[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>

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(datalog)
+
 if(WITH_NTCORE)
     set(NTCORE_DEP_REPLACE "find_dependency(ntcore)")
     set(WPINET_DEP_REPLACE "find_dependency(wpinet)")

datalog/.styleguide

@@ -0,0 +1,29 @@
+cppHeaderFileInclude {
+  \.h$
+}
+
+cppSrcFileInclude {
+  \.cpp$
+}
+
+licenseUpdateExclude {
+  examples/printlog
+}
+
+modifiableFileExclude {
+  examples/printlog/datalog\.py$
+}
+
+repoRootNameOverride {
+  datalog
+}
+
+includeOtherLibs {
+  ^fmt/
+  ^gtest/
+  ^wpi/(?!datalog)
+}
+
+includeProject {
+  ^wpi/datalog/
+}

datalog/BUILD.bazel

@@ -0,0 +1,106 @@
+load("@rules_cc//cc:defs.bzl", "cc_binary", "cc_library", "cc_test")
+load("@rules_java//java:defs.bzl", "java_binary")
+load("@rules_python//python:defs.bzl", "py_binary")
+load("//shared/bazel/rules:java_rules.bzl", "wpilib_java_junit5_test")
+load("//shared/bazel/rules:jni_rules.bzl", "wpilib_jni_cc_library", "wpilib_jni_java_library")
+
+cc_library(
+    name = "datalog.static",
+    srcs = glob(
+        ["src/main/native/cpp/**"],
+        exclude = ["src/main/native/cpp/jni/**"],
+    ),
+    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",
+    ],
+)
+
+wpilib_jni_cc_library(
+    name = "datalogjni",
+    srcs = glob(["src/main/native/cpp/jni/**"]),
+    java_dep = ":datalog-java",
+    visibility = ["//visibility:public"],
+    deps = [
+        ":datalog.static",
+    ],
+)
+
+wpilib_jni_java_library(
+    name = "datalog-java",
+    srcs = glob(["src/main/java/**/*.java"]),
+    native_libs = [":datalogjni"],
+    visibility = ["//visibility:public"],
+    deps = [
+        "//wpiutil:wpiutil-java",
+        "@maven//:us_hebi_quickbuf_quickbuf_runtime",
+    ],
+)
+
+py_binary(
+    name = "datalog",
+    srcs = ["examples/printlog/datalog.py"],
+    tags = ["manual"],
+)
+
+cc_binary(
+    name = "printlog",
+    srcs = ["examples/printlog/printlog.cpp"],
+    deps = [
+        ":datalog.static",
+        "//wpiutil:wpiutil.static",
+    ],
+)
+
+cc_binary(
+    name = "writelog",
+    srcs = ["examples/writelog/writelog.cpp"],
+    deps = [
+        ":datalog.static",
+        "//wpiutil:wpiutil.static",
+    ],
+)
+
+java_binary(
+    name = "printlog-java",
+    srcs = ["src/printlog/java/printlog/PrintLog.java"],
+    main_class = "printlog.PrintLog",
+    deps = [
+        ":datalog-java",
+    ],
+)
+
+cc_test(
+    name = "datalog-cpp-test",
+    size = "small",
+    srcs = glob([
+        "src/test/native/**/*.cpp",
+        "src/test/native/**/*.h",
+    ]),
+    tags = [
+        "exclusive",
+        "no-asan",
+        "no-tsan",
+    ],
+    deps = [
+        ":datalog.static",
+        "//thirdparty/googletest:googletest.static",
+        "//wpiutil:wpiutil-testlib",
+    ],
+)
+
+wpilib_java_junit5_test(
+    name = "datalog-java-test",
+    srcs = glob(["src/test/java/**/*.java"]),
+    tags = ["exclusive"],
+    deps = [
+        ":datalog-java",
+        "//wpiutil:wpiutil-java",
+    ],
+)

