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feat: add ability to add all loggable types to metadata #76

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feat: add ability to add all loggable types to metadata #76

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314 changes: 298 additions & 16 deletions junction/core/src/org/littletonrobotics/junction/Logger.java
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Original file line number Diff line number Diff line change
Expand Up @@ -62,8 +62,8 @@ public class Logger {
private static boolean running = false;
private static long cycleCount = 0;
private static LogTable entry = new LogTable(0);
private static LogTable metadataTable = new LogTable(0);
private static LogTable outputTable;
private static Map<String, String> metadata = new HashMap<>();
private static ConsoleSource console;
private static List<LoggedDashboardInput> dashboardInputs = new ArrayList<>();
private static Supplier<ByteBuffer[]> urclSupplier = null;
Expand Down Expand Up @@ -130,18 +130,7 @@ public static void registerURCL(Supplier<ByteBuffer[]> logSupplier) {
urclSupplier = logSupplier;
}

/**
* Records a metadata value. This method only works during setup before starting
* to log, then data will be recorded during the first cycle.
*
* @param key The name used to identify this metadata field.
* @param value The value of the metadata field.
*/
public static void recordMetadata(String key, String value) {
if (!running) {
metadata.put(key, value);
}
}


/**
* Causes the timestamp returned by "Timer.getFPGATimestamp()" and similar to
Expand Down Expand Up @@ -195,9 +184,10 @@ public static void start() {
}

// Record metadata
LogTable metadataTable = entry.getSubtable(replaySource == null ? "RealMetadata" : "ReplayMetadata");
for (Map.Entry<String, String> item : metadata.entrySet()) {
metadataTable.put(item.getKey(), item.getValue());
LogTable entryMetaTable = entry.getSubtable(replaySource == null ? "RealMetadata" : "ReplayMetadata");

for (Map.Entry<String, LogValue> item : metadataTable.getAll(false).entrySet()) {
entryMetaTable.put(item.getKey(), item.getValue());
}

// Start receiver thread
Expand Down Expand Up @@ -799,4 +789,296 @@ public static void recordOutput(String key, Mechanism2d value) {
}
}
}

/**
* Records a metadata value. This method only works during setup before starting
* to log, then data will be recorded during the first cycle.
*
* @param key The name used to identify this metadata field.
* @param value The value of the metadata field.
*/
public static void recordMetadata(String key, byte[] value) {
if (running) {
metadataTable.put(key, value);
}
}

/**
* Records a metadata value. This method only works during setup before starting
* to log, then data will be recorded during the first cycle.
*
* @param key The name used to identify this metadata field.
* @param value The value of the metadata field.
*/
public static void recordMetadata(String key, boolean value) {
if (running) {
metadataTable.put(key, value);
}
}

/**
* Records a metadata value. This method only works during setup before starting
* to log, then data will be recorded during the first cycle.
*
* @param key The name used to identify this metadata field.
* @param value The value of the metadata field.
*/
public static void recordMetadata(String key, int value) {
if (running) {
metadataTable.put(key, value);
}
}

/**
* Records a metadata value. This method only works during setup before starting
* to log, then data will be recorded during the first cycle.
*
* @param key The name used to identify this metadata field.
* @param value The value of the metadata field.
*/
public static void recordMetadata(String key, long value) {
if (running) {
metadataTable.put(key, value);
}
}

/**
* Records a metadata value. This method only works during setup before starting
* to log, then data will be recorded during the first cycle.
*
* @param key The name used to identify this metadata field.
* @param value The value of the metadata field.
*/
public static void recordMetadata(String key, float value) {
if (running) {
metadataTable.put(key, value);
}
}

/**
* Records a metadata value. This method only works during setup before starting
* to log, then data will be recorded during the first cycle.
*
* @param key The name used to identify this metadata field.
* @param value The value of the metadata field.
*/
public static void recordMetadata(String key, double value) {
if (running) {
metadataTable.put(key, value);
}
}

/**
* Records a metadata value. This method only works during setup before starting
* to log, then data will be recorded during the first cycle.
*
* @param key The name used to identify this metadata field.
* @param value The value of the metadata field.
*/
public static void recordMetadata(String key, String value) {
if (running) {
metadataTable.put(key, value);
}
}

/**
* Records a metadata value. This method only works during setup before starting
* to log, then data will be recorded during the first cycle.
*
* @param key The name used to identify this metadata field.
* @param value The value of the metadata field.
*/
public static <E extends Enum<E>> void recordMetadata(String key, E value) {
if (running) {
metadataTable.put(key, value);
}
}

/**
* Records a metadata value. This method only works during setup before starting
* to log, then data will be recorded during the first cycle.
*
* @param key The name used to identify this metadata field.
* @param value The value of the metadata field.
*/
public static <U extends Unit<U>> void recordMetadata(String key, Measure<U> value) {
if (running) {
metadataTable.put(key, value);
}
}

