[datalog] Move DataLogReaderThread from glass to new libdatalog

CMakeLists.txt

@@ -291,6 +291,8 @@ set(WPIUNITS_DEP_REPLACE_IMPL "find_dependency(wpiunits)")
 set(WPIUTIL_DEP_REPLACE "find_dependency(wpiutil)")
 add_subdirectory(wpiutil)
 
+add_subdirectory(libdatalog)
+
 if(WITH_NTCORE)
     set(NTCORE_DEP_REPLACE "find_dependency(ntcore)")
     set(WPINET_DEP_REPLACE "find_dependency(wpinet)")

datalogtool/CMakeLists.txt

@@ -25,7 +25,7 @@ add_executable(
     ${APP_ICON_MACOSX}
 )
 wpilib_link_macos_gui(datalogtool)
-target_link_libraries(datalogtool libglass ssh)
+target_link_libraries(datalogtool libglass ssh libdatalog)
 
 if(WIN32)
     set_target_properties(datalogtool PROPERTIES WIN32_EXECUTABLE YES)

datalogtool/build.gradle

@@ -101,6 +101,7 @@ model {
                 lib project: ':glass', library: 'glass', linkage: 'static'
                 lib project: ':wpiutil', library: 'wpiutil', linkage: 'static'
                 lib project: ':wpigui', library: 'wpigui', linkage: 'static'
+                lib project: ':libdatalog', library: 'libdatalog', linkage: 'static'
                 lib project: ':thirdparty:imgui_suite', library: 'imguiSuite', linkage: 'static'
                 nativeUtils.useRequiredLibrary(it, 'libssh')
                 if (it.targetPlatform.operatingSystem.isWindows()) {

datalogtool/src/main/native/cpp/Exporter.cpp

@@ -20,11 +20,11 @@
 #include <fmt/format.h>
 #include <fmt/ranges.h>
 #include <glass/Storage.h>
-#include <glass/support/DataLogReaderThread.h>
 #include <imgui.h>
 #include <imgui_internal.h>
 #include <imgui_stdlib.h>
 #include <portable-file-dialogs.h>
+#include <wpi/DataLogReaderThread.h>
 #include <wpi/DenseMap.h>
 #include <wpi/MemoryBuffer.h>
 #include <wpi/SmallVector.h>
@@ -40,7 +40,7 @@
 
 namespace {
 struct InputFile {
-  explicit InputFile(std::unique_ptr<glass::DataLogReaderThread> datalog);
+  explicit InputFile(std::unique_ptr<wpi::log::DataLogReaderThread> datalog);
 
   InputFile(std::string_view filename, std::string_view status)
       : filename{filename},
@@ -51,7 +51,7 @@ struct InputFile {
 
   std::string filename;
   std::string stem;
-  std::unique_ptr<glass::DataLogReaderThread> datalog;
+  std::unique_ptr<wpi::log::DataLogReaderThread> datalog;
   std::string status;
   bool highlight = false;
 };
@@ -140,7 +140,7 @@ static void RebuildEntryTree() {
   }
 }
 
-InputFile::InputFile(std::unique_ptr<glass::DataLogReaderThread> datalog_)
+InputFile::InputFile(std::unique_ptr<wpi::log::DataLogReaderThread> datalog_)
     : filename{datalog_->GetBufferIdentifier()},
       stem{fs::path{filename}.stem().string()},
       datalog{std::move(datalog_)} {
@@ -196,7 +196,7 @@ static std::unique_ptr<InputFile> LoadDataLog(std::string_view filename) {
   }
 
   return std::make_unique<InputFile>(
-      std::make_unique<glass::DataLogReaderThread>(std::move(reader)));
+      std::make_unique<wpi::log::DataLogReaderThread>(std::move(reader)));
 }
 
 void DisplayInputFiles() {

epilogue-runtime/build.gradle

@@ -13,4 +13,5 @@ dependencies {
     api(project(':ntcore'))
     api(project(':wpiutil'))
     api(project(':wpiunits'))
+    api(project(':libdatalog'))
 }

epilogue-runtime/src/main/java/edu/wpi/first/epilogue/logging/FileBackend.java

@@ -6,21 +6,21 @@
 
 import static edu.wpi.first.util.ErrorMessages.requireNonNullParam;
 
