/DataLogBackgroundWriter.h"
#include "wpi/datalog/DataLogBackgroundWriter.h"
#ifndef _WIN32
#include <unistd.h>

8
wpiutil/src/main/native/cpp/DataLogReader.cpp → datalog/src/main/native/cpp/DataLogReader.cpp
View File

@@ -2,13 +2,13 @@
// 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 "wpi/DataLogReader.h"
#include <bit>
#include <utility>
#include "wpi/DataLog.h"
#include "wpi/Endian.h"
#include <wpi/Endian.h>
#include "wpi/datalog/DataLog.h"
#include "wpi/datalog/DataLogReader.h"
using namespace wpi::log;

6
glass/src/lib/native/cpp/support/DataLogReaderThread.cpp → datalog/src/main/native/cpp/DataLogReaderThread.cpp
View File

@@ -2,15 +2,15 @@
// 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 "glass/support/DataLogReaderThread.h"
#include <string>
#include <utility>
#include <wpi/StringExtras.h>
#include <wpi/print.h>
using namespace glass;
#include "wpi/datalog/DataLogReaderThread.h"
using namespace wpi::log;
DataLogReaderThread::~DataLogReaderThread() {
if (m_thread.joinable()) {

6
wpiutil/src/main/native/cpp/DataLogWriter.cpp → datalog/src/main/native/cpp/DataLogWriter.cpp
View File

@@ -2,13 +2,13 @@
// 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 "wpi/DataLogWriter.h"
#include <memory>
#include <utility>
#include <vector>
#include "wpi/raw_ostream.h"
#include <wpi/raw_ostream.h>
#include "wpi/datalog/DataLogWriter.h"
using namespace wpi::log;

9
wpiutil/src/main/native/cpp/FileLogger.cpp → datalog/src/main/native/cpp/FileLogger.cpp
View File

@@ -2,8 +2,6 @@
// 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 "wpi/FileLogger.h"
#ifdef __linux__
#include <fcntl.h>
#include <sys/inotify.h>
@@ -18,10 +16,11 @@
#include <utility>
#include <fmt/format.h>
#include <wpi/StringExtras.h>
#include "wpi/StringExtras.h"
#include "wpi/datalog/FileLogger.h"
namespace wpi {
namespace wpi::log {
FileLogger::FileLogger(std::string_view file,
std::function<void(std::string_view)> callback)
#ifdef __linux__
@@ -101,4 +100,4 @@ std::function<void(std::string_view)> FileLogger::Buffer(
buf.append(leftover.begin(), leftover.end());
};
}
} // namespace wpi
} // namespace wpi::log

231
wpiutil/src/main/native/cpp/jni/DataLogJNI.cpp → datalog/src/main/native/cpp/jni/DataLogJNI.cpp
View File