/**
* Records a metadata value. This method only works during setup before starting
* to log, then data will be recorded during the first cycle.
*
* @param key The name used to identify this metadata field.
* @param value The value of the metadata field.
*/
public static void recordMetadata(String key, boolean[] value) {
if (running) {
metadataTable.put(key, value);
}
}

/**
* Records a metadata value. This method only works during setup before starting
* to log, then data will be recorded during the first cycle.
*
* @param key The name used to identify this metadata field.
* @param value The value of the metadata field.
*/
public static void recordMetadata(String key, int[] value) {
if (running) {
metadataTable.put(key, value);
}
}

/**
* Records a metadata value. This method only works during setup before starting
* to log, then data will be recorded during the first cycle.
*
* @param key The name used to identify this metadata field.
* @param value The value of the metadata field.
*/
public static void recordMetadata(String key, long[] value) {
if (running) {
metadataTable.put(key, value);
}
}

/**
* Records a metadata value. This method only works during setup before starting
* to log, then data will be recorded during the first cycle.
*
* @param key The name used to identify this metadata field.
* @param value The value of the metadata field.
*/
public static void recordMetadata(String key, float[] value) {
if (running) {
metadataTable.put(key, value);
}
}

/**
* Records a metadata value. This method only works during setup before starting
* to log, then data will be recorded during the first cycle.
*
* @param key The name used to identify this metadata field.
* @param value The value of the metadata field.
*/
public static void recordMetadata(String key, double[] value) {
if (running) {
metadataTable.put(key, value);
}
}

/**
* Records a metadata value. This method only works during setup before starting
* to log, then data will be recorded during the first cycle.
*
* @param key The name used to identify this metadata field.
* @param value The value of the metadata field.
*/
public static void recordMetadata(String key, String[] value) {
if (running) {
metadataTable.put(key, value);
}
}

/**
* Records a metadata value. This method only works during setup before starting
* to log, then data will be recorded during the first cycle.
*
* <p>
* This method serializes a single object as a struct. Example usage:
* {@code recordMetadata("MyPose", Pose2d.struct, new Pose2d())}
*
* @param key The name used to identify this metadata field.
* @param value The value of the metadata field.
*/
public static <T> void recordMetadata(String key, Struct<T> struct, T value) {
if (running) {
metadataTable.put(key, struct, value);
}
}

/**
* Records a metadata value. This method only works during setup before starting
* to log, then data will be recorded during the first cycle.
*
* <p>
* This method serializes an array of objects as a struct. Example usage:
* {@code
* recordMetadata("MyPoses", Pose2d.struct, new Pose2d(), new Pose2d());
* recordMetadata("MyPoses", Pose2d.struct, new Pose2d[] {new Pose2d(), new
* Pose2d()});
* }
*
* @param key The name used to identify this metadata field.
* @param value The value of the metadata field.
*/
@SuppressWarnings("unchecked")
public static <T> void recordMetadata(String key, Struct<T> struct, T... value) {
if (running) {
metadataTable.put(key, struct, value);
}
}

/**
* Records a metadata value. This method only works during setup before starting
* to log, then data will be recorded during the first cycle.
*
* <p>
* This method serializes a single object as a protobuf. Protobuf should only be
* used for objects that do not support struct serialization. Example usage:
* {@code recordMetadata("MyPose", Pose2d.proto, new Pose2d())}
*
* @param key The name used to identify this metadata field.
* @param value The value of the metadata field.
*/
@SuppressWarnings("unchecked")
public static <T, MessageType extends ProtoMessage<?>> void recordMetadata(String key, Protobuf<T, MessageType> proto,
T value) {
if (running) {
metadataTable.put(key, proto, value);
}
}

/**
* Records a metadata value. This method only works during setup before starting
* to log, then data will be recorded during the first cycle.
*
* <p>
* This method serializes a single object as a struct or protobuf automatically.
* Struct is preferred if both methods are supported.
*
* @param T The type
* @param key The name used to identify this metadata field.
* @param value The value of the metadata field.
*/
@SuppressWarnings("unchecked")
public static <T extends WPISerializable> void recordMetadata(String key, T value) {
if (running) {
metadataTable.put(key, value);
}
}

/**
* Records a metadata value. This method only works during setup before starting
* to log, then data will be recorded during the first cycle.
*
* <p>
* This method serializes an array of objects as a struct automatically.
* Top-level protobuf arrays are not supported.
*
* @param T The type
* @param key The name used to identify this metadata field.
* @param value The value of the metadata field.
*/
@SuppressWarnings("unchecked")
public static <T extends StructSerializable> void recordMetadata(String key, T... value) {
if (running) {
metadataTable.put(key, value);
}
}
}