[wpiutil] DataLog: Use codegen for entry types

Signed-off-by: Jade Turner <[email protected]>

.github/workflows/pregen_all.py

@@ -71,6 +71,10 @@ def main():
         [sys.executable, f"{REPO_ROOT}/thirdparty/imgui_suite/generate_gl3w.py"],
         check=True,
     )
+    subprocess.run(
+        [sys.executable, f"{REPO_ROOT}/wpiutil/generate_datalog_entries.py"],
+        check=True,
+    )
     subprocess.run(f"{REPO_ROOT}/thirdparty/imgui_suite/generate_fonts.sh", check=True)
 
 

wpiutil/BUILD.bazel

@@ -226,7 +226,10 @@ cc_library(
 
 java_library(
     name = "wpiutil-java",
-    srcs = glob(["src/main/java/**/*.java"]),
+    srcs = glob([
+        "src/main/java/**/*.java",
+        "src/generated/java/**/*.java"
+    ]),
     visibility = ["//visibility:public"],
     deps = [
         "@maven//:com_fasterxml_jackson_core_jackson_annotations",

wpiutil/CMakeLists.txt

@@ -57,7 +57,7 @@ if(WITH_JAVA)
 
     set(CMAKE_JNI_TARGET true)
 
-    file(GLOB_RECURSE JAVA_SOURCES src/main/java/*.java)
+    file(GLOB_RECURSE JAVA_SOURCES src/main/*.java)
 
     add_jar(
         wpiutil_jar

wpiutil/build.gradle

@@ -298,6 +298,8 @@ model {
     }
 }
 
+sourceSets.main.java.srcDir "${projectDir}/src/main/generated/java"
+
 sourceSets {
     printlog
 }

wpiutil/generate_datalog_entries.py

@@ -0,0 +1,66 @@
+#!/usr/bin/env python3
+
+# 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.
+import argparse
+import json
+import sys
+from pathlib import Path
+from typing import Any, Dict
+
+from jinja2 import Environment, FileSystemLoader
+from jinja2.environment import Template
+
+
+def render_template(
+    template: Template, output_dir: Path, filename: str, ty: Dict[str, Any]
+):
+    output_dir.mkdir(parents=True, exist_ok=True)
+
+    output_file = output_dir / filename
+    output_file.write_text(template.render(ty), encoding="utf-8")
+
+
+def generate_log_entries(output_root, template_root):
+    with (template_root / "types.json").open(encoding="utf-8") as f:
+        types = json.load(f)["types"]
+
+    env = Environment(
+        loader=FileSystemLoader(str(template_root)),
+        autoescape=False,
+        keep_trailing_newline=True,
+    )
+
+    java_root_path = Path(output_root) / "java/edu/wpi/first/util/datalog"
+    java_template = env.get_template("LogEntry.java.jinja")
+
+    for ty in types:
+        entry_name = f"{ty['name']}LogEntry.java"
+        render_template(java_template, java_root_path, entry_name, ty)
+
+
+def main(argv):
+    script_path = Path(__file__).resolve()
+    dirname = script_path.parent
+
+    parser = argparse.ArgumentParser()
+    parser.add_argument(
+        "--output_directory",
+        help="Optional. If set, will output the generated files to this directory, otherwise it will use a path relative to the script",
+        default=dirname / "src/main/generated",
+        type=Path,
+    )
+    parser.add_argument(
+        "--template_root",
+        help="Optional. If set, will use this directory as the root for the jinja templates",
+        default=dirname / "src/main/generate",
+        type=Path,
+    )
+    args = parser.parse_args(argv)
+
+    generate_log_entries(args.output_directory, args.template_root)
+
+
+if __name__ == "__main__":
+    main(sys.argv[1:])