@@ -2,6 +2,8 @@
// 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 "DataLogJNI.h"
#include <jni.h>
#include <algorithm>
@@ -9,17 +11,47 @@
#include <vector>
#include <fmt/format.h>
#include <wpi/jni_util.h>
#include "WPIUtilJNI.h"
#include "edu_wpi_first_util_datalog_DataLogJNI.h"
#include "wpi/DataLog.h"
#include "wpi/DataLogBackgroundWriter.h"
#include "wpi/DataLogWriter.h"
#include "wpi/jni_util.h"
#include "edu_wpi_first_datalog_DataLogJNI.h"
#include "wpi/datalog/DataLog.h"
#include "wpi/datalog/DataLogBackgroundWriter.h"
#include "wpi/datalog/DataLogWriter.h"
#include "wpi/datalog/FileLogger.h"
using namespace wpi::java;
using namespace wpi::log;
static bool mockTimeEnabled = false;
static uint64_t mockNow = 0;
static JException illegalArgEx;
static JException indexOobEx;
static JException ioEx;
static JException nullPointerEx;
static const JExceptionInit exceptions[] = {
{"java/lang/IllegalArgumentException", &illegalArgEx},
{"java/lang/IndexOutOfBoundsException", &indexOobEx},
{"java/io/IOException", &ioEx},
{"java/lang/NullPointerException", &nullPointerEx}};
void wpi::ThrowIllegalArgumentException(JNIEnv* env, std::string_view msg) {
illegalArgEx.Throw(env, msg);
}
void wpi::ThrowIndexOobException(JNIEnv* env, std::string_view msg) {
indexOobEx.Throw(env, msg);
}
void wpi::ThrowIOException(JNIEnv* env, std::string_view msg) {
ioEx.Throw(env, msg);
}
void wpi::ThrowNullPointerException(JNIEnv* env, std::string_view msg) {
nullPointerEx.Throw(env, msg);
}
namespace {
class buf_ostream : public wpi::raw_uvector_ostream {
private:
@@ -34,13 +66,40 @@ class buf_ostream : public wpi::raw_uvector_ostream {
extern "C" {
JNIEXPORT jint JNICALL JNI_OnLoad(JavaVM* vm, void* reserved) {
JNIEnv* env;
if (vm->GetEnv(reinterpret_cast<void**>(&env), JNI_VERSION_1_6) != JNI_OK) {
return JNI_ERR;
}
for (auto& c : exceptions) {
*c.cls = JException(env, c.name);
if (!*c.cls) {
return JNI_ERR;
}
}
return JNI_VERSION_1_6;
}
JNIEXPORT void JNICALL JNI_OnUnload(JavaVM* vm, void* reserved) {
JNIEnv* env;
if (vm->GetEnv(reinterpret_cast<void**>(&env), JNI_VERSION_1_6) != JNI_OK) {
return;
}
for (auto& c : exceptions) {
c.cls->free(env);
}
}
/*
* Class: edu_wpi_first_util_datalog_DataLogJNI
* Class: edu_wpi_first_datalog_DataLogJNI
* Method: bgCreate
* Signature: (Ljava/lang/String;Ljava/lang/String;DLjava/lang/String;)J
*/
JNIEXPORT jlong JNICALL
Java_edu_wpi_first_util_datalog_DataLogJNI_bgCreate
Java_edu_wpi_first_datalog_DataLogJNI_bgCreate
(JNIEnv* env, jclass, jstring dir, jstring filename, jdouble period,
jstring extraHeader)
{
@@ -62,12 +121,12 @@ Java_edu_wpi_first_util_datalog_DataLogJNI_bgCreate
}
/*
* Class: edu_wpi_first_util_datalog_DataLogJNI
* Class: edu_wpi_first_datalog_DataLogJNI
* Method: bgSetFilename
* Signature: (JLjava/lang/String;)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_util_datalog_DataLogJNI_bgSetFilename
Java_edu_wpi_first_datalog_DataLogJNI_bgSetFilename
(JNIEnv* env, jclass, jlong impl, jstring filename)
{
if (impl == 0) {
@@ -83,12 +142,12 @@ Java_edu_wpi_first_util_datalog_DataLogJNI_bgSetFilename
}
/*
* Class: edu_wpi_first_util_datalog_DataLogJNI
* Class: edu_wpi_first_datalog_DataLogJNI
* Method: fgCreate
* Signature: (Ljava/lang/String;Ljava/lang/String;)J
*/
JNIEXPORT jlong JNICALL
Java_edu_wpi_first_util_datalog_DataLogJNI_fgCreate
Java_edu_wpi_first_datalog_DataLogJNI_fgCreate
(JNIEnv* env, jclass, jstring filename, jstring extraHeader)
{
if (!filename) {
@@ -111,12 +170,28 @@ Java_edu_wpi_first_util_datalog_DataLogJNI_fgCreate
}
/*
* Class: edu_wpi_first_util_datalog_DataLogJNI
* Class: edu_wpi_first_util_WPIUtilJNI
* Method: now
* Signature: ()J
*/
JNIEXPORT jlong JNICALL
Java_edu_wpi_first_util_WPIUtilJNI_now
(JNIEnv*, jclass)
{
if (mockTimeEnabled) {
return mockNow;
} else {
return wpi::Now();
}
}
/*
* Class: edu_wpi_first_datalog_DataLogJNI
* Method: fgCreateMemory
* Signature: (Ljava/lang/String;)J
*/
JNIEXPORT jlong JNICALL
Java_edu_wpi_first_util_datalog_DataLogJNI_fgCreateMemory
Java_edu_wpi_first_datalog_DataLogJNI_fgCreateMemory
(JNIEnv* env, jclass, jstring extraHeader)
{
if (!extraHeader) {
@@ -129,12 +204,12 @@ Java_edu_wpi_first_util_datalog_DataLogJNI_fgCreateMemory
}
/*
* Class: edu_wpi_first_util_datalog_DataLogJNI
* Class: edu_wpi_first_datalog_DataLogJNI
* Method: flush
* Signature: (J)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_util_datalog_DataLogJNI_flush
Java_edu_wpi_first_datalog_DataLogJNI_flush
(JNIEnv* env, jclass, jlong impl)
{
if (impl == 0) {
@@ -145,12 +220,12 @@ Java_edu_wpi_first_util_datalog_DataLogJNI_flush
}
/*
* Class: edu_wpi_first_util_datalog_DataLogJNI
* Class: edu_wpi_first_datalog_DataLogJNI
* Method: copyWriteBuffer
* Signature: (J[BI)I
*/
JNIEXPORT jint JNICALL
Java_edu_wpi_first_util_datalog_DataLogJNI_copyWriteBuffer
Java_edu_wpi_first_datalog_DataLogJNI_copyWriteBuffer
(JNIEnv* env, jclass, jlong impl, jbyteArray buf, jint start)
{
if (impl == 0) {
@@ -172,12 +247,12 @@ Java_edu_wpi_first_util_datalog_DataLogJNI_copyWriteBuffer
}
/*
* Class: edu_wpi_first_util_datalog_DataLogJNI
* Class: edu_wpi_first_datalog_DataLogJNI
* Method: pause
* Signature: (J)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_util_datalog_DataLogJNI_pause
Java_edu_wpi_first_datalog_DataLogJNI_pause
(JNIEnv* env, jclass, jlong impl)
{
if (impl == 0) {
@@ -188,12 +263,12 @@ Java_edu_wpi_first_util_datalog_DataLogJNI_pause
}
/*
* Class: edu_wpi_first_util_datalog_DataLogJNI
* Class: edu_wpi_first_datalog_DataLogJNI
* Method: resume
* Signature: (J)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_util_datalog_DataLogJNI_resume
Java_edu_wpi_first_datalog_DataLogJNI_resume
(JNIEnv* env, jclass, jlong impl)
{
if (impl == 0) {
@@ -204,12 +279,12 @@ Java_edu_wpi_first_util_datalog_DataLogJNI_resume
}
/*
* Class: edu_wpi_first_util_datalog_DataLogJNI
* Class: edu_wpi_first_datalog_DataLogJNI
* Method: stop
* Signature: (J)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_util_datalog_DataLogJNI_stop
Java_edu_wpi_first_datalog_DataLogJNI_stop
(JNIEnv* env, jclass, jlong impl)
{
if (impl == 0) {
@@ -220,12 +295,12 @@ Java_edu_wpi_first_util_datalog_DataLogJNI_stop
}
/*
* Class: edu_wpi_first_util_datalog_DataLogJNI
* Class: edu_wpi_first_datalog_DataLogJNI
* Method: addSchema
* Signature: (JLjava/lang/String;Ljava/lang/String;[BJ)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_util_datalog_DataLogJNI_addSchema
Java_edu_wpi_first_datalog_DataLogJNI_addSchema
(JNIEnv* env, jclass, jlong impl, jstring name, jstring type,
jbyteArray schema, jlong timestamp)
{
@@ -239,12 +314,12 @@ Java_edu_wpi_first_util_datalog_DataLogJNI_addSchema
}
/*
* Class: edu_wpi_first_util_datalog_DataLogJNI
* Class: edu_wpi_first_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
Java_edu_wpi_first_datalog_DataLogJNI_addSchemaString
(JNIEnv* env, jclass, jlong impl, jstring name, jstring type, jstring schema,
jlong timestamp)
{
@@ -261,12 +336,12 @@ Java_edu_wpi_first_util_datalog_DataLogJNI_addSchemaString
}
/*
* Class: edu_wpi_first_util_datalog_DataLogJNI
* Class: edu_wpi_first_datalog_DataLogJNI
* Method: start
* Signature: (JLjava/lang/String;Ljava/lang/String;Ljava/lang/String;J)I
*/
JNIEXPORT jint JNICALL
Java_edu_wpi_first_util_datalog_DataLogJNI_start
Java_edu_wpi_first_datalog_DataLogJNI_start
(JNIEnv* env, jclass, jlong impl, jstring name, jstring type,
jstring metadata, jlong timestamp)
{
@@ -280,12 +355,12 @@ Java_edu_wpi_first_util_datalog_DataLogJNI_start
}
/*
* Class: edu_wpi_first_util_datalog_DataLogJNI
* Class: edu_wpi_first_datalog_DataLogJNI
* Method: finish
* Signature: (JIJ)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_util_datalog_DataLogJNI_finish
Java_edu_wpi_first_datalog_DataLogJNI_finish
(JNIEnv* env, jclass, jlong impl, jint entry, jlong timestamp)
{
if (impl == 0) {
@@ -296,12 +371,12 @@ Java_edu_wpi_first_util_datalog_DataLogJNI_finish
}
/*
* Class: edu_wpi_first_util_datalog_DataLogJNI
* Class: edu_wpi_first_datalog_DataLogJNI
* Method: setMetadata
* Signature: (JILjava/lang/String;J)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_util_datalog_DataLogJNI_setMetadata
Java_edu_wpi_first_datalog_DataLogJNI_setMetadata
(JNIEnv* env, jclass, jlong impl, jint entry, jstring metadata,
jlong timestamp)
{
@@ -314,24 +389,24 @@ Java_edu_wpi_first_util_datalog_DataLogJNI_setMetadata
}
/*
* Class: edu_wpi_first_util_datalog_DataLogJNI
* Class: edu_wpi_first_datalog_DataLogJNI
* Method: close
* Signature: (J)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_util_datalog_DataLogJNI_close
Java_edu_wpi_first_datalog_DataLogJNI_close
(JNIEnv*, jclass, jlong impl)
{
delete reinterpret_cast<DataLog*>(impl);
}
/*
* Class: edu_wpi_first_util_datalog_DataLogJNI
* Class: edu_wpi_first_datalog_DataLogJNI
* Method: appendRaw
* Signature: (JI[BIIJ)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_util_datalog_DataLogJNI_appendRaw
Java_edu_wpi_first_datalog_DataLogJNI_appendRaw
(JNIEnv* env, jclass, jlong impl, jint entry, jbyteArray value, jint start,
jint length, jlong timestamp)
{
@@ -362,12 +437,12 @@ Java_edu_wpi_first_util_datalog_DataLogJNI_appendRaw
}
/*
* Class: edu_wpi_first_util_datalog_DataLogJNI
* Class: edu_wpi_first_datalog_DataLogJNI
* Method: appendRawBuffer
* Signature: (JILjava/lang/Object;IIJ)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_util_datalog_DataLogJNI_appendRawBuffer
Java_edu_wpi_first_datalog_DataLogJNI_appendRawBuffer
(JNIEnv* env, jclass, jlong impl, jint entry, jobject value, jint start,
jint length, jlong timestamp)
{
@@ -398,12 +473,12 @@ Java_edu_wpi_first_util_datalog_DataLogJNI_appendRawBuffer
}
/*
* Class: edu_wpi_first_util_datalog_DataLogJNI
* Class: edu_wpi_first_datalog_DataLogJNI
* Method: appendBoolean
* Signature: (JIZJ)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_util_datalog_DataLogJNI_appendBoolean
Java_edu_wpi_first_datalog_DataLogJNI_appendBoolean
(JNIEnv* env, jclass, jlong impl, jint entry, jboolean value, jlong timestamp)
{
if (impl == 0) {
@@ -414,12 +489,12 @@ Java_edu_wpi_first_util_datalog_DataLogJNI_appendBoolean
}
/*
* Class: edu_wpi_first_util_datalog_DataLogJNI
* Class: edu_wpi_first_datalog_DataLogJNI
* Method: appendInteger
* Signature: (JIJJ)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_util_datalog_DataLogJNI_appendInteger
Java_edu_wpi_first_datalog_DataLogJNI_appendInteger
(JNIEnv* env, jclass, jlong impl, jint entry, jlong value, jlong timestamp)
{
if (impl == 0) {
@@ -430,12 +505,12 @@ Java_edu_wpi_first_util_datalog_DataLogJNI_appendInteger
}
/*
* Class: edu_wpi_first_util_datalog_DataLogJNI
* Class: edu_wpi_first_datalog_DataLogJNI
* Method: appendFloat
* Signature: (JIFJ)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_util_datalog_DataLogJNI_appendFloat
Java_edu_wpi_first_datalog_DataLogJNI_appendFloat
(JNIEnv* env, jclass, jlong impl, jint entry, jfloat value, jlong timestamp)
{
if (impl == 0) {
@@ -446,12 +521,12 @@ Java_edu_wpi_first_util_datalog_DataLogJNI_appendFloat
}
/*
* Class: edu_wpi_first_util_datalog_DataLogJNI
* Class: edu_wpi_first_datalog_DataLogJNI
* Method: appendDouble
* Signature: (JIDJ)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_util_datalog_DataLogJNI_appendDouble
Java_edu_wpi_first_datalog_DataLogJNI_appendDouble
(JNIEnv* env, jclass, jlong impl, jint entry, jdouble value, jlong timestamp)
{
if (impl == 0) {
@@ -462,12 +537,12 @@ Java_edu_wpi_first_util_datalog_DataLogJNI_appendDouble
}
/*
* Class: edu_wpi_first_util_datalog_DataLogJNI
* Class: edu_wpi_first_datalog_DataLogJNI
* Method: appendString
* Signature: (JILjava/lang/String;J)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_util_datalog_DataLogJNI_appendString
Java_edu_wpi_first_datalog_DataLogJNI_appendString
(JNIEnv* env, jclass, jlong impl, jint entry, jstring value, jlong timestamp)
{
if (impl == 0) {
@@ -479,12 +554,12 @@ Java_edu_wpi_first_util_datalog_DataLogJNI_appendString
}
/*
* Class: edu_wpi_first_util_datalog_DataLogJNI
* Class: edu_wpi_first_datalog_DataLogJNI
* Method: appendBooleanArray
* Signature: (JI[ZJ)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_util_datalog_DataLogJNI_appendBooleanArray
Java_edu_wpi_first_datalog_DataLogJNI_appendBooleanArray
(JNIEnv* env, jclass, jlong impl, jint entry, jbooleanArray value,
jlong timestamp)
{
@@ -501,12 +576,12 @@ Java_edu_wpi_first_util_datalog_DataLogJNI_appendBooleanArray
}
/*
* Class: edu_wpi_first_util_datalog_DataLogJNI
* Class: edu_wpi_first_datalog_DataLogJNI
* Method: appendIntegerArray
* Signature: (JI[JJ)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_util_datalog_DataLogJNI_appendIntegerArray
Java_edu_wpi_first_datalog_DataLogJNI_appendIntegerArray
(JNIEnv* env, jclass, jlong impl, jint entry, jlongArray value,
jlong timestamp)
{
@@ -534,12 +609,12 @@ Java_edu_wpi_first_util_datalog_DataLogJNI_appendIntegerArray
}
/*
* Class: edu_wpi_first_util_datalog_DataLogJNI
* Class: edu_wpi_first_datalog_DataLogJNI
* Method: appendFloatArray
* Signature: (JI[FJ)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_util_datalog_DataLogJNI_appendFloatArray
Java_edu_wpi_first_datalog_DataLogJNI_appendFloatArray
(JNIEnv* env, jclass, jlong impl, jint entry, jfloatArray value,
jlong timestamp)
{
@@ -556,12 +631,12 @@ Java_edu_wpi_first_util_datalog_DataLogJNI_appendFloatArray
}
/*
* Class: edu_wpi_first_util_datalog_DataLogJNI
* Class: edu_wpi_first_datalog_DataLogJNI
* Method: appendDoubleArray
* Signature: (JI[DJ)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_util_datalog_DataLogJNI_appendDoubleArray
Java_edu_wpi_first_datalog_DataLogJNI_appendDoubleArray
(JNIEnv* env, jclass, jlong impl, jint entry, jdoubleArray value,
jlong timestamp)
{
@@ -578,12 +653,12 @@ Java_edu_wpi_first_util_datalog_DataLogJNI_appendDoubleArray
}
/*
* Class: edu_wpi_first_util_datalog_DataLogJNI
* Class: edu_wpi_first_datalog_DataLogJNI
* Method: appendStringArray
* Signature: (JI[Ljava/lang/Object;J)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_util_datalog_DataLogJNI_appendStringArray
Java_edu_wpi_first_datalog_DataLogJNI_appendStringArray
(JNIEnv* env, jclass, jlong impl, jint entry, jobjectArray value,
jlong timestamp)
{
@@ -610,5 +685,41 @@ Java_edu_wpi_first_util_datalog_DataLogJNI_appendStringArray
}
reinterpret_cast<DataLog*>(impl)->AppendStringArray(entry, arr, timestamp);
}
/*
* Class: edu_wpi_first_datalog_DataLogJNI
* Method: createFileLogger
* Signature: (Ljava/lang/String;JLjava/lang/String;)J
*/
JNIEXPORT jlong JNICALL
Java_edu_wpi_first_datalog_DataLogJNI_createFileLogger
(JNIEnv* env, jclass, jstring file, jlong log, jstring key)
{
if (!file) {
wpi::ThrowNullPointerException(env, "file is null");
return 0;
}
auto* f = reinterpret_cast<wpi::log::DataLog*>(log);
if (!f) {
wpi::ThrowNullPointerException(env, "log is null");
return 0;
}
if (!key) {
wpi::ThrowNullPointerException(env, "key is null");
return 0;
}
return reinterpret_cast<jlong>(new wpi::log::FileLogger{
JStringRef{env, file}, *f, JStringRef{env, key}});
}
/*
* Class: edu_wpi_first_datalog_DataLogJNI
* Method: freeFileLogger
* Signature: (J)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_datalog_DataLogJNI_freeFileLogger
(JNIEnv* env, jclass, jlong fileTail)
{
delete reinterpret_cast<wpi::log::FileLogger*>(fileTail);
}
} // extern "C"

