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Merge pull request #9 from shueja/fix-lazy-logging
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Fix lazy logging
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@shueja
shueja authored Jan 12, 2024
2 parents 6064048 + 3b216c8 commit 62f69ed
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Showing 6 changed files with 212 additions and 139 deletions.
86 changes: 68 additions & 18 deletions monologue/src/generate/java/DataLogger.java.jinja
View file
Original file line number Diff line number Diff line change
Expand Up @@ -4,12 +4,15 @@ import edu.wpi.first.networktables.NetworkTableInstance;
import edu.wpi.first.networktables.NTSendable;
import edu.wpi.first.wpilibj.smartdashboard.SendableBuilderImpl;
import edu.wpi.first.util.datalog.*;
import monologue.NTIntegerArrayLogEntry;
import edu.wpi.first.util.sendable.Sendable;
import edu.wpi.first.wpilibj.DataLogManager;
import java.util.Arrays;
import java.util.function.Supplier;
import java.util.function.LongConsumer;
import edu.wpi.first.util.struct.Struct;
import java.nio.ByteBuffer;
import java.nio.ByteOrder;

class DataLogger extends GenericLogger {
private DataLog log = DataLogManager.getLog();
Expand All @@ -34,8 +37,11 @@ class DataLogger extends GenericLogger {
if (value == null) {return;}
{%endif%}
{%if t.TypeName == 'IntegerArray'%}
new {{t.java.EntryName}}LogEntry(log, entryName)
new NTIntegerArrayLogEntry(log, entryName)
.append(toLongArray(value));
{%elif t.TypeName == 'LongArray'%}
new NTIntegerArrayLogEntry(log, entryName)
.append(value);
{%else%}
new {{t.java.EntryName}}LogEntry(log, entryName).append(value);
{%endif%}
Expand All @@ -45,9 +51,12 @@ class DataLogger extends GenericLogger {
public void add{{t.TypeName}}(String entryName,
{{t.java.Supplier}}valueSupplier,
LogLevel level)
{
{
{%if t.TypeName == 'IntegerArray' or t.TypeName == 'LongArray'%}
var entry = new NTIntegerArrayLogEntry(log, entryName);
{%else %}
var entry = new {{t.java.EntryName}}LogEntry(log, entryName);

{%endif%}
LongConsumer consumer;
{%if t.TypeName == 'IntegerArray'%}
if (this.isLazy()) {
Expand All @@ -60,7 +69,10 @@ class DataLogger extends GenericLogger {
var value = toLongArray(valueSupplier.get());
if (!(Arrays.equals(value, lastValue))) {
entry.append(value, timestamp);
lastValue = value;
if (lastValue.length != value.length) {
lastValue = new long[value.length];
}
System.arraycopy(value, 0, lastValue, 0, value.length);
}
}
};
Expand Down Expand Up @@ -92,7 +104,10 @@ class DataLogger extends GenericLogger {
if (!(Arrays.equals(value, lastValue))) {
{%endif%}
entry.append(value, timestamp);
lastValue = value;
if (lastValue.length != value.length) {
lastValue = new {{t.java.ComponentType}}[value.length];
}
System.arraycopy(value, 0, lastValue, 0, value.length);
}
}
};
Expand Down Expand Up @@ -163,29 +178,41 @@ class DataLogger extends GenericLogger {
NetworkTableInstance.getDefault().startEntryDataLog(DataLogManager.getLog(), path, path);
}


@Override
public <R> void addStruct(String entryName, Struct<R> struct, Supplier<? extends R> valueSupplier, LogLevel level) {
var entry = StructLogEntry.create(log, entryName, struct);

LongConsumer consumer;

if (this.isLazy()) {
var entryHandle = log.start(entryName, struct.getTypeString(), "", 0);
log.addSchema(struct, 0);
int size = struct.getSize();
consumer = new LongConsumer() {
private R lastValue = null;
private ByteBuffer value1 = ByteBuffer.allocate(size);
private ByteBuffer value2 = ByteBuffer.allocate(size);
boolean useValue1 = true;

@Override
public void accept(long timestamp) {
var value = valueSupplier.get();
if (value == null) {
return;
}
if (!(value.equals(lastValue))) {
entry.append(value, timestamp);
lastValue = value;
ByteBuffer cur = useValue1 ? value1 : value2;
cur.position(0);
struct.pack(cur, value);
cur.position(0);
// checks that the buffer segments written by the struct match.
// ByteBuffer equality looks at the content after the position,
// so both positions need to be 0 at this point.
if (!(value1.equals(value2))) {
log.appendRaw(entryHandle, cur, 0, size, timestamp);
useValue1 = !useValue1;
}
}
};
} else {
var entry = StructLogEntry.create(log, entryName, struct);
consumer = (timestamp) -> {
var value = valueSupplier.get();
if (value == null) {
Expand All @@ -203,27 +230,50 @@ class DataLogger extends GenericLogger {

@Override
public <R> void addStructArray(String entryName, Struct<R> struct, Supplier<R[]> valueSupplier, LogLevel level) {
var entry = StructArrayLogEntry.create(log, entryName, struct);