wpiutil/src/main/generate/LogEntry.java.jinja

@@ -0,0 +1,217 @@
+// 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.
+
+// THIS FILE WAS GENERATED BY generate_datalog_entries.py DO NOT EDIT IT MANUALLY
+
+package edu.wpi.first.util.datalog;
+
+{% if IsArray %}
+import java.util.Arrays;
+{% endif %}
+
+/** Log {{ DataType }} values. */
+public class {{ name }}LogEntry extends DataLogEntry {
+  /** The data type for {{ DataType }} values. */
+  public static final String kDataType = "{{ DataType }}";
+
+  /**
+   * Constructs a {{ DataType }} log entry.
+   *
+   * @param log datalog
+   * @param name name of the entry
+   * @param metadata metadata
+   * @param timestamp entry creation timestamp (0=now)
+   */
+  public {{ name }}LogEntry(DataLog log, String name, String metadata, long timestamp) {
+    super(log, name, kDataType, metadata, timestamp);
+  }
+
+  /**
+   * Constructs a {{ DataType }} log entry.
+   *
+   * @param log datalog
+   * @param name name of the entry
+   * @param metadata metadata
+   */
+  public {{ name }}LogEntry(DataLog log, String name, String metadata) {
+    this(log, name, metadata, 0);
+  }
+
+  /**
+   * Constructs a {{ DataType }} log entry.
+   *
+   * @param log datalog
+   * @param name name of the entry
+   * @param timestamp entry creation timestamp (0=now)
+   */
+  public {{ name }}LogEntry(DataLog log, String name, long timestamp) {
+    this(log, name, "", timestamp);
+  }
+
+  /**
+   * Constructs a {{ DataType }} log entry.
+   *
+   * @param log datalog
+   * @param name name of the entry
+   */
+  public {{ name }}LogEntry(DataLog log, String name) {
+    this(log, name, 0);
+  }
+
+  /**
+   * Appends a record to the log.
+   *
+   * @param value Value to record
+   * @param timestamp Time stamp (0 to indicate now)
+   */
+  public void append({{ AppendType }} value, long timestamp) {
+    m_log.append{{ name }}(m_entry, value, timestamp);
+  }
+
+  /**
+   * Appends a record to the log.
+   *
+   * @param value Value to record
+   */
+  public void append({{ AppendType }} value) {
+    m_log.append{{ name }}(m_entry, value, 0);
+  }
+
+{% if IsArray %}
+  /**
+   * Updates the last value and appends a record to the log if it has changed.
+   *
+   * <p>Note: the last value is local to this class instance; using update() with two instances
+   * pointing to the same underlying log entry name will likely result in unexpected results.
+   *
+   * @param value Value to record
+   * @param timestamp Time stamp (0 to indicate now)
+   */
+  public synchronized void update({{ AppendType }} value, long timestamp) {
+    if (!equalsLast(value)) {
+      copyToLast(value);
+      append(value, timestamp);
+    }
+  }
+
+  /**
+   * Updates the last value and appends a record to the log if it has changed.
+   *
+   * <p>Note: the last value is local to this class instance; using update() with two instances
+   * pointing to the same underlying log entry name will likely result in unexpected results.
+   *
+   * @param value Value to record
+   */
+  public void update({{ AppendType }} value) {
+    update(value, 0);
+  }
+
+  /**
+   * Gets whether there is a last value.
+   *
+   * <p>Note: the last value is local to this class instance and updated only with update(), not
+   * append().
+   *
+   * @return True if last value exists, false otherwise.
+   */
+  public synchronized boolean hasLastValue() {
+    return m_lastValue != null;
+  }
+
+  /**
+   * Gets the last value.
+   *
+   * <p>Note: the last value is local to this class instance and updated only with update(), not
+   * append().
+   *
+   * @return Last value, or false if none.
+   */
+  @SuppressWarnings("PMD.ReturnEmptyCollectionRatherThanNull")
+  public synchronized {{ AppendType }} getLastValue() {
+    if (m_lastValue == null) {
+      return null;
+    }
+    return Arrays.copyOf(m_lastValue, m_lastValueLen);
+  }
+
+  private boolean equalsLast({{ AppendType }} value) {
+    if (m_lastValue == null || m_lastValueLen != value.length) {
+      return false;
+    }
+    return Arrays.equals(m_lastValue, 0, value.length, value, 0, value.length);
+  }
+
+  private void copyToLast({{ AppendType }} value) {
+    if (m_lastValue == null || m_lastValue.length < value.length) {
+      m_lastValue = Arrays.copyOf(value, value.length);
+    } else {
+      System.arraycopy(value, 0, m_lastValue, 0, value.length);
+    }
+    m_lastValueLen = value.length;
+  }
+
+  private int m_lastValueLen;
+{% else %}
+  /**
+   * Updates the last value and appends a record to the log if it has changed.
+   *
+   * <p>Note: the last value is local to this class instance; using update() with two instances
+   * pointing to the same underlying log entry name will likely result in unexpected results.
+   *
+   * @param value Value to record
+   * @param timestamp Time stamp (0 to indicate now)
+   */
+  public synchronized void update({{ AppendType }} value, long timestamp) {
+{%- if AppendType == "String" %}
+    if (!m_hasLastValue || !m_lastValue.equals(value)) {
+{%- else %}
+    if (!m_hasLastValue || m_lastValue != value) {
+{%- endif %}
+      m_lastValue = value;
+      m_hasLastValue = true;
+      append(value, timestamp);
+    }
+  }
+
+  /**
+   * Updates the last value and appends a record to the log if it has changed.
+   *
+   * <p>Note: the last value is local to this class instance; using update() with two instances
+   * pointing to the same underlying log entry name will likely result in unexpected results.
+   *
+   * @param value Value to record
+   */
+  public void update({{ AppendType }} value) {
+    update(value, 0);
+  }
+
+  /**
+   * Gets whether there is a last value.
+   *
+   * <p>Note: the last value is local to this class instance and updated only with update(), not
+   * append().
+   *
+   * @return True if last value exists, false otherwise.
+   */
+  public synchronized boolean hasLastValue() {
+    return m_hasLastValue;
+  }
+
+  /**
+   * Gets the last value.
+   *
+   * <p>Note: the last value is local to this class instance and updated only with update(), not
+   * append().
+   *
+   * @return Last value, or false if none.
+   */
+  public synchronized {{ AppendType }} getLastValue() {
+    return m_lastValue;
+  }
+
+  private boolean m_hasLastValue;
+{% endif %}
+
+  private {{ AppendType }} m_lastValue;
+}

