[wpiutil] Add Kaitai Struct definition for data log format (#7882)

Adds a Kaitai Struct definition for the WPILOG format. This can be used to generate code to read/write data log files without needing to build out a parser/serializer by hand. Or just an additional resource for readers to help understand the WPILOG format.

wpiutil/doc/datalog.adoc

@@ -190,3 +190,9 @@ Each entry's data type is an arbitrary string. The following data types are stan
 === Metadata
 
 Each entry has an associated metadata string. If not blank, the metadata should be <<JSON,JSON>>, but may be arbitrary text. Metadata is intended to convey additional information about the entry beyond what the type conveys--for example the source of the data.
+
+[[additional-resources]]
+== Additional Resources
+
+A https://kaitai.io/[Kaitai Struct] definition for the data log format is included in link:./wpilog.ksy[wpilog.ksy].
+Kaitai Struct is a declarative language used to describe various binary data structures.

wpiutil/doc/wpilog.ksy

@@ -0,0 +1,130 @@
+meta:
+  id: wpilog
+  title: WPILib Data Log
+  file-extension: wpilog
+  ks-version: "0.10"
+  encoding: UTF-8
+  endian: le
+  bit-endian: le
+seq:
+  - id: header
+    type: header
+  - id: records
+    type: record
+    repeat: eos
+types:
+  version_number:
+    seq:
+      - id: minor
+        type: u1
+      - id: major
+        type: u1
+  header:
+    seq:
+      - id: magic
+        contents: WPILOG
+      - id: version
+        type: version_number
+      - id: extra_header_length
+        type: u4
+      - id: extra_header
+        size: extra_header_length
+        type: str
+  record:
+    seq:
+      - id: header_length
+        type: record_header_length
+      - id: entry_id
+        type:
+          switch-on: header_length.len_entry_id
+          cases:
+            0: u1
+            1: u2
+            2: b24
+            3: u4
+      - id: len_payload
+        type:
+          switch-on: header_length.len_payload_size
+          cases:
+            0: u1
+            1: u2
+            2: b24
+            3: u4
+      - id: timestamp
+        type:
+          switch-on: header_length.len_timestamp
+          cases:
+            0: u1
+            1: u2
+            2: b24
+            3: u4
+            4: b40
+            5: b48
+            6: b56
+            7: u8
+      - id: payload
+        size: len_payload
+        type:
+          switch-on: entry_id
+          cases:
+            # ID 0 is reserved for control records
+            0: control_record_payload
+  record_header_length:
+    seq:
+      - id: len_entry_id
+        type: b2
+      - id: len_payload_size
+        type: b2
+      - id: len_timestamp
+        type: b3
+      - id: spare_bit
+        type: b1
+  control_record_payload:
+    seq:
+      - id: type
+        type: u1
+        enum: control_record_type
+      - id: data
+        type:
+          switch-on: type
+          cases:
+            "control_record_type::start": control_record_start_data
+            "control_record_type::finish": control_record_finish_data
+            "control_record_type::set_metadata": control_record_set_metadata_data
+  control_record_start_data:
+    seq:
+      - id: entry_id
+        type: u4
+      - id: len_entry_name
+        type: u4
+      - id: entry_name
+        size: len_entry_name
+        type: str
+      - id: len_entry_type
+        type: u4
+      - id: entry_type
+        size: len_entry_type
+        type: str
+      - id: len_entry_metadata
+        type: u4
+      - id: entry_metadata
+        size: len_entry_metadata
+        type: str
+  control_record_finish_data:
+    seq:
+      - id: entry_id
+        type: u4
+  control_record_set_metadata_data:
+    seq:
+      - id: entry_id
+        type: u4
+      - id: len_entry_metadata
+        type: u4
+      - id: entry_metadata
+        size: len_entry_metadata
+        type: str
+enums:
+  control_record_type:
+    0: start
+    1: finish
+    2: set_metadata