Add an option to run without NetworkTables

.gitignore

@@ -158,3 +158,7 @@ bin/
 
 
 # End of https://www.gitignore.io/api/c++,java,linux,macos,gradle,windows,visualstudiocode
+
+# clangd
+/.cache
+compile_commands.json

URCL.json

@@ -1,25 +1,25 @@
 {
     "fileName": "URCL.json",
     "name": "URCL",
-    "version": "2024.1.0",
+    "version": "2024.2.0",
     "frcYear": "2024",
     "uuid": "84246d17-a797-4d1e-bd9f-c59cd8d2477c",
     "mavenUrls": [
-        "https://raw.githubusercontent.com/Mechanical-Advantage/URCL/2024.1.0"
+        "https://raw.githubusercontent.com/Mechanical-Advantage/URCL/2024.2.0"
     ],
     "jsonUrl": "https://raw.githubusercontent.com/Mechanical-Advantage/URCL/maven/URCL.json",
     "javaDependencies": [
         {
             "groupId": "org.littletonrobotics.urcl",
             "artifactId": "URCL-java",
-            "version": "2024.1.0"
+            "version": "2024.2.0"
         }
     ],
     "jniDependencies": [
         {
             "groupId": "org.littletonrobotics.urcl",
             "artifactId": "URCL-driver",
-            "version": "2024.1.0",
+            "version": "2024.2.0",
             "skipInvalidPlatforms": true,
             "isJar": false,
             "validPlatforms": [
@@ -34,7 +34,7 @@
         {
             "groupId": "org.littletonrobotics.urcl",
             "artifactId": "URCL-cpp",
-            "version": "2024.1.0",
+            "version": "2024.2.0",
             "libName": "URCL",
             "headerClassifier": "headers",
             "sharedLibrary": false,
@@ -49,7 +49,7 @@
         {
             "groupId": "org.littletonrobotics.urcl",
             "artifactId": "URCL-driver",
-            "version": "2024.1.0",
+            "version": "2024.2.0",
             "libName": "URCLDriver",
             "headerClassifier": "headers",
             "sharedLibrary": false,
@@ -62,4 +62,4 @@
             ]
         }
     ]
-}
+}

publish.gradle

@@ -2,7 +2,7 @@ apply plugin: 'maven-publish'
 
 ext.licenseFile = files("$rootDir/LICENSE.txt")
 
-def pubVersion = '2024.1.0'
+def pubVersion = '2024.2.0'
 
 def outputsFolder = file("$buildDir/outputs")
 

src/main/java/org/littletonrobotics/urcl/URCL.java

@@ -15,18 +15,21 @@
 
 import edu.wpi.first.networktables.NetworkTableInstance;
 import edu.wpi.first.networktables.RawPublisher;
+import edu.wpi.first.util.datalog.DataLog;
+import edu.wpi.first.util.datalog.RawLogEntry;
+import edu.wpi.first.wpilibj.DataLogManager;
 import edu.wpi.first.wpilibj.DriverStation;
 import edu.wpi.first.wpilibj.Notifier;
 
 /**
  * <h2>URCL (Unofficial REV-Compatible Logger)</h2>
- * 
+ *
  * This unofficial logger enables automatic capture of CAN traffic from REV
  * motor controllers to NetworkTables, viewable using AdvantageScope. See the
  * corresponding <a href=
  * "https://github.com/Mechanical-Advantage/AdvantageScope/blob/main/docs/REV-LOGGING.md">
  * AdvantageScope documentation</a> for more details.
- * 
+ *
  * <p>
  * <b>As this library is not an official REV tool, support queries should be
  * directed to the URCL
@@ -44,6 +47,10 @@ public class URCL {
   private static RawPublisher periodicPublisher;
   private static RawPublisher aliasesPublisher;
   private static Notifier notifier;
+  private static final DataLog datalog = DataLogManager.getLog();
+  private static RawLogEntry persistentLogEntry = new RawLogEntry(datalog, "URCL/Raw/Persistent");
+  private static RawLogEntry periodicLogEntry = new RawLogEntry(datalog, "/URCL/Raw/Periodic");
+  private static RawLogEntry aliasLogEntry = new RawLogEntry(datalog, "/URCL/Raw/Aliases");
 
