wpilog 0.1.2

An implementation of WPI's DataLog spec
Documentation 
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143

use std::{path::PathBuf, collections::HashMap, fs::File};

use frc_value::{FrcValue, FrcBinaryFormats};

use crate::{log::{CreateDataLogConfig, DataLog, OpenDataLogConfig, IOType, DatalogStrType}, util::UInts, records::{Record, DataRecord}, now};

#[test]
fn test_uint_enum() {
    let val = 10u32;
    let min_size_val = UInts::from(val).get_min_size();
    assert_eq!(min_size_val.get_byte_count(), 1);

    let bytes = UInts::from(1u8).to_binary();
    assert_eq!(bytes.len(), 1);
    assert_eq!(bytes[0], 1u8);

    let timestamp = now();
    let min_size_timestamp = UInts::from(timestamp).get_min_size();
    assert_eq!(min_size_timestamp.get_byte_count(), 8);
    assert!(timestamp < now() + 1000*1000);

    let bytes = UInts::from(timestamp).to_binary();
    assert_eq!(bytes.len(), 8);

    let decoded_timestamp = UInts::from_binary(bytes);
    assert_eq!(u64::from(decoded_timestamp), u64::from(min_size_timestamp));
}

fn test_record_type(payload: FrcValue) {
    let timestamp = now();
    let entry_id = 2u32.pow(24);
    let timestamp_size = UInts::from(timestamp).get_min_size().get_byte_count();
    let entry_id_size = UInts::from(entry_id).get_min_size().get_byte_count();
    let data_record = DataRecord::from(payload.clone());
    let payload_package_size = data_record.binary_payload_size();
    let payload_len_size = UInts::from(payload_package_size as u32).get_min_size().get_byte_count();
    let record = Record::Data(data_record, timestamp, entry_id);
    let bytes = record.to_binary();
    assert_eq!(bytes.len(),
        1 /*bit field */
        + entry_id_size
        + payload_len_size
        + timestamp_size
        + payload_package_size);

    let entry_type_map = HashMap::from([(entry_id, payload.get_data_type())]);
    let rerecord = Record::from_binary(bytes, &entry_type_map).unwrap();
    assert_eq!(rerecord.is_data(), record.is_data());
    assert_eq!(rerecord.get_id(), record.get_id());
    assert_eq!(rerecord.get_timestamp(), record.get_timestamp());
    assert_eq!(
        FrcValue::from(rerecord.as_data().unwrap().clone()),
        FrcValue::from(record.as_data().unwrap().clone()));
}

#[test]
fn test_record_types() {
    test_record_type(FrcValue::Boolean(true));
    test_record_type(FrcValue::Int(10));
    test_record_type(FrcValue::Float(10.0));
    test_record_type(FrcValue::Double(10.0));
    test_record_type(FrcValue::String(String::from("owo")));
    test_record_type(FrcValue::Binary(FrcBinaryFormats::Raw(vec![1, 2, 3])));
    test_record_type(FrcValue::BooleanArray(vec![true, false, true]));
    test_record_type(FrcValue::IntArray(vec![1, 2, 3]));
    test_record_type(FrcValue::FloatArray(vec![1.0, 2.0, 3.0]));
    test_record_type(FrcValue::DoubleArray(vec![1.0, 2.0, 3.0]));
    test_record_type(FrcValue::StringArray(vec![String::from("owo"), String::from("uwu")]));
} 

#[test]
fn basic_le_byte_read() {
    let val: u64 = 10;
    let mut bytes = Vec::new();
    bytes.extend_from_slice(&val.to_le_bytes());

    let mut new_bytes = [0u8; 8];
    new_bytes.copy_from_slice(&bytes);
    let read_val = u64::from_le_bytes(new_bytes);
    assert_eq!(read_val, val);
}

#[test]
fn test_read_and_save() {

    tracing_subscriber::fmt::init();

    let file_path = PathBuf::from("data_log.wpilog");

    DataLog::delete(file_path.clone()).ok();

    let config = CreateDataLogConfig {
        file_path: file_path.clone(),
        metadata: String::from("owo meta data"),
    };

    let mut data_log = DataLog::create(config).unwrap();
    let entry_name = String::from("/test");
    data_log.create_entry(
        entry_name.clone(),
        String::from("double"), 
        String::from("{ metadata: true}")).unwrap();
    data_log.append_to_entry(entry_name.clone(), FrcValue::Double(10.0)).unwrap();
    data_log.append_to_entry(entry_name.clone(), FrcValue::Double(20.0)).unwrap();
    data_log.append_to_entry(entry_name.clone(), FrcValue::Double(30.0)).unwrap();
    data_log.kill_entry(entry_name.clone()).unwrap();

    let last_val = data_log.get_last_entry_value(entry_name.clone()).unwrap();
    assert_eq!(last_val.value, FrcValue::Double(30.0));

    data_log.flush().unwrap();

    //this also implicitly flushes
    drop(data_log);

    let config = OpenDataLogConfig {
        file_path: file_path.clone(),
        io_type: IOType::ReadOnly,
    };

    let data_log = DataLog::open(config).unwrap();

    let last_val = data_log.get_last_entry_value(entry_name).unwrap();
    assert_eq!(last_val.value, FrcValue::Double(30.0));

    DataLog::delete(file_path).unwrap();
}

#[test]
fn test_read() {
    let config = OpenDataLogConfig {
        file_path: "./test_logs/test.wpilog".into(),
        io_type: IOType::ReadOnly,
    };

    write_datalog_json(DataLog::open(config).unwrap());
}

fn write_datalog_json(log: DataLog) {
    let mut file = File::create("./test_logs/test.json").unwrap();
    let json = serde_json::to_string_pretty(&log.get_all_entries()).unwrap();
    std::io::Write::write_all(&mut file, json.as_bytes()).unwrap();
}