[wpiutil] Add last value and change detection

Update() checks/updates the last value and appends only if changed. GetLastValue() gets the last value.
wpilibsuite · Jun 22, 2024 · 1227b7b · 1227b7b
1 parent 2ff7033
commit 1227b7b
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Showing 18 changed files with 1,722 additions and 34 deletions.
diff --git a/wpiutil/src/main/java/edu/wpi/first/util/datalog/BooleanArrayLogEntry.java b/wpiutil/src/main/java/edu/wpi/first/util/datalog/BooleanArrayLogEntry.java
@@ -4,6 +4,8 @@
 
 package edu.wpi.first.util.datalog;
 
+import java.util.Arrays;
+
 /** Log array of boolean values. */
 public class BooleanArrayLogEntry extends DataLogEntry {
   /** The data type for boolean array values. */
@@ -71,4 +73,58 @@ public void append(boolean[] value, long timestamp) {
   public void append(boolean[] value) {
     m_log.appendBooleanArray(m_entry, value, 0);
   }
+
+  /**
+   * Updates the last value and appends a record to the log if it has changed.
+   *
+   * @param value Value to record
+   * @param timestamp Time stamp (0 to indicate now)
+   */
+  public synchronized void update(boolean[] 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.
+   *
+   * @param value Value to record
+   */
+  public void update(boolean[] value) {
+    update(value, 0);
+  }
+
+  /**
+   * Gets the last value.
+   *
+   * @return Last value, or null if none.
+   */
+  @SuppressWarnings("PMD.ReturnEmptyCollectionRatherThanNull")
+  public synchronized boolean[] getLastValue() {
+    if (m_lastValue == null) {
+      return null;
+    }
+    return Arrays.copyOf(m_lastValue, m_lastValueLen);
+  }
+
+  private boolean equalsLast(boolean[] 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(boolean[] 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 boolean[] m_lastValue;
+  private int m_lastValueLen;
 }
diff --git a/wpiutil/src/main/java/edu/wpi/first/util/datalog/BooleanLogEntry.java b/wpiutil/src/main/java/edu/wpi/first/util/datalog/BooleanLogEntry.java
@@ -71,4 +71,39 @@ public void append(boolean value, long timestamp) {
   public void append(boolean value) {
     m_log.appendBoolean(m_entry, value, 0);
   }
+
+  /**
+   * Updates the last value and appends a record to the log if it has changed.
+   *
+   * @param value Value to record
+   * @param timestamp Time stamp (0 to indicate now)
+   */
+  public synchronized void update(boolean value, long timestamp) {
+    if (!m_hasLastValue || m_lastValue != value) {
+      m_lastValue = value;
+      m_hasLastValue = true;
+      append(value, timestamp);
+    }
+  }
+
+  /**
+   * Updates the last value and appends a record to the log if it has changed.
+   *
+   * @param value Value to record
+   */
+  public void update(boolean value) {
+    update(value, 0);
+  }
+
+  /**
+   * Gets the last value.
+   *
+   * @return Last value, or false if none.
+   */
+  public synchronized boolean getLastValue() {
+    return m_lastValue;
+  }
+
+  private boolean m_hasLastValue;
+  private boolean m_lastValue;
 }
diff --git a/wpiutil/src/main/java/edu/wpi/first/util/datalog/DataLog.java b/wpiutil/src/main/java/edu/wpi/first/util/datalog/DataLog.java
@@ -269,6 +269,12 @@ public void setMetadata(int entry, String metadata) {
     setMetadata(entry, metadata, 0);
   }
 
+  @Override
+  public void close() {
+    DataLogJNI.close(m_impl);
+    m_impl = 0;
+  }
+
   /**
    * Appends a raw record to the log.
    *
@@ -318,12 +324,6 @@ public void appendRaw(int entry, ByteBuffer data, int start, int len, long times
     DataLogJNI.appendRaw(m_impl, entry, data, start, len, timestamp);
   }
 
-  @Override
-  public void close() {
-    DataLogJNI.close(m_impl);
-    m_impl = 0;
-  }
-
   /**
    * Appends a boolean record to the log.
    *

diff --git a/wpiutil/src/main/java/edu/wpi/first/util/datalog/DoubleArrayLogEntry.java b/wpiutil/src/main/java/edu/wpi/first/util/datalog/DoubleArrayLogEntry.java
@@ -4,6 +4,8 @@
 
 package edu.wpi.first.util.datalog;
 