18
datalog/src/main/native/cpp/jni/DataLogJNI.h Normal file
View File

@@ -0,0 +1,18 @@
// 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.
#pragma once
#include <jni.h>
#include <string_view>
namespace wpi {
void ThrowIllegalArgumentException(JNIEnv* env, std::string_view msg);
void ThrowIndexOobException(JNIEnv* env, std::string_view msg);
void ThrowIOException(JNIEnv* env, std::string_view msg);
void ThrowNullPointerException(JNIEnv* env, std::string_view msg);
} // namespace wpi

19
wpiutil/src/main/native/include/wpi/DataLog.h → datalog/src/main/native/include/wpi/datalog/DataLog.h
View File

@@ -19,15 +19,16 @@
#include <vector>
#include <version>
#include "wpi/DataLog_c.h"
#include "wpi/DenseMap.h"
#include "wpi/SmallVector.h"
#include "wpi/StringMap.h"
#include "wpi/mutex.h"
#include "wpi/protobuf/Protobuf.h"
#include "wpi/string.h"
#include "wpi/struct/Struct.h"
#include "wpi/timestamp.h"
#include <wpi/DenseMap.h>
#include <wpi/SmallVector.h>
#include <wpi/StringMap.h>
#include <wpi/mutex.h>
#include <wpi/protobuf/Protobuf.h>
#include <wpi/string.h>
#include <wpi/struct/Struct.h>
#include <wpi/timestamp.h>
#include "wpi/datalog/DataLog_c.h"
namespace wpi {
class Logger;

7
wpiutil/src/main/native/include/wpi/DataLogBackgroundWriter.h → datalog/src/main/native/include/wpi/datalog/DataLogBackgroundWriter.h
View File

@@ -12,9 +12,10 @@
#include <string_view>
#include <thread>
#include "wpi/DataLog.h"
#include "wpi/condition_variable.h"
#include "wpi/mutex.h"
#include <wpi/condition_variable.h>
#include <wpi/mutex.h>
#include "wpi/datalog/DataLog.h"
namespace wpi {
class Logger;

2
wpiutil/src/main/native/include/wpi/DataLogReader.h → datalog/src/main/native/include/wpi/datalog/DataLogReader.h
View File

@@ -12,7 +12,7 @@
#include <utility>
#include <vector>
#include "wpi/MemoryBuffer.h"
#include <wpi/MemoryBuffer.h>
namespace wpi::log {

7
glass/src/lib/native/include/glass/support/DataLogReaderThread.h → datalog/src/main/native/include/wpi/datalog/DataLogReaderThread.h
View File

@@ -13,17 +13,18 @@
#include <utility>
#include <vector>
#include <wpi/DataLogReader.h>
#include <wpi/DenseMap.h>
#include <wpi/Signal.h>
#include <wpi/mutex.h>
#include <wpi/struct/DynamicStruct.h>
#include "wpi/datalog/DataLogReader.h"
#ifndef NO_PROTOBUF
#include <wpi/protobuf/ProtobufMessageDatabase.h>
#endif
namespace glass {
namespace wpi::log {
class DataLogReaderRange {
public:
@@ -105,4 +106,4 @@ class DataLogReaderThread {
std::thread m_thread;
};
} // namespace glass
} // namespace wpi::log

2
wpiutil/src/main/native/include/wpi/DataLogWriter.h → datalog/src/main/native/include/wpi/datalog/DataLogWriter.h
View File

@@ -8,7 +8,7 @@
#include <string_view>
#include <system_error>
#include "wpi/DataLog.h"
#include "wpi/datalog/DataLog.h"
namespace wpi {
class raw_ostream;

1
wpiutil/src/main/native/include/wpi/DataLog_c.h → datalog/src/main/native/include/wpi/datalog/DataLog_c.h
View File

