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

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>

datalog/examples/printlog/printlog.cpp

@@ -0,0 +1,167 @@
+// 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 <ctime>
+#include <utility>
+#include <vector>
+
+#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/datalog/DataLogReader.h"
+
+int main(int argc, const char** argv) {
+  if (argc != 2) {
+    wpi::print(stderr, "Usage: printlog <file>\n");
+    return EXIT_FAILURE;
+  }
+  auto fileBuffer = wpi::MemoryBuffer::GetFile(argv[1]);
+  if (!fileBuffer) {
+    wpi::print(stderr, "could not open file: {}\n",
+               fileBuffer.error().message());
+    return EXIT_FAILURE;
+  }
+  wpi::log::DataLogReader reader{std::move(*fileBuffer)};
+  if (!reader) {
+    wpi::print(stderr, "not a log file\n");
+    return EXIT_FAILURE;
+  }
+
+  wpi::DenseMap<int, wpi::log::StartRecordData> entries;
+  for (auto&& record : reader) {
+    if (record.IsStart()) {
+      wpi::log::StartRecordData data;
+      if (record.GetStartData(&data)) {
+        wpi::print("Start({}, name='{}', type='{}', metadata='{}') [{}]\n",
+                   data.entry, data.name, data.type, data.metadata,
+                   record.GetTimestamp() / 1000000.0);
+        if (entries.find(data.entry) != entries.end()) {
+          wpi::print("...DUPLICATE entry ID, overriding\n");
+        }
+        entries[data.entry] = data;
+      } else {
+        wpi::print("Start(INVALID)\n");
+      }
+    } else if (record.IsFinish()) {
+      int entry;
+      if (record.GetFinishEntry(&entry)) {
+        wpi::print("Finish({}) [{}]\n", entry,
+                   record.GetTimestamp() / 1000000.0);
+        auto it = entries.find(entry);
+        if (it == entries.end()) {
+          wpi::print("...ID not found\n");
+        } else {
+          entries.erase(it);
+        }
+      } else {
+        wpi::print("Finish(INVALID)\n");
+      }
+    } else if (record.IsSetMetadata()) {
+      wpi::log::MetadataRecordData data;
+      if (record.GetSetMetadataData(&data)) {
+        wpi::print("SetMetadata({}, '{}') [{}]\n", data.entry, data.metadata,
+                   record.GetTimestamp() / 1000000.0);
+        auto it = entries.find(data.entry);
+        if (it == entries.end()) {
+          wpi::print("...ID not found\n");
+        } else {
+          it->second.metadata = data.metadata;
+        }
+      } else {
+        wpi::print("SetMetadata(INVALID)\n");
+      }
+    } else if (record.IsControl()) {
+      wpi::print("Unrecognized control record\n");
+    } else {
+      wpi::print("Data({}, size={}) ", record.GetEntry(), record.GetSize());
+      auto entry = entries.find(record.GetEntry());
+      if (entry == entries.end()) {
+        wpi::print("<ID not found>\n");
+        continue;
+      }
+      wpi::print("<name='{}', type='{}'> [{}]\n", entry->second.name,
+                 entry->second.type, record.GetTimestamp() / 1000000.0);
+
+      // handle systemTime specially
+      if (entry->second.name == "systemTime" && entry->second.type == "int64") {
+        int64_t val;
+        if (record.GetInteger(&val)) {
+          std::time_t timeval = val / 1000000;
+          wpi::print("  {:%Y-%m-%d %H:%M:%S}.{:06}\n",
+                     *std::localtime(&timeval), val % 1000000);
+        } else {
+          wpi::print("  invalid\n");
+        }
+        continue;
+      }
+
+      if (entry->second.type == "double") {
+        double val;
+        if (record.GetDouble(&val)) {
+          wpi::print("  {}\n", val);
+        } else {
+          wpi::print("  invalid\n");
+        }
+      } else if (entry->second.type == "int64") {
+        int64_t val;
+        if (record.GetInteger(&val)) {
+          wpi::print("  {}\n", val);
+        } else {
+          wpi::print("  invalid\n");
+        }
+      } else if (entry->second.type == "string" ||
+                 entry->second.type == "json") {
+        std::string_view val;
+        record.GetString(&val);
+        wpi::print("  '{}'\n", val);
+      } else if (entry->second.type == "boolean") {
+        bool val;
+        if (record.GetBoolean(&val)) {
+          wpi::print("  {}\n", val);
+        } else {
+          wpi::print("  invalid\n");
+        }
+      } else if (entry->second.type == "boolean[]") {
+        std::vector<int> val;
+        if (record.GetBooleanArray(&val)) {
+          wpi::print("  {}\n", fmt::join(val, ", "));
+        } else {
+          wpi::print("  invalid\n");
+        }
+      } else if (entry->second.type == "double[]") {
+        std::vector<double> val;
+        if (record.GetDoubleArray(&val)) {
+          wpi::print("  {}\n", fmt::join(val, ", "));
+        } else {
+          wpi::print("  invalid\n");
+        }
+      } else if (entry->second.type == "float[]") {
+        std::vector<float> val;
+        if (record.GetFloatArray(&val)) {
+          wpi::print("  {}\n", fmt::join(val, ", "));
+        } else {
+          wpi::print("  invalid\n");
+        }
+      } else if (entry->second.type == "int64[]") {
+        std::vector<int64_t> val;
+        if (record.GetIntegerArray(&val)) {
+          wpi::print("  {}\n", fmt::join(val, ", "));
+        } else {
+          wpi::print("  invalid\n");
+        }
+      } else if (entry->second.type == "string[]") {
+        std::vector<std::string_view> val;
+        if (record.GetStringArray(&val)) {
+          wpi::print("  {}\n", fmt::join(val, ", "));
+        } else {
+          wpi::print("  invalid\n");
+        }
+      }
+    }
+  }
+}