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[epilogue] Backend refactoring and interface fixes #7548

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[epilogue] Backend refactoring and interface fixes #7548

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e39552c
initial
Daniel1464 Dec 14, 2024
06b4233
Improved api
Daniel1464 Dec 14, 2024
9ed9912
Added forgotten docs
Daniel1464 Dec 14, 2024
4aadccb
Added forgotten @return
Daniel1464 Dec 14, 2024
82f929d
Reverted annotation processor changes
Daniel1464 Dec 24, 2024
3caad29
Merge remote-tracking branch 'origin/misc-epilogue-improvements' into…
Daniel1464 Dec 24, 2024
145ba62
style fixes
Daniel1464 Dec 25, 2024
c138e7b
changed no-args FileBackend constructor to boolean; removed other con…
Daniel1464 Dec 27, 2024
9b7b33a
added forgotten file
Daniel1464 Dec 27, 2024
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1 change: 1 addition & 0 deletions epilogue-runtime/build.gradle
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Original file line number Diff line number Diff line change
Expand Up @@ -13,4 +13,5 @@ dependencies {
api(project(':ntcore'))
api(project(':wpiutil'))
api(project(':wpiunits'))
api(project(':wpilibj'))
}
5 changes: 2 additions & 3 deletions epilogue-runtime/src/main/java/edu/wpi/first/epilogue/EpilogueConfiguration.java
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Original file line number Diff line number Diff line change
Expand Up @@ -5,10 +5,9 @@
package edu.wpi.first.epilogue;

import edu.wpi.first.epilogue.logging.EpilogueBackend;
import edu.wpi.first.epilogue.logging.NTEpilogueBackend;
import edu.wpi.first.epilogue.logging.NTBackend;
import edu.wpi.first.epilogue.logging.errors.ErrorHandler;
import edu.wpi.first.epilogue.logging.errors.ErrorPrinter;
import edu.wpi.first.networktables.NetworkTableInstance;
import edu.wpi.first.units.measure.Time;

/**
Expand All @@ -22,7 +21,7 @@ public class EpilogueConfiguration {
* NetworkTables. NetworkTable data can be mirrored to a log file on disk by calling {@code
* DataLogManager.start()} in your {@code robotInit} method.
*/
public EpilogueBackend backend = new NTEpilogueBackend(NetworkTableInstance.getDefault());
public EpilogueBackend backend = new NTBackend();

/**
* The period Epilogue will log at. By default this is the period that the robot runs at. This is
Expand Down
13 changes: 12 additions & 1 deletion epilogue-runtime/src/main/java/edu/wpi/first/epilogue/logging/FileBackend.java
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Original file line number Diff line number Diff line change
Expand Up @@ -22,6 +22,7 @@
import edu.wpi.first.util.datalog.StructArrayLogEntry;
import edu.wpi.first.util.datalog.StructLogEntry;
import edu.wpi.first.util.struct.Struct;
import edu.wpi.first.wpilibj.DataLogManager;
import java.util.HashMap;
import java.util.Map;
import java.util.function.BiFunction;
Expand All @@ -37,10 +38,20 @@ public class FileBackend implements EpilogueBackend {
*
* @param dataLog the data log to save data to
*/
public FileBackend(DataLog dataLog) {
FileBackend(DataLog dataLog) {
this.m_dataLog = requireNonNullParam(dataLog, "dataLog", "FileBackend");
}

/**
* Creates a new file-based backend.
*
* @param enableNtCapture enables capture of networktables data to datalog if true
*/
public FileBackend(boolean enableNtCapture) {
this.m_dataLog = DataLogManager.getLog();
DataLogManager.logNetworkTables(enableNtCapture);
}

@Override
public EpilogueBackend getNested(String path) {
return m_subLoggers.computeIfAbsent(path, k -> new NestedBackend(k, this));
Expand Down
73 changes: 71 additions & 2 deletions ...t/epilogue/logging/NTEpilogueBackend.java → ...wpi/first/epilogue/logging/NTBackend.java
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Original file line number Diff line number Diff line change
Expand Up @@ -22,13 +22,15 @@
import edu.wpi.first.util.struct.Struct;
import java.util.HashMap;
import java.util.Map;
import java.util.function.BooleanSupplier;

/**
* A backend implementation that sends data over network tables. Be careful when using this, since
* sending too much data may cause bandwidth or CPU starvation.
*/
public class NTEpilogueBackend implements EpilogueBackend {
public class NTBackend implements EpilogueBackend {
private final NetworkTableInstance m_nt;
private BooleanSupplier m_disabledSupplier;

private final Map<String, Publisher> m_publishers = new HashMap<>();
private final Map<String, NestedBackend> m_nestedBackends = new HashMap<>();
Expand All @@ -38,52 +40,92 @@ public class NTEpilogueBackend implements EpilogueBackend {
*
* @param nt the NetworkTable instance to use to send data to
*/
public NTEpilogueBackend(NetworkTableInstance nt) {
NTBackend(NetworkTableInstance nt) {
this.m_nt = nt;
}

/** Creates a logging backend that sends information to NetworkTables. */
public NTBackend() {
this.m_nt = NetworkTableInstance.getDefault();
}

/**
* Creates a new NTBackend that is disabled whenever the disabledSupplier returns true.
*
* @param disabledSupplier the disable condition for NT logging
* @return a new NTBackend
*/
public NTBackend disableWhen(BooleanSupplier disabledSupplier) {
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How is this better than just changing the backend on the fly?

if (condition()) {
  Epilogue.configure(config -> {
    config.backend = new NullBackend();
  });
}

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It's more succint, and prevents you from having to cache different kinds of backends yourself.
For instance, if you only want NT logging enabled when fms is not attached, you would have to cache a file only backend, a file and nt backend, and use an addPeriodic call.

