[wpiutil] Use codegen for Datalog entry types

wpiutil/CMakeLists.txt

@@ -96,6 +96,7 @@ if(WITH_JAVA_SOURCE)
     file(GLOB WPIUTIL_CLEANUP_SOURCES src/main/java/edu/wpi/first/util/cleanup/*.java)
     file(GLOB WPIUTIL_CONCURRENT_SOURCES src/main/java/edu/wpi/first/util/concurrent/*.java)
     file(GLOB WPIUTIL_DATALOG_SOURCES src/main/java/edu/wpi/first/util/datalog/*.java)
+    file(GLOB WPIUTIL_DATALOG_SOURCES src/generated/main/java/edu/wpi/first/util/datalog/*.java)
     file(GLOB WPIUTIL_FUNCTION_SOURCES src/main/java/edu/wpi/first/util/function/*.java)
     file(GLOB WPIUTIL_SENDABLE_SOURCES src/main/java/edu/wpi/first/util/sendable/*.java)
     add_jar(

wpiutil/build.gradle

@@ -274,6 +274,8 @@ model {
     }
 }
 
+sourceSets.main.java.srcDir "${projectDir}/src/generated/main/java"
+
 sourceSets {
     printlog
 }

wpiutil/generate_log_entries.py

@@ -0,0 +1,68 @@
+#!/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 Dict, Any
+
+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)
+
+    env = Environment(
+        loader=FileSystemLoader(str(template_root)),
+        autoescape=False,
+        keep_trailing_newline=True,
+    )
+
+    root_path = Path(output_root) / "main/java/edu/wpi/first/util/datalog"
+    template = env.get_template(
+        "main/java/edu/wpi/first/util/datalog/LogEntry.java.jinja"
+    )
+
+    for ty in types:
+        entry_name = f"{ty['name']}LogEntry.java"
+        render_template(template, 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/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/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/generate/main/java/edu/wpi/first/util/datalog/LogEntry.java.jinja

@@ -0,0 +1,111 @@
+// 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_log_entries.py DO NOT EDIT IT MANUALLY
+
+package edu.wpi.first.util.datalog;
+
+/** Log {{ DataType }} values. */
+public class {{ name }}LogEntry extends DataLogEntry {
+  /** The data type for double 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
+   * @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);
+  }
+
+  /**
+   * 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({{ AppendType }} 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({{ AppendType }} value) {
+    update(value, 0);
+  }
+
+  /**
+   * Gets the last value.
+   *
+   * @return Last value, or 0 if none.
+   */
+  public synchronized {{ AppendType }} getLastValue() {
+    return m_lastValue;
+  }
+
+  boolean m_hasLastValue;
+  {{ AppendType }} m_lastValue;
+}

wpiutil/src/generate/types.json

@@ -0,0 +1,52 @@
+[
+  {
+    "name": "Double",
+    "DataType": "double",
+    "AppendType": "double"
+  },
+  {
+    "name": "DoubleArray",
+    "DataType": "double[]",
+    "AppendType": "double[]"
+  },
+  {
+    "name": "Float",
+    "DataType": "float",
+    "AppendType": "float"
+  },
+  {
+    "name": "FloatArray",
+    "DataType": "float[]",
+    "AppendType": "float[]"
+  },
+  {
+    "name": "Integer",
+    "DataType": "int64",
+    "AppendType": "long"
+  },
+  {
+    "name": "IntegerArray",
+    "DataType": "int64[]",
+    "AppendType": "long[]"
+  },
+  {
+    "name": "Boolean",
+    "DataType": "boolean",
+    "AppendType": "boolean"
+  },
+  {
+    "name": "BooleanArray",
+    "DataType": "boolean[]",
+    "AppendType": "boolean[]"
+  },
+  {
+    "name": "String",
+    "DataType": "String",
+    "AppendType": "String"
+  },
+  {
+    "name": "StringArray",
+    "DataType": "string[]",
+    "AppendType": "String[]"
+  }
+]