@@ -7,6 +7,7 @@
#include <stddef.h> // NOLINT
#include <stdint.h>
#include <wpi/string.h>
#ifdef __cplusplus

6
wpiutil/src/main/native/include/wpi/FileLogger.h → datalog/src/main/native/include/wpi/datalog/FileLogger.h
View File

@@ -8,9 +8,9 @@
#include <string_view>
#include <thread>
#include "wpi/DataLog.h"
#include "wpi/datalog/DataLog.h"
namespace wpi {
namespace wpi::log {
/**
* A class version of `tail -f`, otherwise known as `tail -f` at home. Watches
* a file and puts the data somewhere else. Only works on Linux-based platforms.
@@ -58,4 +58,4 @@ class FileLogger {
std::thread m_thread;
#endif
};
} // namespace wpi
} // namespace wpi::log

4
wpiutil/src/printlog/java/printlog/PrintLog.java → datalog/src/printlog/java/printlog/PrintLog.java
View File

@@ -4,8 +4,8 @@
package printlog;
import edu.wpi.first.util.datalog.DataLogReader;
import edu.wpi.first.util.datalog.DataLogRecord;
import edu.wpi.first.datalog.DataLogReader;
import edu.wpi.first.datalog.DataLogRecord;
import java.io.IOException;
import java.time.LocalDateTime;
import java.time.ZoneOffset;

2
wpiutil/src/test/java/edu/wpi/first/util/datalog/DataLogTest.java → datalog/src/test/java/edu/wpi/first/datalog/DataLogTest.java
View File

@@ -2,7 +2,7 @@
// 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.
package edu.wpi.first.util.datalog;
package edu.wpi.first.datalog;
import static org.junit.jupiter.api.Assertions.assertArrayEquals;
import static org.junit.jupiter.api.Assertions.assertEquals;

6
wpiutil/src/test/native/cpp/DataLogTest.cpp → datalog/src/test/native/cpp/DataLogTest.cpp
View File

@@ -8,10 +8,10 @@
#include <vector>
#include <gtest/gtest.h>
#include <wpi/Logger.h>
#include <wpi/raw_ostream.h>
#include "wpi/DataLogWriter.h"
#include "wpi/Logger.h"
#include "wpi/raw_ostream.h"
#include "wpi/datalog/DataLogWriter.h"
namespace {
struct ThingA {

12
wpiutil/src/test/native/cpp/FileLoggerTest.cpp → datalog/src/test/native/cpp/FileLoggerTest.cpp
View File

@@ -8,11 +8,11 @@
#include <gtest/gtest.h>
#include "wpi/FileLogger.h"
#include "wpi/datalog/FileLogger.h"
TEST(FileLoggerTest, BufferSingleLine) {
std::vector<std::string> buf;
auto func = wpi::FileLogger::Buffer(
auto func = wpi::log::FileLogger::Buffer(
[&buf](std::string_view line) { buf.emplace_back(line); });
func("qwertyuiop\n");
EXPECT_EQ("qwertyuiop", buf[0]);
@@ -20,7 +20,7 @@ TEST(FileLoggerTest, BufferSingleLine) {
TEST(FileLoggerTest, BufferMultiLine) {
std::vector<std::string> buf;
auto func = wpi::FileLogger::Buffer(
auto func = wpi::log::FileLogger::Buffer(
[&buf](std::string_view line) { buf.emplace_back(line); });
func("line 1\nline 2\nline 3\n");
EXPECT_EQ("line 1\nline 2\nline 3", buf[0]);
@@ -28,7 +28,7 @@ TEST(FileLoggerTest, BufferMultiLine) {
TEST(FileLoggerTest, BufferPartials) {
std::vector<std::string> buf;
auto func = wpi::FileLogger::Buffer(
auto func = wpi::log::FileLogger::Buffer(
[&buf](std::string_view line) { buf.emplace_back(line); });
func("part 1");
func("part 2\npart 3");
@@ -39,7 +39,7 @@ TEST(FileLoggerTest, BufferPartials) {
TEST(FileLoggerTest, BufferMultiplePartials) {
std::vector<std::string> buf;
auto func = wpi::FileLogger::Buffer(
auto func = wpi::log::FileLogger::Buffer(
[&buf](std::string_view line) { buf.emplace_back(line); });
func("part 1");
func("part 2");
@@ -49,7 +49,7 @@ TEST(FileLoggerTest, BufferMultiplePartials) {
}
TEST(FileLoggerTest, BufferMultipleMultiLinePartials) {
std::vector<std::string> buf;
auto func = wpi::FileLogger::Buffer(
auto func = wpi::log::FileLogger::Buffer(
[&buf](std::string_view line) { buf.emplace_back(line); });
func("part 1");
func("part 2\npart 3");

11
datalog/src/test/native/cpp/main.cpp Normal file
View File

@@ -0,0 +1,11 @@
// 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 <gtest/gtest.h>
int main(int argc, char** argv) {
::testing::InitGoogleTest(&argc, argv);
int ret = RUN_ALL_TESTS();
return ret;
}

2
datalogtool/CMakeLists.txt
View File

@@ -25,7 +25,7 @@ add_executable(
${APP_ICON_MACOSX}
)
wpilib_link_macos_gui(datalogtool)
target_link_libraries(datalogtool libglass ssh)
target_link_libraries(datalogtool libglass ssh datalog wpiutil)
if(WIN32)
set_target_properties(datalogtool PROPERTIES WIN32_EXECUTABLE YES)

3
datalogtool/build.gradle
View File

@@ -99,9 +99,10 @@ model {
}
it.cppCompiler.define("LIBSSH_STATIC")
lib project: ':glass', library: 'glass', linkage: 'static'
lib project: ':wpiutil', library: 'wpiutil', linkage: 'static'
lib project: ':wpigui', library: 'wpigui', linkage: 'static'
lib project: ':datalog', library: 'datalog', linkage: 'static'
lib project: ':thirdparty:imgui_suite', library: 'imguiSuite', linkage: 'static'
lib project: ':wpiutil', library: 'wpiutil', linkage: 'static'
nativeUtils.useRequiredLibrary(it, 'libssh')
if (it.targetPlatform.operatingSystem.isWindows()) {
it.linker.args << 'Gdi32.lib' << 'Shell32.lib' << 'd3d11.lib' << 'd3dcompiler.lib'

10
datalogtool/src/main/native/cpp/Exporter.cpp
View File

@@ -20,7 +20,6 @@
#include <fmt/format.h>
#include <fmt/ranges.h>
#include <glass/Storage.h>
#include <glass/support/DataLogReaderThread.h>
#include <imgui.h>
#include <imgui_internal.h>
#include <imgui_stdlib.h>
@@ -30,6 +29,7 @@
#include <wpi/SmallVector.h>
#include <wpi/SpanExtras.h>
#include <wpi/StringExtras.h>
#include <wpi/datalog/DataLogReaderThread.h>
#include <wpi/fmt/raw_ostream.h>
#include <wpi/fs.h>
#include <wpi/mutex.h>
@@ -40,7 +40,7 @@
namespace {
struct InputFile {
explicit InputFile(std::unique_ptr<glass::DataLogReaderThread> datalog);
explicit InputFile(std::unique_ptr<wpi::log::DataLogReaderThread> datalog);
InputFile(std::string_view filename, std::string_view status)
: filename{filename},
@@ -51,7 +51,7 @@ struct InputFile {
std::string filename;
std::string stem;
std::unique_ptr<glass::DataLogReaderThread> datalog;
std::unique_ptr<wpi::log::DataLogReaderThread> datalog;
std::string status;
bool highlight = false;
};
@@ -140,7 +140,7 @@ static void RebuildEntryTree() {
}
}
InputFile::InputFile(std::unique_ptr<glass::DataLogReaderThread> datalog_)
InputFile::InputFile(std::unique_ptr<wpi::log::DataLogReaderThread> datalog_)
: filename{datalog_->GetBufferIdentifier()},
stem{fs::path{filename}.stem().string()},
datalog{std::move(datalog_)} {
@@ -196,7 +196,7 @@ static std::unique_ptr<InputFile> LoadDataLog(std::string_view filename) {
}
return std::make_unique<InputFile>(
std::make_unique<glass::DataLogReaderThread>(std::move(reader)));
std::make_unique<wpi::log::DataLogReaderThread>(std::move(reader)));
}
void DisplayInputFiles() {

1
epilogue-runtime/BUILD.bazel
View File

@@ -6,6 +6,7 @@ java_library(
srcs = glob(["src/main/java/**/*.java"]),
visibility = ["//visibility:public"],
deps = [
"//datalog:datalog-java",
"//ntcore:networktables-java",
"//wpiunits",
"//wpiutil:wpiutil-java",