datalog/CMakeLists.txt

@@ -0,0 +1,108 @@
+project(datalog)
+
+include(CompileWarnings)
+
+file(GLOB datalog_native_src src/main/native/cpp/*.cpp)
+
+file(GLOB datalog_jni_src src/main/native/cpp/jni/DataLogJNI.cpp)
+list(REMOVE_ITEM datalog_native_src ${datalog_jni_src})
+
+add_library(datalog ${datalog_native_src})
+set_target_properties(datalog PROPERTIES DEBUG_POSTFIX "d")
+
+target_compile_features(datalog PUBLIC cxx_std_20)
+if(MSVC)
+    target_compile_options(
+        datalog
+        PUBLIC /permissive- /Zc:preprocessor /Zc:__cplusplus /Zc:throwingNew /MP /bigobj /utf-8
+    )
+    target_compile_definitions(datalog PRIVATE -D_CRT_SECURE_NO_WARNINGS)
+endif()
+wpilib_target_warnings(datalog)
+
+target_include_directories(
+    datalog
+    PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src/main/native/include>
+)
+
+target_link_libraries(datalog PRIVATE wpiutil)
+
+subdir_list(datalog_examples "${CMAKE_CURRENT_SOURCE_DIR}/examples")
+foreach(example ${datalog_examples})
+    file(GLOB datalog_example_src examples/${example}/*.cpp)
+    if(datalog_example_src)
+        add_executable(datalog_${example} ${datalog_example_src})
+        wpilib_target_warnings(datalog_${example})
+        target_link_libraries(datalog_${example} datalog wpiutil)
+        set_property(TARGET datalog_${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(
+        datalog_jar
+        ${JAVA_SOURCES}
+        # INCLUDE_JARS ${JACKSON_JARS} ${QUICKBUF_JAR}
+        INCLUDE_JARS wpiutil_jar ${QUICKBUF_JAR}
+        OUTPUT_NAME datalog
+        OUTPUT_DIR ${WPILIB_BINARY_DIR}/${java_lib_dest}
+        GENERATE_NATIVE_HEADERS datalog_jni_headers
+    )
+    set_property(TARGET datalog_jar PROPERTY FOLDER "java")
+
+    install_jar(datalog_jar DESTINATION ${java_lib_dest})
+    install_jar_exports(TARGETS datalog_jar FILE datalog_jar.cmake DESTINATION share/datalog)
+
+    add_library(datalogjni ${datalog_jni_src})
+    wpilib_target_warnings(datalogjni)
+    target_link_libraries(datalogjni PUBLIC datalog wpiutil)
+
+    set_property(TARGET datalogjni PROPERTY FOLDER "libraries")
+
+    target_link_libraries(datalogjni PRIVATE datalog_jni_headers)
+    add_dependencies(datalogjni datalog_jar)
+
+    install(TARGETS datalogjni EXPORT datalogjni)
+    export(TARGETS datalogjni FILE datalogjni.cmake NAMESPACE datalogjni::)
+endif()
+
+if(WITH_JAVA_SOURCE)
+    include(UseJava)
+    include(CreateSourceJar)
+    add_source_jar(
+        datalog_src_jar
+        BASE_DIRECTORIES ${CMAKE_CURRENT_SOURCE_DIR}/src/main/java
+        OUTPUT_NAME datalog-sources
+        OUTPUT_DIR ${WPILIB_BINARY_DIR}/${java_lib_dest}
+    )
+    set_property(TARGET datalog_src_jar PROPERTY FOLDER "java")
+
+    install_jar(datalog_src_jar DESTINATION ${java_lib_dest})
+endif()
+
+install(TARGETS datalog EXPORT datalog)
+export(TARGETS datalog FILE datalog.cmake NAMESPACE datalog::)
+
+configure_file(datalog-config.cmake.in ${WPILIB_BINARY_DIR}/datalog-config.cmake)
+install(FILES ${WPILIB_BINARY_DIR}/datalog-config.cmake DESTINATION share/datalog)
+install(EXPORT datalog DESTINATION share/datalog)
+
+if(WITH_TESTS)
+    file(GLOB_RECURSE datalog_testlib_src src/test/native/include/*.h)
+    add_library(datalog_testlib INTERFACE ${datalog_test_src})
+    target_include_directories(datalog_testlib INTERFACE src/test/native/include)
+
+    wpilib_add_test(datalog src/test/native/cpp)
+    target_link_libraries(datalog_test datalog googletest datalog_testlib wpiutil)
+    if(MSVC)
+        target_compile_options(datalog_test PRIVATE /utf-8)
+    endif()
+endif()

datalog/build.gradle

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

datalog/datalog-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/examples/printlog/printlog.cpp → datalog/examples/printlog/printlog.cpp

@@ -9,11 +9,11 @@
 #include <fmt/chrono.h>
 #include <fmt/format.h>
 #include <fmt/ranges.h>
+#include <wpi/DenseMap.h>
+#include <wpi/MemoryBuffer.h>
+#include <wpi/print.h>
 
-#include "wpi/DataLogReader.h"
-#include "wpi/DenseMap.h"
-#include "wpi/MemoryBuffer.h"
-#include "wpi/print.h"
+#include "wpi/datalog/DataLogReader.h"
 
 int main(int argc, const char** argv) {
   if (argc != 2) {

wpiutil/examples/writelog/writelog.cpp → datalog/examples/writelog/writelog.cpp

@@ -8,8 +8,9 @@
 #include <utility>
 #include <vector>
 
-#include "wpi/DataLogBackgroundWriter.h"
-#include "wpi/print.h"
+#include <wpi/print.h>
+
+#include "wpi/datalog/DataLogBackgroundWriter.h"
 
 int main(int argc, char** argv) {
   using std::chrono::duration_cast;

datalog/src/dev/java/edu/wpi/first/datalog/DevMain.java

@@ -0,0 +1,12 @@
+// 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 edu.wpi.first.datalog;
+
+public final class DevMain {
+  /** Main entry point. */
+  public static void main(String[] args) {}
+
+  private DevMain() {}
+}

datalog/src/dev/native/cpp/main.cpp

@@ -0,0 +1,5 @@
+// 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.
+
+int main() {}

wpiutil/src/main/java/edu/wpi/first/util/datalog/BooleanArrayLogEntry.java → datalog/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 → datalog/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 → datalog/src/main/java/edu/wpi/first/datalog/DataLog.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 edu.wpi.first.util.protobuf.Protobuf;

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