Add testing, fix a few bugs

wpilibsuite · Jul 21, 2024 · 623ec94 · 623ec94
1 parent 76ea15a
commit 623ec94
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Showing 18 changed files with 985 additions and 43 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
@@ -96,6 +96,15 @@ public void update(boolean[] value) {
     update(value, 0);
   }
 
+  /**
+   * Gets whether there is a last value.
+   *
+   * @return True if last value exists, false otherwise.
+   */
+  public synchronized boolean hasLastValue() {
+    return m_lastValue != null;
+  }
+
   /**
    * Gets the last value.
    *

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
@@ -95,6 +95,15 @@ public void update(boolean value) {
     update(value, 0);
   }
 
+  /**
+   * Gets whether there is a last value.
+   *
+   * @return True if last value exists, false otherwise.
+   */
+  public synchronized boolean hasLastValue() {
+    return m_hasLastValue;
+  }
+
   /**
    * Gets the last value.
    *

diff --git a/wpiutil/src/main/java/edu/wpi/first/util/datalog/DataLogWriter.java b/wpiutil/src/main/java/edu/wpi/first/util/datalog/DataLogWriter.java
@@ -55,14 +55,15 @@ public DataLogWriter(OutputStream os) {
   }
 
   /** Explicitly flushes the log data to disk. */
+  @Override
   public void flush() {
     DataLogJNI.flush(m_impl);
     if (m_os == null) {
       return;
     }
     try {
       int pos = 0;
-      for (;;) {
+      for (; ; ) {
         int qty = DataLogJNI.copyWriteBuffer(m_impl, m_buf, pos);
         if (qty == 0) {
           break;

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
@@ -96,6 +96,15 @@ public void update(double[] value) {
     update(value, 0);
   }
 
+  /**
+   * Gets whether there is a last value.
+   *
+   * @return True if last value exists, false otherwise.
+   */
+  public synchronized boolean hasLastValue() {
+    return m_lastValue != null;
+  }
+
   /**
    * Gets the last value.
    *

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
@@ -95,6 +95,15 @@ public void update(double value) {
     update(value, 0);
   }
 
+  /**
+   * Gets whether there is a last value.
+   *
+   * @return True if last value exists, false otherwise.
+   */
+  public synchronized boolean hasLastValue() {
+    return m_hasLastValue;
+  }
+
   /**
    * Gets the last value.
    *

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
@@ -96,6 +96,15 @@ public void update(float[] value) {
     update(value, 0);
   }
 
+  /**
+   * Gets whether there is a last value.
+   *
+   * @return True if last value exists, false otherwise.
+   */
+  public synchronized boolean hasLastValue() {
+    return m_lastValue != null;
+  }
+
   /**
    * Gets the last value.
    *

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
@@ -95,6 +95,15 @@ public void update(float value) {
     update(value, 0);
   }
 
+  /**
+   * Gets whether there is a last value.
+   *
+   * @return True if last value exists, false otherwise.
+   */
+  public synchronized boolean hasLastValue() {
+    return m_hasLastValue;
+  }
+
   /**
    * Gets the last value.
    *

diff --git a/wpiutil/src/main/java/edu/wpi/first/util/datalog/IntegerArrayLogEntry.java b/wpiutil/src/main/java/edu/wpi/first/util/datalog/IntegerArrayLogEntry.java
@@ -96,6 +96,15 @@ public void update(long[] value) {
     update(value, 0);
   }
 
+  /**
+   * Gets whether there is a last value.
+   *
+   * @return True if last value exists, false otherwise.
+   */
+  public synchronized boolean hasLastValue() {
+    return m_lastValue != null;
+  }
+
   /**
    * Gets the last value.
    *

diff --git a/wpiutil/src/main/java/edu/wpi/first/util/datalog/IntegerLogEntry.java b/wpiutil/src/main/java/edu/wpi/first/util/datalog/IntegerLogEntry.java
@@ -95,6 +95,15 @@ public void update(long value) {
     update(value, 0);
   }
 
+  /**
+   * Gets whether there is a last value.
+   *
+   * @return True if last value exists, false otherwise.
+   */
+  public synchronized boolean hasLastValue() {
+    return m_hasLastValue;
+  }
+
   /**
    * Gets the last value.
    *

diff --git a/wpiutil/src/main/java/edu/wpi/first/util/datalog/ProtobufLogEntry.java b/wpiutil/src/main/java/edu/wpi/first/util/datalog/ProtobufLogEntry.java
@@ -157,6 +157,22 @@ public void update(T value) {
     update(value, 0);
   }
 
+  /**
+   * Gets whether there is a last value.
+   *
+   * @return True if last value exists, false otherwise.
+   */
+  public boolean hasLastValue() {
+    synchronized (m_buf) {
+      if (m_immutable) {
+        return m_lastValue != null;
+      } else if (m_cloneable && m_lastValue != null) {
+        return true;
+      }
+      return m_lastValueBuf != null;
+    }
+  }
+
   /**
    * Gets the last value.
    *
@@ -166,11 +182,7 @@ public T getLastValue() {
     synchronized (m_buf) {
       if (m_immutable) {
         return m_lastValue;
-      }
-      if (m_cloneable) {
-        if (m_lastValue == null) {
-          return null;
-        }
+      } else if (m_cloneable && m_lastValue != null) {
         try {
           return m_buf.getProto().clone(m_lastValue);
         } catch (CloneNotSupportedException e) {

diff --git a/wpiutil/src/main/java/edu/wpi/first/util/datalog/RawLogEntry.java b/wpiutil/src/main/java/edu/wpi/first/util/datalog/RawLogEntry.java
@@ -263,6 +263,15 @@ public void update(ByteBuffer value, int start, int len) {
     update(value, start, len, 0);
   }
 