1
epilogue-runtime/build.gradle
View File

@@ -13,4 +13,5 @@ dependencies {
api(project(':ntcore'))
api(project(':wpiutil'))
api(project(':wpiunits'))
api(project(':datalog'))
}

30
epilogue-runtime/src/main/java/edu/wpi/first/epilogue/logging/FileBackend.java
View File

@@ -6,21 +6,21 @@ package edu.wpi.first.epilogue.logging;
import static edu.wpi.first.util.ErrorMessages.requireNonNullParam;
import edu.wpi.first.util.datalog.BooleanArrayLogEntry;
import edu.wpi.first.util.datalog.BooleanLogEntry;
import edu.wpi.first.util.datalog.DataLog;
import edu.wpi.first.util.datalog.DataLogEntry;
import edu.wpi.first.util.datalog.DoubleArrayLogEntry;
import edu.wpi.first.util.datalog.DoubleLogEntry;
import edu.wpi.first.util.datalog.FloatArrayLogEntry;
import edu.wpi.first.util.datalog.FloatLogEntry;
import edu.wpi.first.util.datalog.IntegerArrayLogEntry;
import edu.wpi.first.util.datalog.IntegerLogEntry;
import edu.wpi.first.util.datalog.RawLogEntry;
import edu.wpi.first.util.datalog.StringArrayLogEntry;
import edu.wpi.first.util.datalog.StringLogEntry;
import edu.wpi.first.util.datalog.StructArrayLogEntry;
import edu.wpi.first.util.datalog.StructLogEntry;
import edu.wpi.first.datalog.BooleanArrayLogEntry;
import edu.wpi.first.datalog.BooleanLogEntry;
import edu.wpi.first.datalog.DataLog;
import edu.wpi.first.datalog.DataLogEntry;
import edu.wpi.first.datalog.DoubleArrayLogEntry;
import edu.wpi.first.datalog.DoubleLogEntry;
import edu.wpi.first.datalog.FloatArrayLogEntry;
import edu.wpi.first.datalog.FloatLogEntry;
import edu.wpi.first.datalog.IntegerArrayLogEntry;
import edu.wpi.first.datalog.IntegerLogEntry;
import edu.wpi.first.datalog.RawLogEntry;
import edu.wpi.first.datalog.StringArrayLogEntry;
import edu.wpi.first.datalog.StringLogEntry;
import edu.wpi.first.datalog.StructArrayLogEntry;
import edu.wpi.first.datalog.StructLogEntry;
import edu.wpi.first.util.struct.Struct;
import java.util.HashMap;
import java.util.Map;

7
glass/build.gradle
View File

@@ -93,11 +93,12 @@ model {
it.buildable = false
return
}
lib project: ':wpiutil', library: 'wpiutil', linkage: 'shared'
lib project: ':wpimath', library: 'wpimath', linkage: 'shared'
lib project: ':wpigui', library: 'wpigui', linkage: 'static'
lib project: ':fieldImages', library: 'fieldImages', linkage: 'shared'
lib project: ':thirdparty:imgui_suite', library: 'imguiSuite', linkage: 'static'
lib project: ':wpiutil', library: 'wpiutil', linkage: 'shared'
}
appendDebugPathToBinaries(binaries)
}
@@ -123,11 +124,11 @@ model {
lib library: nativeName, linkage: 'static'
project(':ntcore').addNtcoreDependency(it, 'shared')
lib project: ':wpinet', library: 'wpinet', linkage: 'shared'
lib project: ':wpiutil', library: 'wpiutil', linkage: 'shared'
lib project: ':wpimath', library: 'wpimath', linkage: 'shared'
lib project: ':wpigui', library: 'wpigui', linkage: 'static'
lib project: ':fieldImages', library: 'fieldImages', linkage: 'shared'
lib project: ':thirdparty:imgui_suite', library: 'imguiSuite', linkage: 'static'
lib project: ':wpiutil', library: 'wpiutil', linkage: 'shared'
}
appendDebugPathToBinaries(binaries)
}
@@ -162,12 +163,12 @@ model {
lib library: nativeName, linkage: 'static'
project(':ntcore').addNtcoreDependency(it, 'static')
lib project: ':wpinet', library: 'wpinet', linkage: 'static'
lib project: ':wpiutil', library: 'wpiutil', linkage: 'static'
lib project: ':wpimath', library: 'wpimath', linkage: 'static'
lib project: ':wpigui', library: 'wpigui', linkage: 'static'
lib project: ':fieldImages', library: 'fieldImages', linkage: 'static'
nativeUtils.useRequiredLibrary(it, 'opencv_static')
lib project: ':thirdparty:imgui_suite', library: 'imguiSuite', linkage: 'static'
lib project: ':wpiutil', library: 'wpiutil', linkage: 'static'
if (it.targetPlatform.operatingSystem.isWindows()) {
it.linker.args << 'Gdi32.lib' << 'Shell32.lib' << 'd3d11.lib' << 'd3dcompiler.lib'
it.linker.args << '/DELAYLOAD:MF.dll' << '/DELAYLOAD:MFReadWrite.dll' << '/DELAYLOAD:MFPlat.dll' << '/delay:nobind'

2
ntcore/BUILD.bazel
View File

@@ -47,6 +47,7 @@ cc_library(
visibility = ["//visibility:public"],
deps = [
":generated_cc_headers",
"//datalog:datalog.static",
"//wpinet:wpinet.static",
"//wpiutil:wpiutil.static",
],
@@ -68,6 +69,7 @@ wpilib_jni_java_library(
native_libs = [":ntcorejni"],
visibility = ["//visibility:public"],
deps = [
"//datalog:datalog-java",
"//wpiutil:wpiutil-java",
"@maven//:us_hebi_quickbuf_quickbuf_runtime",
],

4
ntcore/CMakeLists.txt
View File

@@ -26,7 +26,7 @@ target_include_directories(
)
wpilib_target_warnings(ntcore)
target_compile_features(ntcore PUBLIC cxx_std_20)
target_link_libraries(ntcore PUBLIC wpinet wpiutil)
target_link_libraries(ntcore PUBLIC wpinet wpiutil datalog)
set_property(TARGET ntcore PROPERTY FOLDER "libraries")
@@ -53,7 +53,7 @@ if(WITH_JAVA)
add_jar(
ntcore_jar
${JAVA_SOURCES}
INCLUDE_JARS wpiutil_jar ${QUICKBUF_JAR}
INCLUDE_JARS wpiutil_jar ${QUICKBUF_JAR} datalog_jar
OUTPUT_NAME ntcore
OUTPUT_DIR ${WPILIB_BINARY_DIR}/${java_lib_dest}
GENERATE_NATIVE_HEADERS ntcore_jni_headers

8
ntcore/build.gradle
View File

@@ -1,10 +1,12 @@
ext {
addNtcoreDependency = { binary, shared->
binary.lib project: ':ntcore', library: 'ntcore', linkage: shared
binary.lib project: ':datalog', library: 'datalog', linkage: shared
}
addNtcoreJniDependency = { binary->
binary.lib project: ':ntcore', library: 'ntcoreJNIShared', linkage: 'shared'
binary.lib project: ':datalog', library: 'datalogJNIShared', linkage: 'shared'
}
nativeName = 'ntcore'
@@ -34,9 +36,11 @@ model {
if (it.component.name == "${nativeName}JNI") {
lib project: ':wpinet', library: 'wpinet', linkage: 'static'
lib project: ':wpiutil', library: 'wpiutil', linkage: 'static'
lib project: ':datalog', library: 'datalog', linkage: 'static'
} else {
lib project: ':wpinet', library: 'wpinet', linkage: 'shared'
lib project: ':wpiutil', library: 'wpiutil', linkage: 'shared'
lib project: ':datalog', library: 'datalog', linkage: 'shared'
}
}
}
@@ -61,3 +65,7 @@ nativeUtils.exportsConfigs {
x64SymbolFilter = symbolFilter
}
}
dependencies {
api project(":datalog")
}

2
ntcore/src/generate/main/java/NetworkTableInstance.java.jinja
View File

@@ -6,9 +6,9 @@
package edu.wpi.first.networktables;
import edu.wpi.first.datalog.DataLog;
import edu.wpi.first.util.WPIUtilJNI;
import edu.wpi.first.util.concurrent.Event;
import edu.wpi.first.util.datalog.DataLog;
import edu.wpi.first.util.protobuf.Protobuf;
import edu.wpi.first.util.struct.Struct;
import java.nio.charset.StandardCharsets;

2
ntcore/src/generate/main/java/NetworkTablesJNI.java.jinja
View File

@@ -6,8 +6,8 @@
package edu.wpi.first.networktables;
import edu.wpi.first.datalog.DataLog;
import edu.wpi.first.util.RuntimeLoader;
import edu.wpi.first.util.datalog.DataLog;
import java.io.IOException;
import java.nio.ByteBuffer;
import java.util.EnumSet;