   /**
    * Start capturing data from REV motor controllers to NetworkTables. This method
@@ -56,10 +63,31 @@ public static void start() {
   /**
    * Start capturing data from REV motor controllers to NetworkTables. This method
    * should only be called once.
-   * 
+   *
+   * @param withNT Whether or not to run with NetworkTables.
+   */
+  public static void start(boolean withNT) {
+    start(Map.of(), withNT);
+  }
+
+  /**
+   * Start capturing data from REV motor controllers to NetworkTables. This method
+   * should only be called once.
+   *
    * @param aliases The set of aliases mapping CAN IDs to names.
    */
   public static void start(Map<Integer, String> aliases) {
+    start(aliases, true);
+  }
+
+  /**
+   * Start capturing data from REV motor controllers to NetworkTables. This method
+   * should only be called once.
+   *
+   * @param aliases The set of aliases mapping CAN IDs to names.
+   * @param withNT Whether or not to run with NetworkTables.
+   */
+  public static void start(Map<Integer, String> aliases, boolean withNT) {
     if (running) {
       DriverStation.reportError("URCL cannot be started multiple times", true);
       return;
@@ -68,30 +96,40 @@ public static void start(Map<Integer, String> aliases) {
 
     // Update aliases buffer
     updateAliasesBuffer(aliases);
-    
+
     // Start driver
     URCLJNI.start();
     persistentBuffer = URCLJNI.getPersistentBuffer();
     periodicBuffer = URCLJNI.getPeriodicBuffer();
     persistentBuffer.order(ByteOrder.LITTLE_ENDIAN);
     periodicBuffer.order(ByteOrder.LITTLE_ENDIAN);
 
-    // Start publishers
-    persistentPublisher = NetworkTableInstance.getDefault()
+    if (withNT) {
+      // Start publishers
+      persistentPublisher = NetworkTableInstance.getDefault()
         .getRawTopic("/URCL/Raw/Persistent")
         .publish("URCLr2_persistent");
-    periodicPublisher = NetworkTableInstance.getDefault()
+      periodicPublisher = NetworkTableInstance.getDefault()
         .getRawTopic("/URCL/Raw/Periodic")
         .publish("URCLr2_periodic");
-    aliasesPublisher = NetworkTableInstance.getDefault()
+      aliasesPublisher = NetworkTableInstance.getDefault()
         .getRawTopic("/URCL/Raw/Aliases")
         .publish("URCLr2_aliases");
-    notifier = new Notifier(() -> {
-      var data = getData();
-      persistentPublisher.set(data[0]);
-      periodicPublisher.set(data[1]);
-      aliasesPublisher.set(data[2]);
-    });
+      notifier = new Notifier(() -> {
+        var data = getData();
+        persistentPublisher.set(data[0]);
+        periodicPublisher.set(data[1]);
+        aliasesPublisher.set(data[2]);
+      });
+    } else {
+      notifier = new Notifier(() -> {
+        var data = getData();
+        persistentLogEntry.append(data[0]);
+        periodicLogEntry.append(data[1]);
+        aliasLogEntry.append(data[2]);
+      });
+    }
+
     notifier.setName("URCL");
     notifier.startPeriodic(period);
   }
@@ -101,7 +139,7 @@ public static void start(Map<Integer, String> aliases) {
    * <a href=
    * "https://github.com/Mechanical-Advantage/AdvantageKit">AdvantageKit</a>. This
    * method should only be called once.
-   * 
+   *
    * @return The log supplier, to be called periodically
    */
   public static Supplier<ByteBuffer[]> startExternal() {
@@ -113,7 +151,7 @@ public static Supplier<ByteBuffer[]> startExternal() {
    * <a href=
    * "https://github.com/Mechanical-Advantage/AdvantageKit">AdvantageKit</a>. This
    * method should only be called once.
-   * 
+   *
    * @param aliases The set of aliases mapping CAN IDs to names.
    * @return The log supplier, to be called periodically
    */

src/main/java/org/littletonrobotics/urcl/URCLJNI.java

@@ -8,6 +8,7 @@
 package org.littletonrobotics.urcl;
 
 import java.io.IOException;
+import java.lang.System;
 import java.nio.ByteBuffer;
 import java.util.concurrent.atomic.AtomicBoolean;
 
@@ -18,7 +19,6 @@
  */
 public class URCLJNI {
   static boolean libraryLoaded = false;
-  static RuntimeLoader<URCLJNI> loader = null;
 
   /**
    * Helper class for determining whether or not to load the driver on static
@@ -29,7 +29,7 @@ public static class Helper {
 
     /**
      * Get whether to load the driver on static init.
-     * 
+     *
      * @return true if the driver will load on static init
      */
     public static boolean getExtractOnStaticLoad() {
@@ -38,7 +38,7 @@ public static boolean getExtractOnStaticLoad() {
 
     /**
      * Set whether to load the driver on static init.
-     * 
+     *
      * @param load the new value
      */
     public static void setExtractOnStaticLoad(boolean load) {
@@ -49,9 +49,7 @@ public static void setExtractOnStaticLoad(boolean load) {
   static {
     if (Helper.getExtractOnStaticLoad()) {
       try {
-        loader = new RuntimeLoader<>("URCLDriver", RuntimeLoader.getDefaultExtractionRoot(),
-            URCLJNI.class);
-        loader.loadLibrary();
+        RuntimeLoader.loadLibrary("URCLDriver");
       } catch (IOException ex) {
         ex.printStackTrace();
         System.exit(1);
@@ -62,32 +60,30 @@ public static void setExtractOnStaticLoad(boolean load) {
 