-import edu.wpi.first.util.datalog.BooleanArrayLogEntry;
-import edu.wpi.first.util.datalog.BooleanLogEntry;
-import edu.wpi.first.util.datalog.DataLog;
-import edu.wpi.first.util.datalog.DataLogEntry;
-import edu.wpi.first.util.datalog.DoubleArrayLogEntry;
-import edu.wpi.first.util.datalog.DoubleLogEntry;
-import edu.wpi.first.util.datalog.FloatArrayLogEntry;
-import edu.wpi.first.util.datalog.FloatLogEntry;
-import edu.wpi.first.util.datalog.IntegerArrayLogEntry;
-import edu.wpi.first.util.datalog.IntegerLogEntry;
-import edu.wpi.first.util.datalog.RawLogEntry;
-import edu.wpi.first.util.datalog.StringArrayLogEntry;
-import edu.wpi.first.util.datalog.StringLogEntry;
-import edu.wpi.first.util.datalog.StructArrayLogEntry;
-import edu.wpi.first.util.datalog.StructLogEntry;
+import edu.wpi.first.datalog.BooleanArrayLogEntry;
+import edu.wpi.first.datalog.BooleanLogEntry;
+import edu.wpi.first.datalog.DataLog;
+import edu.wpi.first.datalog.DataLogEntry;
+import edu.wpi.first.datalog.DoubleArrayLogEntry;
+import edu.wpi.first.datalog.DoubleLogEntry;
+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.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.struct.Struct;
 import java.util.HashMap;
 import java.util.Map;

libdatalog/BUILD.bazel

@@ -0,0 +1,19 @@
+load("@rules_cc//cc:defs.bzl", "cc_library")
+load("//shared/bazel/rules/gen:gen-resources.bzl", "generate_resources")
+
+cc_library(
+    name = "libdatalog.static",
+    srcs = glob(
+        ["src/main/native/cpp/**"],
+    ),
+    hdrs = glob(["src/main/native/include/*"]),
+    includes = [
+        "src/main/native/cpp",
+        "src/main/native/include",
+    ],
+    strip_include_prefix = "src/main/native/include",
+    visibility = ["//visibility:public"],
+    deps = [
+        "//wpiutil:wpiutil.static",
+    ]
+)