LongConsumer consumer;

if (this.isLazy()) {
var entryHandle = log.start(entryName, struct.getTypeString()+"[]", "", 0);
log.addSchema(struct, 0);
int size = struct.getSize();
consumer = new LongConsumer() {
private R[] lastValue = null;

private ByteBuffer value1 = ByteBuffer.allocate(4 * size);
private ByteBuffer value2 = ByteBuffer.allocate(4 * size);
boolean useValue1 = true;
int lastLength = 0;
@Override
public void accept(long timestamp) {
var value = valueSupplier.get();
if (value == null) {
return;
}
if (!(Arrays.deepEquals(value, lastValue))) {
entry.append(value, timestamp);
lastValue = value;
ByteBuffer cur = useValue1 ? value1 : value2;
cur.position(0);
if ((value.length * size) > cur.capacity()) {
cur =
ByteBuffer.allocateDirect(value.length * size * 2)
.order(ByteOrder.LITTLE_ENDIAN);
}
for (R v : value) {
struct.pack(cur, v);
}
cur.position(0);
cur.limit(value.length * size);
// checks that the buffer segments written by the struct match.
// ByteBuffer equality looks at the content after the position and until the limit,
// so both positions need to be 0 at this point.
if (!(
lastLength == value.length &&
value1.equals(value2)
)) {
log.appendRaw(entryHandle, cur, 0, size, timestamp);
useValue1 = !useValue1;
lastLength = value.length;
}
}
};
} else {
var entry = StructArrayLogEntry.create(log, entryName, struct);
consumer = (timestamp) -> {
var value = valueSupplier.get();
if (value == null) {
Expand Down
132 changes: 20 additions & 112 deletions monologue/src/generate/java/NTLogger.java.jinja
View file
Original file line number Diff line number Diff line change
Expand Up @@ -88,29 +88,11 @@ class NTLogger extends GenericLogger {
{%endif%}
LongConsumer consumer;
{%if t.TypeName == 'IntegerArray'%}
if (this.isLazy()) {
consumer = new LongConsumer() {
private long[] lastValue = new long[] {};
@Override
public void accept(long timestamp) {
var intarr = valueSupplier.get();
if (intarr == null) { return;}
var value = toLongArray(valueSupplier.get());
if (!(Arrays.equals(value, lastValue))) {
entry.set(value, timestamp);
lastValue = value;
}


}
};
} else {
consumer = (timestamp) -> {
var value = valueSupplier.get();
if (value == null) { return;}
entry.set(toLongArray(value), timestamp);
};
}
consumer = (timestamp) -> {
var value = valueSupplier.get();
if (value == null) { return;}
entry.set(toLongArray(value), timestamp);
};

addField(
entryName,
Expand All @@ -124,54 +106,12 @@ class NTLogger extends GenericLogger {
entry::unpublish
);
{%else%}
{%if t.java.IsArray == true%}
if (this.isLazy()) {
consumer = new LongConsumer() {
private {{t.java.ValueType}} lastValue = new {{t.java.ValueType}} {};
@Override
public void accept(long timestamp) {
var value = valueSupplier.get();
if (value == null) { return;}
{%if t.TypeName == 'StringArray'%}
if (!(Arrays.deepEquals(value, lastValue))) {
{%else%}
if (!(Arrays.equals(value, lastValue))) {
{%endif%}
entry.set(value, timestamp);
lastValue = value;
}
}
};
} else {
consumer = (timestamp) -> {
var value = valueSupplier.get();
if (value != null) {
entry.set(value, timestamp);
}
};
}
{%else%}
if (this.isLazy()) {
consumer = new LongConsumer() {
private {{t.java.ValueType}} lastValue = {{t.java.EmptyValue}};
@Override
public void accept(long timestamp) {

var value = valueSupplier.get();
if (value == null) { return; }
if (value != lastValue) {
entry.set(value, timestamp);
lastValue = value;
}
}
};
} else {
consumer = (timestamp) -> {
var value = valueSupplier.get();
if (value == null) { return; }
consumer = (timestamp) -> {
var value = valueSupplier.get();
if (value != null) {
entry.set(value, timestamp);
};
}
}
};
{%endif%}

addField(
Expand All @@ -195,28 +135,11 @@ class NTLogger extends GenericLogger {
var publisher = topic.publish();

LongConsumer consumer;

if (this.isLazy()) {
consumer = new LongConsumer() {
private R lastValue = null;
@Override
public void accept(long timestamp) {

var value = valueSupplier.get();
if (value == null) { return;}
if (!(value.equals(lastValue))) {
publisher.set(value, timestamp);
lastValue = value;
}
}
};
} else {
consumer = (timestamp) -> {
var value = valueSupplier.get();
if (value == null) { return;}
publisher.set(value, timestamp);
};
}
consumer = (timestamp) -> {
var value = valueSupplier.get();
if (value == null) { return;}
publisher.set(value, timestamp);
};

addField(
entryName,
Expand All @@ -238,26 +161,11 @@ class NTLogger extends GenericLogger {

LongConsumer consumer;

if (this.isLazy()) {
consumer = new LongConsumer() {
private R[] lastValue = null;
@Override
public void accept(long timestamp) {
var value = (R[]) valueSupplier.get();
if (value == null) {return;}
if (!(Arrays.deepEquals(value, lastValue))) {
publisher.set(value, timestamp);
lastValue = value;
}
}
};
} else {
consumer = (timestamp) -> {
var value = valueSupplier.get();
if (value == null) {return;}
publisher.set(value, timestamp);
};
}
consumer = (timestamp) -> {
var value = valueSupplier.get();
if (value == null) {return;}
publisher.set(value, timestamp);
};

addField(
entryName,
Expand Down
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