   /**
    * Force load the library.
-   * 
+   *
    * @throws java.io.IOException thrown if the native library cannot be found
    */
   public static synchronized void forceLoad() throws IOException {
     if (libraryLoaded) {
       return;
     }
-    loader = new RuntimeLoader<>("URCLDriver", RuntimeLoader.getDefaultExtractionRoot(),
-        URCLJNI.class);
-    loader.loadLibrary();
+    RuntimeLoader.loadLibrary("URCLDriver");
     libraryLoaded = true;
   }
 
   /** Start logging. */
   public static native void start();
 
-  /** 
+  /**
    * Get the shared buffer with persistent data.
-   * 
+   *
    * @return The shared buffer
    */
   public static native ByteBuffer getPersistentBuffer();
 
-  /** 
+  /**
    * Get the shared buffer with periodic data.
-   * 
+   *
    * @return The shared buffer
    */
   public static native ByteBuffer getPeriodicBuffer();

src/main/native/cpp/URCL.cpp

@@ -10,8 +10,10 @@
 
 #include <frc/Errors.h>
 #include <frc/Notifier.h>
+#include <frc/DataLogManager.h>
 #include <networktables/NetworkTableInstance.h>
 #include <networktables/RawTopic.h>
+#include <string_view>
 #include <wpi/DataLog.h>
 #include <units/time.h>
 #include <cstring>
@@ -26,15 +28,15 @@ static constexpr auto period = 20_ms;
 bool URCL::running = false;
 char* URCL::persistentBuffer = nullptr;
 char* URCL::periodicBuffer = nullptr;
-nt::RawPublisher URCL::persistentPublisher = 
+nt::RawPublisher URCL::persistentPublisher =
   nt::NetworkTableInstance::GetDefault()
     .GetRawTopic("/URCL/Raw/Persistent")
     .Publish("URCLr2_persistent");
-nt::RawPublisher URCL::periodicPublisher = 
+nt::RawPublisher URCL::periodicPublisher =
   nt::NetworkTableInstance::GetDefault()
     .GetRawTopic("/URCL/Raw/Periodic")
     .Publish("URCLr2_periodic");
-nt::RawPublisher URCL::aliasesPublisher = 
+nt::RawPublisher URCL::aliasesPublisher =
   nt::NetworkTableInstance::GetDefault()
     .GetRawTopic("/URCL/Raw/Aliases")
     .Publish("URCLr2_aliases");
@@ -45,7 +47,18 @@ void URCL::Start() {
   URCL::Start(aliases);
 }
 
+void URCL::Start(bool withNT) {
+  std::map<int, std::string_view> aliases;
+  URCL::Start(aliases, withNT);
+}
+
 void URCL::Start(std::map<int, std::string_view> aliases) {
+  URCL::Start(aliases, true);
+}
+
+void URCL::Start(std::map<int, std::string_view> aliases, bool withNT) {
+  URCL::withNT = withNT;
+
   if (running) {
     FRC_ReportError(frc::err::Error, "{}", "URCL cannot be started multiple times");
     return;
@@ -77,6 +90,11 @@ void URCL::Start(std::map<int, std::string_view> aliases) {
   persistentBuffer = URCLDriver_getPersistentBuffer();
   periodicBuffer = URCLDriver_getPeriodicBuffer();
 
+  persistentLogEntry = wpi::log::RawLogEntry{frc::DataLogManager::GetLog(), "/URCL/Raw/Persistent"};
+  periodicLogEntry = wpi::log::RawLogEntry{frc::DataLogManager::GetLog(), "/URCL/Raw/Periodic"};
+  aliasesLogEntry = wpi::log::RawLogEntry{frc::DataLogManager::GetLog(), "/URCL/Raw/Aliases"};
+  aliasesLogEntry.Append(aliasesVector);
+
   // Start notifier
   notifier.SetName("URCL");
   notifier.StartPeriodic(period);
@@ -92,6 +110,11 @@ void URCL::Periodic() {
   std::vector<uint8_t> periodicVector(periodicSize);
   std::memcpy(persistentVector.data(), persistentBuffer + 4, persistentVector.size());
   std::memcpy(periodicVector.data(), periodicBuffer + 4, periodicVector.size());
-  persistentPublisher.Set(persistentVector);
-  periodicPublisher.Set(periodicVector);
-}
+  if (withNT) {
+    persistentPublisher.Set(persistentVector);
+    periodicPublisher.Set(periodicVector);
+  } else {
+    persistentLogEntry.Append(persistentVector);
+    periodicLogEntry.Append(periodicVector);
+  }
+}