[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/src/printlog/java/printlog/PrintLog.java

@@ -0,0 +1,147 @@
+// 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 printlog;
+
+import edu.wpi.first.datalog.DataLogReader;
+import edu.wpi.first.datalog.DataLogRecord;
+import java.io.IOException;
+import java.time.LocalDateTime;
+import java.time.ZoneOffset;
+import java.time.format.DateTimeFormatter;
+import java.util.HashMap;
+import java.util.InputMismatchException;
+import java.util.List;
+import java.util.Map;
+
+public final class PrintLog {
+  private static final DateTimeFormatter m_timeFormatter =
+      DateTimeFormatter.ofPattern("yyyy-MM-dd HH:mm:ss");
+
+  /** Main function. */
+  public static void main(String[] args) {
+    if (args.length != 1) {
+      System.err.println("Usage: printlog <file>");
+      System.exit(1);
+      return;
+    }
+    DataLogReader reader;
+    try {
+      reader = new DataLogReader(args[0]);
+    } catch (IOException ex) {
+      System.err.println("could not open file: " + ex.getMessage());
+      System.exit(1);
+      return;
+    }
+    if (!reader.isValid()) {
+      System.err.println("not a log file");
+      System.exit(1);
+      return;
+    }
+
+    Map<Integer, DataLogRecord.StartRecordData> entries = new HashMap<>();
+    for (DataLogRecord record : reader) {
+      if (record.isStart()) {
+        try {
+          DataLogRecord.StartRecordData data = record.getStartData();
+          System.out.println(
+              "Start("
+                  + data.entry
+                  + ", name='"
+                  + data.name
+                  + "', type='"
+                  + data.type
+                  + "', metadata='"
+                  + data.metadata
+                  + "') ["
+                  + (record.getTimestamp() / 1000000.0)
+                  + "]");
+          if (entries.containsKey(data.entry)) {
+            System.out.println("...DUPLICATE entry ID, overriding");
+          }
+          entries.put(data.entry, data);
+        } catch (InputMismatchException ex) {
+          System.out.println("Start(INVALID)");
+        }
+      } else if (record.isFinish()) {
+        try {
+          int entry = record.getFinishEntry();
+          System.out.println("Finish(" + entry + ") [" + (record.getTimestamp() / 1000000.0) + "]");
+          if (!entries.containsKey(entry)) {
+            System.out.println("...ID not found");
+          } else {
+            entries.remove(entry);
+          }
+        } catch (InputMismatchException ex) {
+          System.out.println("Finish(INVALID)");
+        }
+      } else if (record.isSetMetadata()) {
+        try {
+          DataLogRecord.MetadataRecordData data = record.getSetMetadataData();
+          System.out.println(
+              "SetMetadata("
+                  + data.entry
+                  + ", '"
+                  + data.metadata
+                  + "') ["
+                  + (record.getTimestamp() / 1000000.0)
+                  + "]");
+          if (!entries.containsKey(data.entry)) {
+            System.out.println("...ID not found");
+          }
+        } catch (InputMismatchException ex) {
+          System.out.println("SetMetadata(INVALID)");
+        }
+      } else if (record.isControl()) {
+        System.out.println("Unrecognized control record");
+      } else {
+        System.out.print("Data(" + record.getEntry() + ", size=" + record.getSize() + ") ");
+        DataLogRecord.StartRecordData entry = entries.get(record.getEntry());
+        if (entry == null) {
+          System.out.println("<ID not found>");
+          continue;
+        }
+        System.out.println(
+            "<name='"
+                + entry.name
+                + "', type='"
+                + entry.type
+                + "'> ["
+                + (record.getTimestamp() / 1000000.0)
+                + "]");
+
+        try {
+          // handle systemTime specially
+          if ("systemTime".equals(entry.name) && "int64".equals(entry.type)) {
+            long val = record.getInteger();
+            System.out.println(
+                "  "
+                    + m_timeFormatter.format(
+                        LocalDateTime.ofEpochSecond(val / 1000000, 0, ZoneOffset.UTC))
+                    + "."
+                    + String.format("%06d", val % 1000000));
+            continue;
+          }
+
+          switch (entry.type) {
+            case "double" -> System.out.println("  " + record.getDouble());
+            case "int64" -> System.out.println("  " + record.getInteger());
+            case "string", "json" -> System.out.println("  '" + record.getString() + "'");
+            case "boolean" -> System.out.println("  " + record.getBoolean());
+            case "double[]" -> System.out.println("  " + List.of(record.getDoubleArray()));
+            case "int64[]" -> System.out.println("  " + List.of(record.getIntegerArray()));
+            case "string[]" -> System.out.println("  " + List.of(record.getStringArray()));
+            default -> {
+              // NOP
+            }
+          }
+        } catch (InputMismatchException ex) {
+          System.out.println("  invalid");
+        }
+      }
+    }
+  }
+
+  private PrintLog() {}
+}