+  /**
+   * Gets whether there is a last value.
+   *
+   * @return True if last value exists, false otherwise.
+   */
+  public synchronized boolean hasLastValue() {
+    return m_lastValue != null;
+  }
+
   /**
    * Gets the last value.
    *
@@ -283,6 +292,7 @@ private boolean equalsLast(byte[] value, int start, int len) {
     return Arrays.equals(m_lastValue.array(), 0, len, value, start, start + len);
   }
 
+  @SuppressWarnings("PMD.SimplifyBooleanReturns")
   private boolean equalsLast(ByteBuffer value) {
     if (m_lastValue == null) {
       return false;

diff --git a/wpiutil/src/main/java/edu/wpi/first/util/datalog/StringArrayLogEntry.java b/wpiutil/src/main/java/edu/wpi/first/util/datalog/StringArrayLogEntry.java
@@ -96,6 +96,15 @@ public void update(String[] value) {
     update(value, 0);
   }
 
+  /**
+   * Gets whether there is a last value.
+   *
+   * @return True if last value exists, false otherwise.
+   */
+  public synchronized boolean hasLastValue() {
+    return m_lastValue != null;
+  }
+
   /**
    * Gets the last value.
    *

diff --git a/wpiutil/src/main/java/edu/wpi/first/util/datalog/StringLogEntry.java b/wpiutil/src/main/java/edu/wpi/first/util/datalog/StringLogEntry.java
@@ -119,6 +119,15 @@ public void update(String value) {
     update(value, 0);
   }
 
+  /**
+   * Gets whether there is a last value.
+   *
+   * @return True if last value exists, false otherwise.
+   */
+  public synchronized boolean hasLastValue() {
+    return m_lastValue != null;
+  }
+
   /**
    * Gets the last value.
    *

diff --git a/wpiutil/src/main/java/edu/wpi/first/util/datalog/StructArrayLogEntry.java b/wpiutil/src/main/java/edu/wpi/first/util/datalog/StructArrayLogEntry.java
@@ -210,6 +210,22 @@ public void update(Collection<T> value) {
     update(value, 0);
   }
 
+  /**
+   * Gets whether there is a last value.
+   *
+   * @return True if last value exists, false otherwise.
+   */
+  public boolean hasLastValue() {
+    synchronized (m_buf) {
+      if (m_immutable) {
+        return m_lastValue != null;
+      } else if (m_cloneable && m_lastValue != null) {
+        return true;
+      }
+      return m_lastValueBuf != null;
+    }
+  }
+
   /**
    * Gets the last value.
    *
@@ -218,18 +234,16 @@ public void update(Collection<T> value) {
   @SuppressWarnings("PMD.ReturnEmptyCollectionRatherThanNull")
   public T[] getLastValue() {
     synchronized (m_buf) {
-      if (m_immutable || m_cloneable) {
+      if (m_immutable) {
         if (m_lastValue == null) {
           return null;
         }
-        if (m_immutable) {
-          return Arrays.copyOf(m_lastValue, m_lastValueLen);
-        } else {
-          try {
-            return cloneArray(m_lastValue);
-          } catch (CloneNotSupportedException e) {
-            // fall through
-          }
+        return Arrays.copyOf(m_lastValue, m_lastValueLen);
+      } else if (m_cloneable && m_lastValue != null) {
+        try {
+          return cloneArray(m_lastValue, m_lastValueLen);
+        } catch (CloneNotSupportedException e) {
+          // fall through
         }
       }
       if (m_lastValueBuf == null) {
@@ -276,11 +290,11 @@ private boolean equalsLast(Collection<T> arr) {
     return true;
   }
 
-  private T[] cloneArray(T[] in) throws CloneNotSupportedException {
+  private T[] cloneArray(T[] in, int len) throws CloneNotSupportedException {
     Struct<T> s = m_buf.getStruct();
     @SuppressWarnings("unchecked")
-    T[] arr = (T[]) Array.newInstance(s.getTypeClass(), in.length);
-    for (int i = 0; i < in.length; i++) {
+    T[] arr = (T[]) Array.newInstance(s.getTypeClass(), len);
+    for (int i = 0; i < len; i++) {
       arr[i] = s.clone(in[i]);
     }
     return arr;
@@ -302,7 +316,7 @@ private void copyToLast(T[] value) throws CloneNotSupportedException {
       if (m_immutable) {
         m_lastValue = Arrays.copyOf(value, value.length);
       } else {
-        m_lastValue = cloneArray(value);
+        m_lastValue = cloneArray(value, value.length);
       }
     } else {
       if (m_immutable) {

diff --git a/wpiutil/src/main/java/edu/wpi/first/util/datalog/StructLogEntry.java b/wpiutil/src/main/java/edu/wpi/first/util/datalog/StructLogEntry.java
@@ -142,6 +142,22 @@ public void update(T value) {
     update(value, 0);
   }
 
+  /**
+   * Gets whether there is a last value.
+   *
+   * @return True if last value exists, false otherwise.
+   */
+  public boolean hasLastValue() {
+    synchronized (m_buf) {
+      if (m_immutable) {
+        return m_lastValue != null;
+      } else if (m_cloneable && m_lastValue != null) {
+        return true;
+      }
+      return m_lastValueBuf != null;
+    }
+  }
+
   /**
    * Gets the last value.
    *
@@ -151,11 +167,7 @@ public T getLastValue() {
     synchronized (m_buf) {
       if (m_immutable) {
         return m_lastValue;
-      }
-      if (m_cloneable) {
-        if (m_lastValue == null) {
-          return null;
-        }
+      } else if (m_cloneable && m_lastValue != null) {
         try {
           return m_buf.getStruct().clone(m_lastValue);
         } catch (CloneNotSupportedException e) {