libdatalog/CMakeLists.txt

@@ -0,0 +1,116 @@
+project(libdatalog)
+
+include(CompileWarnings)
+
+file(
+    GLOB libdatalog_native_src
+    src/main/native/cpp/*.cpp
+)
+
+file(
+    GLOB libdatalog_jni_src
+    src/main/native/cpp/jni/DataLogJNI.cpp
+)
+list(REMOVE_ITEM libdatalog_native_src ${libdatalog_jni_src})
+
+add_library(libdatalog ${libdatalog_native_src})
+set_target_properties(libdatalog PROPERTIES DEBUG_POSTFIX "d")
+
+target_compile_features(libdatalog PUBLIC cxx_std_20)
+if(MSVC)
+    target_compile_options(
+        libdatalog
+        PUBLIC /permissive- /Zc:preprocessor /Zc:__cplusplus /Zc:throwingNew /MP /bigobj /utf-8
+    )
+    target_compile_definitions(libdatalog PRIVATE -D_CRT_SECURE_NO_WARNINGS)
+endif()
+wpilib_target_warnings(libdatalog)
+
+target_include_directories(
+    libdatalog
+    PUBLIC
+        $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src/main/native/include>
+)
+
+target_link_libraries(libdatalog PRIVATE wpiutil)
+
+subdir_list(libdatalog_examples "${CMAKE_CURRENT_SOURCE_DIR}/examples")
+foreach(example ${libdatalog_examples})
+    file(GLOB libdatalog_example_src examples/${example}/*.cpp)
+    if(libdatalog_example_src)
+        add_executable(libdatalog_${example} ${libdatalog_example_src})
+        wpilib_target_warnings(libdatalog_${example})
+        target_link_libraries(libdatalog_${example} libdatalog wpiutil)
+        set_property(TARGET libdatalog_${example} PROPERTY FOLDER "examples")
+    endif()
+endforeach()
+
+# Java bindings
+if(WITH_JAVA)
+    include(UseJava)
+
+    set(CMAKE_JNI_TARGET true)
+
+    file(GLOB_RECURSE JAVA_SOURCES src/main/java/*.java)
+    file(GLOB QUICKBUF_JAR ${WPILIB_BINARY_DIR}/wpiutil/thirdparty/quickbuf/*.jar)
+
+    add_jar(
+        libdatalog_jar
+        ${JAVA_SOURCES}
+        # INCLUDE_JARS ${JACKSON_JARS} ${QUICKBUF_JAR}
+        INCLUDE_JARS wpiutil_jar ${QUICKBUF_JAR}
+        OUTPUT_NAME libdatalog
+        OUTPUT_DIR ${WPILIB_BINARY_DIR}/${java_lib_dest}
+        GENERATE_NATIVE_HEADERS libdatalog_jni_headers
+    )
+    set_property(TARGET libdatalog_jar PROPERTY FOLDER "java")
+
+    install_jar(libdatalog_jar DESTINATION ${java_lib_dest})
+    install_jar_exports(TARGETS libdatalog_jar FILE libdatalog_jar.cmake DESTINATION share/libdatalog)
+
+    add_library(libdatalogjni ${libdatalog_jni_src})
+    wpilib_target_warnings(libdatalogjni)
+    target_link_libraries(libdatalogjni PUBLIC libdatalog wpiutil)
+
+    set_property(TARGET libdatalogjni PROPERTY FOLDER "libraries")
+
+    target_link_libraries(libdatalogjni PRIVATE libdatalog_jni_headers)
+    add_dependencies(libdatalogjni libdatalog_jar)
+
+    install(TARGETS libdatalogjni EXPORT libdatalogjni)
+    export(TARGETS libdatalogjni FILE libdatalogjni.cmake NAMESPACE libdatalogjni::)
+endif()
+
+if(WITH_JAVA_SOURCE)
+    include(UseJava)
+    include(CreateSourceJar)
+    add_source_jar(
+        libdatalog_src_jar
+        BASE_DIRECTORIES ${CMAKE_CURRENT_SOURCE_DIR}/src/main/java
+        OUTPUT_NAME libdatalog-sources
+        OUTPUT_DIR ${WPILIB_BINARY_DIR}/${java_lib_dest}
+    )
+    set_property(TARGET libdatalog_src_jar PROPERTY FOLDER "java")
+
+    install_jar(libdatalog_src_jar DESTINATION ${java_lib_dest})
+endif()
+
+install(TARGETS libdatalog EXPORT libdatalog)
+export(TARGETS libdatalog FILE libdatalog.cmake NAMESPACE libdatalog::)
+
+configure_file(libdatalog-config.cmake.in ${WPILIB_BINARY_DIR}/libdatalog-config.cmake)
+install(FILES ${WPILIB_BINARY_DIR}/libdatalog-config.cmake DESTINATION share/libdatalog)
+install(EXPORT libdatalog DESTINATION share/libdatalog)
+
+if(WITH_TESTS)
+    file(GLOB_RECURSE libdatalog_testlib_src src/test/native/include/*.h)
+    add_library(libdatalog_testlib INTERFACE ${libdatalog_test_src})
+    target_include_directories(libdatalog_testlib INTERFACE src/test/native/include)
+
+    wpilib_add_test(libdatalog src/test/native/cpp)
+    target_link_libraries(libdatalog_test libdatalog googletest libdatalog_testlib wpiutil)
+    if(MSVC)
+        target_compile_options(libdatalog_test PRIVATE /utf-8)
+    endif()
+endif()
+

libdatalog/build.gradle

@@ -0,0 +1,32 @@
+ext {
+    useJava = true
+    useCpp = true
+    baseId = 'libdatalog'
+    groupId = 'edu.wpi.first.datalog'
+
+    nativeName = 'libdatalog'
+    devMain = 'edu.wpi.first.math.DevMain'
+}
+
+apply from: "${rootDir}/shared/jni/setupBuild.gradle"
+
+nativeUtils.exportsConfigs {
+    libdatalog {
+    }
+}
+
+model {
+    components {
+        all {
+            it.sources.each {
+                it.exportedHeaders {
+                    srcDirs 'src/main/native/include'
+                }
+            }
+        }
+    }
+}
+
+dependencies {
+    api project(":wpiutil")
+}

libdatalog/libdatalog-config.cmake.in

@@ -0,0 +1,5 @@
+@FILENAME_DEP_REPLACE@
+include(${SELF_DIR}/wpiutil.cmake)
+if(@WITH_JAVA@)
+    include(${SELF_DIR}/wpiutil_jar.cmake)
+endif()

wpiutil/src/main/java/edu/wpi/first/util/datalog/BooleanArrayLogEntry.java → libdatalog/src/main/java/edu/wpi/first/datalog/BooleanArrayLogEntry.java