wpiutil/src/main/generate/types.json

@@ -0,0 +1,64 @@
+{
+    "types": [
+        {
+          "name": "Double",
+          "DataType": "double",
+          "AppendType": "double",
+          "IsArray": false
+        },
+        {
+          "name": "DoubleArray",
+          "DataType": "double[]",
+          "AppendType": "double[]",
+          "IsArray": true
+        },
+        {
+          "name": "Float",
+          "DataType": "float",
+          "AppendType": "float",
+          "IsArray": false
+        },
+        {
+          "name": "FloatArray",
+          "DataType": "float[]",
+          "AppendType": "float[]",
+          "IsArray": true
+        },
+        {
+          "name": "Integer",
+          "DataType": "int64",
+          "AppendType": "long",
+          "IsArray": false
+        },
+        {
+          "name": "IntegerArray",
+          "DataType": "int64[]",
+          "AppendType": "long[]",
+          "IsArray": true
+        },
+        {
+          "name": "Boolean",
+          "DataType": "boolean",
+          "AppendType": "boolean",
+          "IsArray": false
+        },
+        {
+          "name": "BooleanArray",
+          "DataType": "boolean[]",
+          "AppendType": "boolean[]",
+          "IsArray": true
+        },
+        {
+          "name": "String",
+          "DataType": "String",
+          "AppendType": "String",
+          "IsArray": false
+        },
+        {
+          "name": "StringArray",
+          "DataType": "string[]",
+          "AppendType": "String[]",
+          "IsArray": true
+        }
+    ]
+}