2
ntcore/src/generated/main/java/edu/wpi/first/networktables/NetworkTableInstance.java generated
View File

@@ -6,9 +6,9 @@
package edu.wpi.first.networktables;
import edu.wpi.first.datalog.DataLog;
import edu.wpi.first.util.WPIUtilJNI;
import edu.wpi.first.util.concurrent.Event;
import edu.wpi.first.util.datalog.DataLog;
import edu.wpi.first.util.protobuf.Protobuf;
import edu.wpi.first.util.struct.Struct;
import java.nio.charset.StandardCharsets;

2
ntcore/src/generated/main/java/edu/wpi/first/networktables/NetworkTablesJNI.java generated
View File

@@ -6,8 +6,8 @@
package edu.wpi.first.networktables;
import edu.wpi.first.datalog.DataLog;
import edu.wpi.first.util.RuntimeLoader;
import edu.wpi.first.util.datalog.DataLog;
import java.io.IOException;
import java.nio.ByteBuffer;
import java.util.EnumSet;

2
ntcore/src/main/native/cpp/ConnectionList.h
View File

@@ -13,8 +13,8 @@
#include <string_view>
#include <vector>
#include <wpi/DataLog.h>
#include <wpi/UidVector.h>
#include <wpi/datalog/DataLog.h>
#include <wpi/mutex.h>
#include "Handle.h"

2
ntcore/src/main/native/cpp/local/LocalDataLogger.cpp
View File

@@ -5,8 +5,8 @@
#include "LocalDataLogger.h"
#include <fmt/format.h>
#include <wpi/DataLog.h>
#include <wpi/StringExtras.h>
#include <wpi/datalog/DataLog.h>
using namespace nt::local;

2
ntcore/src/main/native/cpp/local/LocalDataLoggerEntry.h
View File

@@ -9,7 +9,7 @@
#include <string>
#include <string_view>
#include <wpi/DataLog.h>
#include <wpi/datalog/DataLog.h>
#include "ntcore_c.h"

2
ntcore/src/main/native/cpp/local/LocalStorageImpl.cpp
View File

@@ -11,9 +11,9 @@
#include <fmt/format.h>
#include <fmt/ranges.h>
#include <wpi/DataLog.h>
#include <wpi/SmallString.h>
#include <wpi/StringExtras.h>
#include <wpi/datalog/DataLog.h>
#include "IListenerStorage.h"
#include "Log.h"

6
ntcoreffi/src/main/native/cpp/DataLogManager.cpp
View File

@@ -13,10 +13,10 @@
#include <fmt/chrono.h>
#include <fmt/format.h>
#include <networktables/NetworkTableInstance.h>
#include <wpi/DataLogBackgroundWriter.h>
#include <wpi/FileLogger.h>
#include <wpi/SafeThread.h>
#include <wpi/StringExtras.h>
#include <wpi/datalog/DataLogBackgroundWriter.h>
#include <wpi/datalog/FileLogger.h>
#include <wpi/fs.h>
#include <wpi/print.h>
@@ -202,7 +202,7 @@ struct Thread final : public wpi::SafeThread {
NT_DataLogger m_ntEntryLogger = 0;
NT_ConnectionDataLogger m_ntConnLogger = 0;
bool m_consoleLoggerEnabled = false;
wpi::FileLogger m_consoleLogger;
wpi::log::FileLogger m_consoleLogger;
wpi::log::StringLogEntry m_messageLog;
};

1
settings.gradle
View File

@@ -59,6 +59,7 @@ include 'epilogue-runtime'
include 'thirdparty:googletest'
include 'thirdparty:imgui_suite'
include 'wpical'
include 'datalog'
buildCache {
def cred = {

4
sysid/CMakeLists.txt
View File

@@ -25,7 +25,7 @@ endif()
wpilib_link_macos_gui(sysid)
wpilib_target_warnings(sysid)
target_include_directories(sysid PRIVATE src/main/native/include)
target_link_libraries(sysid wpimath libglass)
target_link_libraries(sysid wpimath libglass datalog)
if(WIN32)
set_target_properties(sysid PROPERTIES WIN32_EXECUTABLE YES)
@@ -42,5 +42,5 @@ if(WITH_TESTS)
target_compile_options(sysid_test PRIVATE /utf-8)
endif()
target_include_directories(sysid_test PRIVATE src/main/native/cpp src/main/native/include)
target_link_libraries(sysid_test wpimath libglass googletest)
target_link_libraries(sysid_test wpimath libglass datalog googletest)
endif()

6
sysid/build.gradle
View File

@@ -98,9 +98,10 @@ model {
}
lib project: ':glass', library: 'glass', linkage: 'static'
lib project: ':wpimath', library: 'wpimath', linkage: 'static'
lib project: ':wpiutil', library: 'wpiutil', linkage: 'static'
lib project: ':wpigui', library: 'wpigui', linkage: 'static'
lib project: ':datalog', library: 'datalog', linkage: 'static'
lib project: ':thirdparty:imgui_suite', library: 'imguiSuite', linkage: 'static'
lib project: ':wpiutil', library: 'wpiutil', linkage: 'static'
if (it.targetPlatform.operatingSystem.isWindows()) {
it.linker.args << 'Gdi32.lib' << 'Shell32.lib' << 'd3d11.lib' << 'd3dcompiler.lib'
it.linker.args << '/DELAYLOAD:MF.dll' << '/DELAYLOAD:MFReadWrite.dll' << '/DELAYLOAD:MFPlat.dll' << '/delay:nobind'
@@ -137,9 +138,10 @@ model {
}
lib project: ':glass', library: 'glass', linkage: 'static'
lib project: ':wpimath', library: 'wpimath', linkage: 'static'
lib project: ':wpiutil', library: 'wpiutil', linkage: 'static'
lib project: ':datalog', library: 'datalog', linkage: 'static'
lib project: ':wpigui', library: 'wpigui', linkage: 'static'
lib project: ':thirdparty:imgui_suite', library: 'imguiSuite', linkage: 'static'
lib project: ':wpiutil', library: 'wpiutil', linkage: 'static'
if (it.targetPlatform.operatingSystem.isWindows()) {
it.linker.args << 'Gdi32.lib' << 'Shell32.lib' << 'd3d11.lib' << 'd3dcompiler.lib'
it.linker.args << '/DELAYLOAD:MF.dll' << '/DELAYLOAD:MFReadWrite.dll' << '/DELAYLOAD:MFPlat.dll' << '/delay:nobind'

15
sysid/src/main/native/cpp/view/DataSelector.cpp
View File

@@ -10,11 +10,11 @@
#include <vector>
#include <fmt/format.h>
#include <glass/support/DataLogReaderThread.h>
#include <imgui.h>
#include <wpi/DataLogReader.h>
#include <wpi/Logger.h>
#include <wpi/StringExtras.h>
#include <wpi/datalog/DataLogReader.h>
#include <wpi/datalog/DataLogReaderThread.h>
#include "sysid/Util.h"
#include "sysid/analysis/AnalysisType.h"
@@ -25,7 +25,7 @@ using namespace sysid;
static constexpr const char* kAnalysisTypes[] = {"Elevator", "Arm", "Simple"};
static bool EmitEntryTarget(const char* name, bool isString,
const glass::DataLogReaderEntry** entry) {
const wpi::log::DataLogReaderEntry** entry) {
if (*entry) {
auto text =
fmt::format("{}: {} ({})", name, (*entry)->name, (*entry)->type);
@@ -38,8 +38,9 @@ static bool EmitEntryTarget(const char* name, bool isString,
if (ImGui::BeginDragDropTarget()) {
if (const ImGuiPayload* payload = ImGui::AcceptDragDropPayload(
isString ? "DataLogEntryString" : "DataLogEntry")) {
assert(payload->DataSize == sizeof(const glass::DataLogReaderEntry*));
*entry = *static_cast<const glass::DataLogReaderEntry**>(payload->Data);
assert(payload->DataSize == sizeof(const wpi::log::DataLogReaderEntry*));
*entry =
*static_cast<const wpi::log::DataLogReaderEntry**>(payload->Data);
rv = true;
}
ImGui::EndDragDropTarget();
@@ -179,7 +180,7 @@ void DataSelector::Reset() {
}
DataSelector::Tests DataSelector::LoadTests(
const glass::DataLogReaderEntry& testStateEntry) {
const wpi::log::DataLogReaderEntry& testStateEntry) {
Tests tests;
for (auto&& range : testStateEntry.ranges) {
std::string_view prevState;
@@ -245,7 +246,7 @@ static void AddSamples(std::vector<MotorData::Run::Sample<T>>& samples,
}
static std::vector<std::pair<int64_t, double>> GetData(
const glass::DataLogReaderEntry& entry, double scale) {
const wpi::log::DataLogReaderEntry& entry, double scale) {
std::vector<std::pair<int64_t, double>> rv;
bool isDouble = entry.type == "double";
for (auto&& range : entry.ranges) {