@@ -2,7 +2,7 @@
 // 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 edu.wpi.first.util.datalog;
+package edu.wpi.first.datalog;
 
 import java.util.Arrays;
 

wpiutil/src/main/java/edu/wpi/first/util/datalog/BooleanLogEntry.java → libdatalog/src/main/java/edu/wpi/first/datalog/BooleanLogEntry.java

@@ -2,7 +2,7 @@
 // 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 edu.wpi.first.util.datalog;
+package edu.wpi.first.datalog;
 
 /** Log boolean values. */
 public class BooleanLogEntry extends DataLogEntry {

wpiutil/src/main/java/edu/wpi/first/util/datalog/DataLog.java → libdatalog/src/main/java/edu/wpi/first/datalog/DataLog.java

@@ -2,9 +2,8 @@
 // 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 edu.wpi.first.util.datalog;
+package edu.wpi.first.datalog;
 
-import edu.wpi.first.util.WPIUtilJNI;
 import edu.wpi.first.util.protobuf.Protobuf;
 import edu.wpi.first.util.struct.Struct;
 import java.nio.ByteBuffer;
@@ -146,7 +145,7 @@ public void addSchema(String name, String type, String schema) {
    * @param timestamp Time stamp (0 to indicate now)
    */
   public void addSchema(Protobuf<?, ?> proto, long timestamp) {
-    final long actualTimestamp = timestamp == 0 ? WPIUtilJNI.now() : timestamp;
+    final long actualTimestamp = timestamp == 0 ? DataLogJNI.now() : timestamp;
     proto.forEachDescriptor(
         this::hasSchema,
         (typeString, schema) ->
@@ -171,7 +170,7 @@ public void addSchema(Protobuf<?, ?> proto) {
    * @param timestamp Time stamp (0 to indicate now)
    */
   public void addSchema(Struct<?> struct, long timestamp) {
-    addSchemaImpl(struct, timestamp == 0 ? WPIUtilJNI.now() : timestamp, new HashSet<>());
+    addSchemaImpl(struct, timestamp == 0 ? DataLogJNI.now() : timestamp, new HashSet<>());
   }
 
   /**

wpiutil/src/main/java/edu/wpi/first/util/datalog/DataLogBackgroundWriter.java → libdatalog/src/main/java/edu/wpi/first/datalog/DataLogBackgroundWriter.java

@@ -2,7 +2,7 @@
 // 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 edu.wpi.first.util.datalog;
+package edu.wpi.first.datalog;
 
 /**
  * A data log background writer that periodically flushes the data log on a background thread. The

wpiutil/src/main/java/edu/wpi/first/util/datalog/DataLogEntry.java → libdatalog/src/main/java/edu/wpi/first/datalog/DataLogEntry.java

@@ -2,7 +2,7 @@
 // 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 edu.wpi.first.util.datalog;
+package edu.wpi.first.datalog;
 
 /** Log entry base class. */
 public class DataLogEntry {

wpiutil/src/main/java/edu/wpi/first/util/datalog/DataLogIterator.java → libdatalog/src/main/java/edu/wpi/first/datalog/DataLogIterator.java

@@ -2,7 +2,7 @@
 // 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 edu.wpi.first.util.datalog;
+package edu.wpi.first.datalog;
 
 import java.util.Iterator;
 import java.util.NoSuchElementException;

wpiutil/src/main/java/edu/wpi/first/util/datalog/DataLogJNI.java → libdatalog/src/main/java/edu/wpi/first/datalog/DataLogJNI.java

@@ -2,7 +2,7 @@
 // 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 edu.wpi.first.util.datalog;
+package edu.wpi.first.datalog;
 
 import edu.wpi.first.util.WPIUtilJNI;
 import java.io.IOException;

wpiutil/src/main/java/edu/wpi/first/util/datalog/DataLogReader.java → libdatalog/src/main/java/edu/wpi/first/datalog/DataLogReader.java

@@ -2,7 +2,7 @@
 // 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 edu.wpi.first.util.datalog;
+package edu.wpi.first.datalog;
 
 import java.io.IOException;
 import java.io.RandomAccessFile;

wpiutil/src/main/java/edu/wpi/first/util/datalog/DataLogRecord.java → libdatalog/src/main/java/edu/wpi/first/datalog/DataLogRecord.java

@@ -2,7 +2,7 @@
 // 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 edu.wpi.first.util.datalog;
+package edu.wpi.first.datalog;
 
 import java.nio.BufferUnderflowException;
 import java.nio.ByteBuffer;