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Merge branch 'main' into 2027

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This commit is contained in:
Peter Johnson
2025-09-25 22:03:55 -07:00
parent cf4f6ce4b6 6b8be313c7
commit ef676aca70
93 changed files with 941 additions and 387 deletions
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13
epilogue-runtime/src/main/java/edu/wpi/first/epilogue/logging/EpilogueBackend.java
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@@ -6,8 +6,10 @@ package edu.wpi.first.epilogue.logging;
import edu.wpi.first.units.Measure;
import edu.wpi.first.units.Unit;
import edu.wpi.first.util.protobuf.Protobuf;
import edu.wpi.first.util.struct.Struct;
import java.util.Collection;
import us.hebi.quickbuf.ProtoMessage;
/** A backend is a generic interface for Epilogue to log discrete data points. */
public interface EpilogueBackend {
@@ -193,6 +195,17 @@ public interface EpilogueBackend {
log(identifier, array, struct);
}
/**
* Logs a protobuf-serializable object.
*
* @param identifier the identifier of the data point
* @param value the value of the data point
* @param proto the protobuf to use to serialize the data
* @param <P> the protobuf-serializable type
* @param <M> the protobuf message type
*/
<P, M extends ProtoMessage<M>> void log(String identifier, P value, Protobuf<P, M> proto);
/**
* Logs a measurement's value in terms of its base unit.
*

19
epilogue-runtime/src/main/java/edu/wpi/first/epilogue/logging/FileBackend.java
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@@ -16,17 +16,20 @@ 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.ProtobufLogEntry;
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.protobuf.Protobuf;
import edu.wpi.first.util.struct.Struct;
import java.util.HashMap;
import java.util.HashSet;
import java.util.Map;
import java.util.Set;
import java.util.function.BiFunction;
import us.hebi.quickbuf.ProtoMessage;
/** A backend implementation that saves information to a WPILib {@link DataLog} file on disk. */
public class FileBackend implements EpilogueBackend {
@@ -34,6 +37,7 @@ public class FileBackend implements EpilogueBackend {
private final Map<String, DataLogEntry> m_entries = new HashMap<>();
private final Map<String, NestedBackend> m_subLoggers = new HashMap<>();
private final Set<Struct<?>> m_seenSchemas = new HashSet<>();
private final Set<Protobuf<?, ?>> m_seenProtos = new HashSet<>();
/**
* Creates a new file-based backend.
@@ -166,4 +170,19 @@ public class FileBackend implements EpilogueBackend {
((StructArrayLogEntry<S>) m_entries.get(identifier)).append(value);
}
@Override
@SuppressWarnings("unchecked")
public <P, M extends ProtoMessage<M>> void log(String identifier, P value, Protobuf<P, M> proto) {
// DataLog.addSchema has checks that we're able to skip, avoiding allocations
if (m_seenProtos.add(proto)) {
m_dataLog.addSchema(proto);
}
if (!m_entries.containsKey(identifier)) {
m_entries.put(identifier, ProtobufLogEntry.create(m_dataLog, identifier, proto));
}
((ProtobufLogEntry<P>) m_entries.get(identifier)).append(value);
}
}

15
epilogue-runtime/src/main/java/edu/wpi/first/epilogue/logging/LazyBackend.java
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@@ -4,11 +4,13 @@
package edu.wpi.first.epilogue.logging;
import edu.wpi.first.util.protobuf.Protobuf;
import edu.wpi.first.util.struct.Struct;
import java.util.Arrays;
import java.util.HashMap;
import java.util.Map;
import java.util.Objects;
import us.hebi.quickbuf.ProtoMessage;
/**
* A backend implementation that only logs data when it changes. Useful for keeping bandwidth and
@@ -243,4 +245,17 @@ public class LazyBackend implements EpilogueBackend {
m_previousValues.put(identifier, value.clone());
m_backend.log(identifier, value, struct);
}
@Override
public <P, M extends ProtoMessage<M>> void log(String identifier, P value, Protobuf<P, M> proto) {
var previous = m_previousValues.get(identifier);
if (Objects.equals(previous, value)) {
// no change
return;
}
m_previousValues.put(identifier, value);
m_backend.log(identifier, value, proto);
}
}

9
epilogue-runtime/src/main/java/edu/wpi/first/epilogue/logging/MultiBackend.java
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@@ -4,10 +4,12 @@
package edu.wpi.first.epilogue.logging;
import edu.wpi.first.util.protobuf.Protobuf;
import edu.wpi.first.util.struct.Struct;
import java.util.HashMap;
import java.util.List;
import java.util.Map;
import us.hebi.quickbuf.ProtoMessage;
/**
* A backend implementation that delegates to other backends. Helpful for simultaneous logging to
@@ -137,4 +139,11 @@ public class MultiBackend implements EpilogueBackend {
backend.log(identifier, value, struct);
}
}
@Override
public <P, M extends ProtoMessage<M>> void log(String identifier, P value, Protobuf<P, M> proto) {
for (EpilogueBackend backend : m_backends) {
backend.log(identifier, value, proto);
}
}
}