8
sysid/src/main/native/cpp/view/LogLoader.cpp
View File

@@ -12,13 +12,13 @@
#include <utility>
#include <vector>
#include <glass/support/DataLogReaderThread.h>
#include <imgui.h>
#include <imgui_stdlib.h>
#include <portable-file-dialogs.h>
#include <wpi/SmallVector.h>
#include <wpi/SpanExtras.h>
#include <wpi/StringExtras.h>
#include <wpi/datalog/DataLogReaderThread.h>
#include <wpi/fs.h>
using namespace sysid;
@@ -55,7 +55,7 @@ void LogLoader::Display() {
}
unload();
m_reader =
std::make_unique<glass::DataLogReaderThread>(std::move(reader));
std::make_unique<wpi::log::DataLogReaderThread>(std::move(reader));
m_entryTree.clear();
}
m_opener.reset();
@@ -108,7 +108,7 @@ void LogLoader::Display() {
void LogLoader::RebuildEntryTree() {
m_entryTree.clear();
wpi::SmallVector<std::string_view, 16> parts;
m_reader->ForEachEntryName([&](const glass::DataLogReaderEntry& entry) {
m_reader->ForEachEntryName([&](const wpi::log::DataLogReaderEntry& entry) {
// only show double/float/string entries (TODO: support struct/protobuf)
if (entry.type != "double" && entry.type != "float" &&
entry.type != "string") {
@@ -167,7 +167,7 @@ void LogLoader::RebuildEntryTree() {
}
static void EmitEntry(const std::string& name,
const glass::DataLogReaderEntry& entry) {
const wpi::log::DataLogReaderEntry& entry) {
ImGui::TableNextColumn();
ImGui::Selectable(name.c_str());
if (ImGui::BeginDragDropSource()) {

16
sysid/src/main/native/include/sysid/view/DataSelector.h
View File

@@ -12,17 +12,19 @@
#include <vector>
#include <glass/View.h>
#include <glass/support/DataLogReaderThread.h>
#include <wpi/StringMap.h>
#include <wpi/datalog/DataLogReaderThread.h>
#include "sysid/analysis/Storage.h"
namespace glass {
class DataLogReaderEntry;
class Storage;
} // namespace glass
namespace wpi {
namespace log {
class DataLogReaderEntry;
} // namespace log
class Logger;
} // namespace wpi
@@ -64,10 +66,10 @@ class DataSelector : public glass::View {
std::future<Tests> m_testsFuture;
Tests m_tests;
std::string m_selectedTest;
const glass::DataLogReaderEntry* m_testStateEntry = nullptr;
const glass::DataLogReaderEntry* m_velocityEntry = nullptr;
const glass::DataLogReaderEntry* m_positionEntry = nullptr;
const glass::DataLogReaderEntry* m_voltageEntry = nullptr;
const wpi::log::DataLogReaderEntry* m_testStateEntry = nullptr;
const wpi::log::DataLogReaderEntry* m_velocityEntry = nullptr;
const wpi::log::DataLogReaderEntry* m_positionEntry = nullptr;
const wpi::log::DataLogReaderEntry* m_voltageEntry = nullptr;
double m_velocityScale = 1.0;
double m_positionScale = 1.0;
int m_selectedUnit = 0;
@@ -75,7 +77,7 @@ class DataSelector : public glass::View {
std::future<TestData> m_testdataFuture;
std::vector<std::string> m_testdataStats;
static Tests LoadTests(const glass::DataLogReaderEntry& testStateEntry);
static Tests LoadTests(const wpi::log::DataLogReaderEntry& testStateEntry);
TestData BuildTestData();
};
} // namespace sysid

10
sysid/src/main/native/include/sysid/view/LogLoader.h
View File

@@ -13,8 +13,6 @@
#include <wpi/Signal.h>
namespace glass {
class DataLogReaderEntry;
class DataLogReaderThread;
class Storage;
} // namespace glass
@@ -23,6 +21,10 @@ class open_file;
} // namespace pfd
namespace wpi {
namespace log {
class DataLogReaderEntry;
class DataLogReaderThread;
} // namespace log
class Logger;
} // namespace wpi
@@ -57,7 +59,7 @@ class LogLoader : public glass::View {
std::string m_filename;
std::unique_ptr<pfd::open_file> m_opener;
std::unique_ptr<glass::DataLogReaderThread> m_reader;
std::unique_ptr<wpi::log::DataLogReaderThread> m_reader;
std::string m_error;
@@ -67,7 +69,7 @@ class LogLoader : public glass::View {
explicit EntryTreeNode(std::string_view name) : name{name} {}
std::string name; // name of just this node
std::string path; // full path if entry is nullptr
const glass::DataLogReaderEntry* entry = nullptr;
const wpi::log::DataLogReaderEntry* entry = nullptr;
std::vector<EntryTreeNode> children; // children, sorted by name
};
std::vector<EntryTreeNode> m_entryTree;

1
wpilibNewCommands/CMakeLists.txt
View File

@@ -22,6 +22,7 @@ if(WITH_JAVA)
wpiunits_jar
wpiutil_jar
wpilibj_jar
datalog_jar
OUTPUT_NAME wpilibNewCommands
OUTPUT_DIR ${WPILIB_BINARY_DIR}/${java_lib_dest}
)

1
wpilibNewCommands/build.gradle
View File

@@ -21,6 +21,7 @@ dependencies {
implementation project(':hal')
implementation project(':wpimath')
implementation project(':wpilibj')
api project(':datalog')
testImplementation 'org.mockito:mockito-core:4.1.0'
}

1
wpilibc/BUILD.bazel
View File

@@ -40,6 +40,7 @@ cc_library(
":generated_cc_headers",
"//cameraserver:cameraserver.static",
"//cscore:cscore.static",
"//datalog:datalog.static",
"//hal:wpiHal.static",
"//ntcore:ntcore.static",
"//wpimath:wpimath.static",

2
wpilibc/CMakeLists.txt
View File

@@ -35,7 +35,7 @@ else()
)
endif()
target_link_libraries(wpilibc PUBLIC hal ntcore wpimath wpiutil)
target_link_libraries(wpilibc PUBLIC hal ntcore wpimath datalog)
set_property(TARGET wpilibc PROPERTY FOLDER "libraries")

1
wpilibc/build.gradle
View File

@@ -112,6 +112,7 @@ model {
lib project: ':wpinet', library: 'wpinet', linkage: 'shared'
lib project: ':wpiutil', library: 'wpiutil', linkage: 'shared'
lib project: ':wpimath', library: 'wpimath', linkage: 'shared'
lib project: ':datalog', library: 'datalog', linkage: 'shared'
}
}
"${nativeName}"(NativeLibrarySpec) {

8
wpilibc/src/main/native/cpp/DataLogManager.cpp
View File

@@ -15,11 +15,11 @@
#include <fmt/chrono.h>
#include <hal/UsageReporting.h>
#include <networktables/NetworkTableInstance.h>
#include <wpi/DataLog.h>
#include <wpi/DataLogBackgroundWriter.h>
#include <wpi/FileLogger.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>
@@ -51,7 +51,7 @@ struct Thread final : public wpi::SafeThread {
NT_DataLogger m_ntEntryLogger = 0;
NT_ConnectionDataLogger m_ntConnLogger = 0;
bool m_consoleLoggerEnabled = false;
wpi::FileLogger m_consoleLogger;
wpi::log::FileLogger m_consoleLogger;
wpi::log::StringLogEntry m_messageLog;
};

2
wpilibc/src/main/native/cpp/DriverStation.cpp
View File

@@ -23,9 +23,9 @@
#include <networktables/NetworkTable.h>
#include <networktables/NetworkTableInstance.h>
#include <networktables/StringTopic.h>
#include <wpi/DataLog.h>
#include <wpi/EventVector.h>
#include <wpi/condition_variable.h>
#include <wpi/datalog/DataLog.h>
#include <wpi/json.h>
#include <wpi/mutex.h>
#include <wpi/timestamp.h>

2
wpilibc/src/main/native/include/frc/sysid/SysIdRoutineLog.h
View File

@@ -15,7 +15,7 @@
#include <units/length.h>
#include <units/velocity.h>
#include <units/voltage.h>
#include <wpi/DataLog.h>
#include <wpi/datalog/DataLog.h>
namespace frc::sysid {

