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[sysid] Load DataLog files directly for analysis (#6103)
Co-authored-by: Oblarg <emichaelbrnett@gmail.com>
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glass/src/lib/native/cpp/support/DataLogReaderThread.cpp
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,124 @@ | ||
| // 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. | ||
|
|
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| #include "glass/support/DataLogReaderThread.h" | ||
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| #include <utility> | ||
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| #include <fmt/format.h> | ||
| #include <wpi/StringExtras.h> | ||
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| using namespace glass; | ||
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| DataLogReaderThread::~DataLogReaderThread() { | ||
| if (m_thread.joinable()) { | ||
| m_active = false; | ||
| m_thread.join(); | ||
| } | ||
| } | ||
|
|
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| void DataLogReaderThread::ReadMain() { | ||
| wpi::SmallDenseMap< | ||
| int, std::pair<DataLogReaderEntry*, std::span<const uint8_t>>, 8> | ||
| schemaEntries; | ||
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| for (auto recordIt = m_reader.begin(), recordEnd = m_reader.end(); | ||
| recordIt != recordEnd; ++recordIt) { | ||
| auto& record = *recordIt; | ||
| if (!m_active) { | ||
| break; | ||
| } | ||
| ++m_numRecords; | ||
| if (record.IsStart()) { | ||
| DataLogReaderEntry data; | ||
| if (record.GetStartData(&data)) { | ||
| std::scoped_lock lock{m_mutex}; | ||
| auto& entryPtr = m_entriesById[data.entry]; | ||
| if (entryPtr) { | ||
| fmt::print("...DUPLICATE entry ID, overriding\n"); | ||
| } | ||
| auto [it, isNew] = m_entriesByName.emplace(data.name, data); | ||
| if (isNew) { | ||
| it->second.ranges.emplace_back(recordIt, recordEnd); | ||
| } | ||
| entryPtr = &it->second; | ||
| if (data.type == "structschema" || | ||
| data.type == "proto:FileDescriptorProto") { | ||
| schemaEntries.try_emplace(data.entry, entryPtr, | ||
| std::span<const uint8_t>{}); | ||
| } | ||
| sigEntryAdded(data); | ||
| } else { | ||
| fmt::print("Start(INVALID)\n"); | ||
| } | ||
| } else if (record.IsFinish()) { | ||
| int entry; | ||
| if (record.GetFinishEntry(&entry)) { | ||
| std::scoped_lock lock{m_mutex}; | ||
| auto it = m_entriesById.find(entry); | ||
| if (it == m_entriesById.end()) { | ||
| fmt::print("...ID not found\n"); | ||
| } else { | ||
| it->second->ranges.back().m_end = recordIt; | ||
| m_entriesById.erase(it); | ||
| } | ||
| } else { | ||
| fmt::print("Finish(INVALID)\n"); | ||
| } | ||
| } else if (record.IsSetMetadata()) { | ||
| wpi::log::MetadataRecordData data; | ||
| if (record.GetSetMetadataData(&data)) { | ||
| std::scoped_lock lock{m_mutex}; | ||
| auto it = m_entriesById.find(data.entry); | ||
| if (it == m_entriesById.end()) { | ||
| fmt::print("...ID not found\n"); | ||
| } else { | ||
| it->second->metadata = data.metadata; | ||
| } | ||
| } else { | ||
| fmt::print("SetMetadata(INVALID)\n"); | ||
| } | ||
| } else if (record.IsControl()) { | ||
| fmt::print("Unrecognized control record\n"); | ||
| } else { | ||
| auto it = schemaEntries.find(record.GetEntry()); | ||
| if (it != schemaEntries.end()) { | ||
| it->second.second = record.GetRaw(); | ||
| } | ||
| } | ||
| } | ||
|
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| // build schema databases | ||
| for (auto&& schemaPair : schemaEntries) { | ||
| auto name = schemaPair.second.first->name; | ||
| auto data = schemaPair.second.second; | ||
| if (data.empty()) { | ||
| continue; | ||
| } | ||
| if (wpi::starts_with(name, "NT:")) { | ||
| name = wpi::drop_front(name, 3); | ||
| } | ||
| if (wpi::starts_with(name, "/.schema/struct:")) { | ||
| auto typeStr = wpi::drop_front(name, 16); | ||
| std::string_view schema{reinterpret_cast<const char*>(data.data()), | ||
| data.size()}; | ||
| std::string err; | ||
| auto desc = m_structDb.Add(typeStr, schema, &err); | ||
| if (!desc) { | ||
| fmt::print("could not decode struct '{}' schema '{}': {}\n", name, | ||
| schema, err); | ||
| } | ||
| } else if (wpi::starts_with(name, "/.schema/proto:")) { | ||
| // protobuf descriptor handling | ||
| auto filename = wpi::drop_front(name, 15); | ||
| if (!m_protoDb.Add(filename, data)) { | ||
| fmt::print("could not decode protobuf '{}' filename '{}'\n", name, | ||
| filename); | ||
| } | ||
| } | ||
| } | ||
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| sigDone(); | ||
| m_done = true; | ||
| } |
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