21
epilogue-runtime/src/main/java/edu/wpi/first/epilogue/logging/NTEpilogueBackend.java
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@@ -13,18 +13,21 @@ import edu.wpi.first.networktables.FloatPublisher;
import edu.wpi.first.networktables.IntegerArrayPublisher;
import edu.wpi.first.networktables.IntegerPublisher;
import edu.wpi.first.networktables.NetworkTableInstance;
import edu.wpi.first.networktables.ProtobufPublisher;
import edu.wpi.first.networktables.Publisher;
import edu.wpi.first.networktables.RawPublisher;
import edu.wpi.first.networktables.StringArrayPublisher;
import edu.wpi.first.networktables.StringPublisher;
import edu.wpi.first.networktables.StructArrayPublisher;
import edu.wpi.first.networktables.StructPublisher;
import edu.wpi.first.util.protobuf.Protobuf;
import edu.wpi.first.util.struct.Struct;
import java.util.HashMap;
import java.util.HashSet;
import java.util.Map;
import java.util.Set;
import java.util.function.Function;
import us.hebi.quickbuf.ProtoMessage;
/**
* A backend implementation that sends data over network tables. Be careful when using this, since
@@ -36,6 +39,7 @@ public class NTEpilogueBackend implements EpilogueBackend {
private final Map<String, Publisher> m_publishers = new HashMap<>();
private final Map<String, NestedBackend> m_nestedBackends = new HashMap<>();
private final Set<Struct<?>> m_seenSchemas = new HashSet<>();
private final Set<Protobuf<?, ?>> m_seenProtos = new HashSet<>();
private final Function<String, IntegerPublisher> m_createIntPublisher;
private final Function<String, FloatPublisher> m_createFloatPublisher;
private final Function<String, DoublePublisher> m_createDoublePublisher;
@@ -198,4 +202,21 @@ public class NTEpilogueBackend implements EpilogueBackend {
publisher.set(value);
}
}
@Override
@SuppressWarnings("unchecked")
public <P, M extends ProtoMessage<M>> void log(String identifier, P value, Protobuf<P, M> proto) {
// NetworkTableInstance.addSchema has checks that we're able to skip, avoiding allocations
if (m_seenProtos.add(proto)) {
m_nt.addSchema(proto);
}
if (m_publishers.containsKey(identifier)) {
((ProtobufPublisher<P>) m_publishers.get(identifier)).set(value);
} else {
ProtobufPublisher<P> publisher = m_nt.getProtobufTopic(identifier, proto).publish();
m_publishers.put(identifier, publisher);
publisher.set(value);
}
}
}

7
epilogue-runtime/src/main/java/edu/wpi/first/epilogue/logging/NestedBackend.java
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@@ -4,9 +4,11 @@
package edu.wpi.first.epilogue.logging;
import edu.wpi.first.util.protobuf.Protobuf;
import edu.wpi.first.util.struct.Struct;
import java.util.HashMap;
import java.util.Map;
import us.hebi.quickbuf.ProtoMessage;
/**
* A backend that logs to an underlying backend, prepending all logged data with a specific prefix.
@@ -147,4 +149,9 @@ public class NestedBackend implements EpilogueBackend {
public <S> void log(String identifier, S[] value, Struct<S> struct) {
m_impl.log(withPrefix(identifier), value, struct);
}
@Override
public <P, M extends ProtoMessage<M>> void log(String identifier, P value, Protobuf<P, M> proto) {
m_impl.log(m_prefix + identifier, value, proto);
}
}

6
epilogue-runtime/src/main/java/edu/wpi/first/epilogue/logging/NullBackend.java
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@@ -4,7 +4,9 @@
package edu.wpi.first.epilogue.logging;
import edu.wpi.first.util.protobuf.Protobuf;
import edu.wpi.first.util.struct.Struct;
import us.hebi.quickbuf.ProtoMessage;
/** Null backend implementation that logs nothing. */
public class NullBackend implements EpilogueBackend {
@@ -62,4 +64,8 @@ public class NullBackend implements EpilogueBackend {
@Override
public <S> void log(String identifier, S[] value, Struct<S> struct) {}
@Override
public <P, M extends ProtoMessage<M>> void log(
String identifier, P value, Protobuf<P, M> proto) {}
}