1
wpilibj/BUILD.bazel
View File

@@ -26,6 +26,7 @@ java_library(
deps = [
"//cameraserver:cameraserver-java",
"//cscore:cscore-java",
"//datalog:datalog-java",
"//hal:hal-java",
"//ntcore:networktables-java",
"//wpimath:wpimath-java",

1
wpilibj/CMakeLists.txt
View File

@@ -41,6 +41,7 @@ if(WITH_JAVA)
wpimath_jar
wpiunits_jar
wpiutil_jar
datalog_jar
OUTPUT_NAME wpilibj
OUTPUT_DIR ${WPILIB_BINARY_DIR}/${java_lib_dest}
)

1
wpilibj/build.gradle
View File

@@ -69,6 +69,7 @@ dependencies {
implementation project(':wpimath')
implementation project(':ntcore')
implementation project(':cscore')
api project(':datalog')
implementation project(':cameraserver')
testImplementation 'org.mockito:mockito-core:4.1.0'
devImplementation sourceSets.main.output

10
wpilibj/src/main/java/edu/wpi/first/wpilibj/DataLogManager.java
View File

@@ -4,15 +4,15 @@
package edu.wpi.first.wpilibj;
import edu.wpi.first.datalog.DataLog;
import edu.wpi.first.datalog.DataLogBackgroundWriter;
import edu.wpi.first.datalog.FileLogger;
import edu.wpi.first.datalog.IntegerLogEntry;
import edu.wpi.first.datalog.StringLogEntry;
import edu.wpi.first.hal.HAL;
import edu.wpi.first.networktables.NetworkTableInstance;
import edu.wpi.first.util.FileLogger;
import edu.wpi.first.util.WPIUtilJNI;
import edu.wpi.first.util.concurrent.Event;
import edu.wpi.first.util.datalog.DataLog;
import edu.wpi.first.util.datalog.DataLogBackgroundWriter;
import edu.wpi.first.util.datalog.IntegerLogEntry;
import edu.wpi.first.util.datalog.StringLogEntry;
import java.io.File;
import java.io.IOException;
import java.nio.file.Files;

10
wpilibj/src/main/java/edu/wpi/first/wpilibj/DriverStation.java
View File

@@ -4,6 +4,11 @@
package edu.wpi.first.wpilibj;
import edu.wpi.first.datalog.BooleanArrayLogEntry;
import edu.wpi.first.datalog.BooleanLogEntry;
import edu.wpi.first.datalog.DataLog;
import edu.wpi.first.datalog.FloatArrayLogEntry;
import edu.wpi.first.datalog.IntegerArrayLogEntry;
import edu.wpi.first.hal.AllianceStationID;
import edu.wpi.first.hal.ControlWord;
import edu.wpi.first.hal.DriverStationJNI;
@@ -16,11 +21,6 @@ import edu.wpi.first.networktables.StringPublisher;
import edu.wpi.first.networktables.StringTopic;
import edu.wpi.first.util.EventVector;
import edu.wpi.first.util.WPIUtilJNI;
import edu.wpi.first.util.datalog.BooleanArrayLogEntry;
import edu.wpi.first.util.datalog.BooleanLogEntry;
import edu.wpi.first.util.datalog.DataLog;
import edu.wpi.first.util.datalog.FloatArrayLogEntry;
import edu.wpi.first.util.datalog.IntegerArrayLogEntry;
import java.nio.ByteBuffer;
import java.util.Map;
import java.util.Optional;

4
wpilibj/src/main/java/edu/wpi/first/wpilibj/sysid/SysIdRoutineLog.java
View File

@@ -12,6 +12,8 @@ import static edu.wpi.first.units.Units.RotationsPerSecond;
import static edu.wpi.first.units.Units.Second;
import static edu.wpi.first.units.Units.Volts;
import edu.wpi.first.datalog.DoubleLogEntry;
import edu.wpi.first.datalog.StringLogEntry;
import edu.wpi.first.units.measure.Angle;
import edu.wpi.first.units.measure.AngularAcceleration;
import edu.wpi.first.units.measure.AngularVelocity;
@@ -20,8 +22,6 @@ import edu.wpi.first.units.measure.Distance;
import edu.wpi.first.units.measure.LinearAcceleration;
import edu.wpi.first.units.measure.LinearVelocity;
import edu.wpi.first.units.measure.Voltage;
import edu.wpi.first.util.datalog.DoubleLogEntry;
import edu.wpi.first.util.datalog.StringLogEntry;
import edu.wpi.first.wpilibj.DataLogManager;
import java.util.HashMap;
import java.util.Map;

32
wpiutil/BUILD.bazel
View File

@@ -1,6 +1,5 @@
load("@rules_cc//cc:defs.bzl", "cc_binary", "cc_library", "cc_test")
load("@rules_java//java:defs.bzl", "java_binary")
load("@rules_python//python:defs.bzl", "py_binary")
load("//shared/bazel/rules:java_rules.bzl", "wpilib_java_junit5_test")
load("//shared/bazel/rules:jni_rules.bzl", "wpilib_jni_cc_library", "wpilib_jni_java_library")
load("//shared/bazel/rules/gen:gen-resources.bzl", "generate_resources")
@@ -305,34 +304,3 @@ java_binary(
":wpiutil-java",
],
)
py_binary(
name = "datalog",
srcs = ["examples/printlog/datalog.py"],
tags = ["manual"],
)
cc_binary(
name = "printlog",
srcs = ["examples/printlog/printlog.cpp"],
deps = [
":wpiutil.static",
],
)
cc_binary(
name = "writelog",
srcs = ["examples/writelog/writelog.cpp"],
deps = [
":wpiutil.static",
],
)
java_binary(
name = "printlog-java",
srcs = ["src/printlog/java/printlog/PrintLog.java"],
main_class = "printlog.PrintLog",
deps = [
":wpiutil-java",
],
)

6
wpiutil/CMakeLists.txt
View File

@@ -6,11 +6,7 @@ include(CompileWarnings)
include(AddTest)
include(DownloadAndCheck)
file(
GLOB wpiutil_jni_src
src/main/native/cpp/jni/WPIUtilJNI.cpp
src/main/native/cpp/jni/DataLogJNI.cpp
)
file(GLOB wpiutil_jni_src src/main/native/cpp/jni/WPIUtilJNI.cpp)
# Java bindings
if(WITH_JAVA)

18
wpiutil/src/main/java/edu/wpi/first/util/WPIUtilJNI.java
View File

@@ -222,24 +222,6 @@ public class WPIUtilJNI {
public static native int[] waitForObjectsTimeout(int[] handles, double timeout)
throws InterruptedException;
/**
* Create a native FileLogger. When the specified file is modified, appended data will be appended
* to the specified data log.
*
* @param file path to the file
* @param log data log implementation handle
* @param key log key to append data to
* @return The FileLogger handle.
*/
public static native long createFileLogger(String file, long log, String key);
/**
* Free a native FileLogger. This causes the FileLogger to stop appending data to the log.
*
* @param fileTail The FileLogger handle.
*/
public static native void freeFileLogger(long fileTail);
/** Utility class. */
protected WPIUtilJNI() {}
}

40
wpiutil/src/main/native/cpp/jni/WPIUtilJNI.cpp
View File

@@ -7,8 +7,6 @@
#include <jni.h>
#include "edu_wpi_first_util_WPIUtilJNI.h"
#include "wpi/DataLog.h"
#include "wpi/FileLogger.h"
#include "wpi/RawFrame.h"
#include "wpi/RuntimeCheck.h"
#include "wpi/Synchronization.h"
@@ -464,42 +462,4 @@ Java_edu_wpi_first_util_WPIUtilJNI_setRawFrameInfo
f->stride = stride;
f->pixelFormat = pixelFormat;
}
/*
* Class: edu_wpi_first_util_WPIUtilJNI
* Method: createFileLogger
* Signature: (Ljava/lang/String;JLjava/lang/String;)J
*/
JNIEXPORT jlong JNICALL
Java_edu_wpi_first_util_WPIUtilJNI_createFileLogger
(JNIEnv* env, jclass, jstring file, jlong log, jstring key)
{
if (!file) {
wpi::ThrowNullPointerException(env, "file is null");
return 0;
}
auto* f = reinterpret_cast<wpi::log::DataLog*>(log);
if (!f) {
wpi::ThrowNullPointerException(env, "log is null");
return 0;
}
if (!key) {
wpi::ThrowNullPointerException(env, "key is null");
return 0;
}
return reinterpret_cast<jlong>(
new wpi::FileLogger{JStringRef{env, file}, *f, JStringRef{env, key}});
}
/*
* Class: edu_wpi_first_util_WPIUtilJNI
* Method: freeFileLogger
* Signature: (J)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_util_WPIUtilJNI_freeFileLogger
(JNIEnv* env, jclass, jlong fileTail)
{
delete reinterpret_cast<wpi::FileLogger*>(fileTail);
}
} // extern "C"