+import java.util.Arrays;
+
 /** Log array of double values. */
 public class DoubleArrayLogEntry extends DataLogEntry {
   /** The data type for double array values. */
@@ -71,4 +73,58 @@ public void append(double[] value, long timestamp) {
   public void append(double[] value) {
     m_log.appendDoubleArray(m_entry, value, 0);
   }
+
+  /**
+   * Updates the last value and appends a record to the log if it has changed.
+   *
+   * @param value Value to record
+   * @param timestamp Time stamp (0 to indicate now)
+   */
+  public synchronized void update(double[] 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.
+   *
+   * @param value Value to record
+   */
+  public void update(double[] value) {
+    update(value, 0);
+  }
+
+  /**
+   * Gets the last value.
+   *
+   * @return Last value, or false if none.
+   */
+  @SuppressWarnings("PMD.ReturnEmptyCollectionRatherThanNull")
+  public synchronized double[] getLastValue() {
+    if (m_lastValue == null) {
+      return null;
+    }
+    return Arrays.copyOf(m_lastValue, m_lastValueLen);
+  }
+
+  private boolean equalsLast(double[] 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(double[] 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 double[] m_lastValue;
+  private int m_lastValueLen;
 }
diff --git a/wpiutil/src/main/java/edu/wpi/first/util/datalog/DoubleLogEntry.java b/wpiutil/src/main/java/edu/wpi/first/util/datalog/DoubleLogEntry.java
@@ -71,4 +71,39 @@ public void append(double value, long timestamp) {
   public void append(double value) {
     m_log.appendDouble(m_entry, value, 0);
   }
+
+  /**
+   * Updates the last value and appends a record to the log if it has changed.
+   *
+   * @param value Value to record
+   * @param timestamp Time stamp (0 to indicate now)
+   */
+  public synchronized void update(double value, long timestamp) {
+    if (!m_hasLastValue || m_lastValue != value) {
+      m_lastValue = value;
+      m_hasLastValue = true;
+      append(value, timestamp);
+    }
+  }
+
+  /**
+   * Updates the last value and appends a record to the log if it has changed.
+   *
+   * @param value Value to record
+   */
+  public void update(double value) {
+    update(value, 0);
+  }
+
+  /**
+   * Gets the last value.
+   *
+   * @return Last value, or 0 if none.
+   */
+  public synchronized double getLastValue() {
+    return m_lastValue;
+  }
+
+  boolean m_hasLastValue;
+  double m_lastValue;
 }
diff --git a/wpiutil/src/main/java/edu/wpi/first/util/datalog/FloatArrayLogEntry.java b/wpiutil/src/main/java/edu/wpi/first/util/datalog/FloatArrayLogEntry.java
@@ -4,6 +4,8 @@
 
 package edu.wpi.first.util.datalog;
 
+import java.util.Arrays;
+
 /** Log array of float values. */
 public class FloatArrayLogEntry extends DataLogEntry {
   /** The data type for float array values. */
@@ -71,4 +73,58 @@ public void append(float[] value, long timestamp) {
   public void append(float[] value) {
     m_log.appendFloatArray(m_entry, value, 0);
   }
+
+  /**
+   * Updates the last value and appends a record to the log if it has changed.
+   *
+   * @param value Value to record
+   * @param timestamp Time stamp (0 to indicate now)
+   */
+  public synchronized void update(float[] 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.
+   *
+   * @param value Value to record
+   */
+  public void update(float[] value) {
+    update(value, 0);
+  }
+
+  /**
+   * Gets the last value.
+   *
+   * @return Last value, or false if none.
+   */
+  @SuppressWarnings("PMD.ReturnEmptyCollectionRatherThanNull")
+  public synchronized float[] getLastValue() {
+    if (m_lastValue == null) {
+      return null;
+    }
+    return Arrays.copyOf(m_lastValue, m_lastValueLen);
+  }
+
+  private boolean equalsLast(float[] 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(float[] 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 float[] m_lastValue;
+  private int m_lastValueLen;
 }
diff --git a/wpiutil/src/main/java/edu/wpi/first/util/datalog/FloatLogEntry.java b/wpiutil/src/main/java/edu/wpi/first/util/datalog/FloatLogEntry.java
@@ -71,4 +71,39 @@ public void append(float value, long timestamp) {
   public void append(float value) {
     m_log.appendFloat(m_entry, value, 0);
   }
+
+  /**
+   * Updates the last value and appends a record to the log if it has changed.
+   *
+   * @param value Value to record
+   * @param timestamp Time stamp (0 to indicate now)
+   */
+  public synchronized void update(float value, long timestamp) {
+    if (!m_hasLastValue || m_lastValue != value) {
+      m_lastValue = value;
+      m_hasLastValue = true;
+      append(value, timestamp);
+    }
+  }
+
+  /**
+   * Updates the last value and appends a record to the log if it has changed.
+   *
+   * @param value Value to record
+   */
+  public void update(float value) {
+    update(value, 0);
+  }
+
+  /**
+   * Gets the last value.
+   *
+   * @return Last value, or 0 if none.
+   */
+  public synchronized float getLastValue() {
+    return m_lastValue;
+  }
+
+  boolean m_hasLastValue;
+  float m_lastValue;
 }