In addition, the configure() method accepts a lambda, and if it is called every loop, it will spawn a new object every loop as well

var newBackend = new NTBackend(this.m_nt);
if (m_disabledSupplier == null) {
newBackend.m_disabledSupplier = disabledSupplier;
} else {
newBackend.m_disabledSupplier =
() -> m_disabledSupplier.getAsBoolean() || disabledSupplier.getAsBoolean();
}
return newBackend;
}

@Override
public EpilogueBackend getNested(String path) {
return m_nestedBackends.computeIfAbsent(path, k -> new NestedBackend(k, this));
}

@Override
public void log(String identifier, int value) {
if (m_disabledSupplier != null && m_disabledSupplier.getAsBoolean()) {
return;
}
((IntegerPublisher)
m_publishers.computeIfAbsent(identifier, k -> m_nt.getIntegerTopic(k).publish()))
.set(value);
}

@Override
public void log(String identifier, long value) {
if (m_disabledSupplier != null && m_disabledSupplier.getAsBoolean()) {
return;
}
((IntegerPublisher)
m_publishers.computeIfAbsent(identifier, k -> m_nt.getIntegerTopic(k).publish()))
.set(value);
}

@Override
public void log(String identifier, float value) {
if (m_disabledSupplier != null && m_disabledSupplier.getAsBoolean()) {
return;
}
((FloatPublisher)
m_publishers.computeIfAbsent(identifier, k -> m_nt.getFloatTopic(k).publish()))
.set(value);
}

@Override
public void log(String identifier, double value) {
if (m_disabledSupplier != null && m_disabledSupplier.getAsBoolean()) {
return;
}
((DoublePublisher)
m_publishers.computeIfAbsent(identifier, k -> m_nt.getDoubleTopic(k).publish()))
.set(value);
}

@Override
public void log(String identifier, boolean value) {
if (m_disabledSupplier != null && m_disabledSupplier.getAsBoolean()) {
return;
}
((BooleanPublisher)
m_publishers.computeIfAbsent(identifier, k -> m_nt.getBooleanTopic(k).publish()))
.set(value);
}

@Override
public void log(String identifier, byte[] value) {
if (m_disabledSupplier != null && m_disabledSupplier.getAsBoolean()) {
return;
}
((RawPublisher)
m_publishers.computeIfAbsent(identifier, k -> m_nt.getRawTopic(k).publish("raw")))
.set(value);
Expand All @@ -92,6 +134,9 @@ public void log(String identifier, byte[] value) {
@Override
@SuppressWarnings("PMD.UnnecessaryCastRule")
public void log(String identifier, int[] value) {
if (m_disabledSupplier != null && m_disabledSupplier.getAsBoolean()) {
return;
}
// NT backend only supports int64[], so we have to manually widen to 64 bits before sending
long[] widened = new long[value.length];

Expand All @@ -106,41 +151,59 @@ public void log(String identifier, int[] value) {

@Override
public void log(String identifier, long[] value) {
if (m_disabledSupplier != null && m_disabledSupplier.getAsBoolean()) {
return;
}
((IntegerArrayPublisher)
m_publishers.computeIfAbsent(identifier, k -> m_nt.getIntegerArrayTopic(k).publish()))
.set(value);
}

@Override
public void log(String identifier, float[] value) {
if (m_disabledSupplier != null && m_disabledSupplier.getAsBoolean()) {
return;
}
((FloatArrayPublisher)
m_publishers.computeIfAbsent(identifier, k -> m_nt.getFloatArrayTopic(k).publish()))
.set(value);
}

@Override
public void log(String identifier, double[] value) {
if (m_disabledSupplier != null && m_disabledSupplier.getAsBoolean()) {
return;
}
((DoubleArrayPublisher)
m_publishers.computeIfAbsent(identifier, k -> m_nt.getDoubleArrayTopic(k).publish()))
.set(value);
}

@Override
public void log(String identifier, boolean[] value) {
if (m_disabledSupplier != null && m_disabledSupplier.getAsBoolean()) {
return;
}
((BooleanArrayPublisher)
m_publishers.computeIfAbsent(identifier, k -> m_nt.getBooleanArrayTopic(k).publish()))
.set(value);
}

@Override
public void log(String identifier, String value) {
if (m_disabledSupplier != null && m_disabledSupplier.getAsBoolean()) {
return;
}
((StringPublisher)
m_publishers.computeIfAbsent(identifier, k -> m_nt.getStringTopic(k).publish()))
.set(value);
}

@Override
public void log(String identifier, String[] value) {
if (m_disabledSupplier != null && m_disabledSupplier.getAsBoolean()) {
return;
}
((StringArrayPublisher)
m_publishers.computeIfAbsent(identifier, k -> m_nt.getStringArrayTopic(k).publish()))
.set(value);
Expand All @@ -149,6 +212,9 @@ public void log(String identifier, String[] value) {
@Override
@SuppressWarnings("unchecked")
public <S> void log(String identifier, S value, Struct<S> struct) {
if (m_disabledSupplier != null && m_disabledSupplier.getAsBoolean()) {
return;
}
m_nt.addSchema(struct);
((StructPublisher<S>)
m_publishers.computeIfAbsent(identifier, k -> m_nt.getStructTopic(k, struct).publish()))
Expand All @@ -158,6 +224,9 @@ public <S> void log(String identifier, S value, Struct<S> struct) {
@Override
@SuppressWarnings("unchecked")
public <S> void log(String identifier, S[] value, Struct<S> struct) {
if (m_disabledSupplier != null && m_disabledSupplier.getAsBoolean()) {
return;
}
m_nt.addSchema(struct);
((StructArrayPublisher<S>)
m_publishers.computeIfAbsent(
Expand Down
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