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

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 +9,10 @@
 #include <fmt/chrono.h>
 #include <fmt/format.h>
 #include <fmt/ranges.h>
-
-#include "wpi/DataLogReader.h"
-#include "wpi/DenseMap.h"
-#include "wpi/MemoryBuffer.h"
-#include "wpi/print.h"
+#include <wpi/DenseMap.h>
+#include <wpi/MemoryBuffer.h>
+#include <wpi/datalog/DataLogReader.h>
+#include <wpi/print.h>
 
 int main(int argc, const char** argv) {
   if (argc != 2) {

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

@@ -8,8 +8,8 @@
 #include <utility>
 #include <vector>
 
-#include "wpi/DataLogBackgroundWriter.h"
-#include "wpi/print.h"
+#include <wpi/datalog/DataLogBackgroundWriter.h>
+#include <wpi/print.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;