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[epilogue] Fix lazy logging of mutable arrays #7665

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Jan 11, 2025
Merged

[epilogue] Fix lazy logging of mutable arrays #7665

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16 changes: 8 additions & 8 deletions epilogue-runtime/src/main/java/edu/wpi/first/epilogue/logging/LazyBackend.java
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Original file line number Diff line number Diff line change
Expand Up @@ -117,7 +117,7 @@ public void log(String identifier, byte[] value) {
return;
}

m_previousValues.put(identifier, value);
m_previousValues.put(identifier, value.clone());
m_backend.log(identifier, value);
}

Expand All @@ -130,7 +130,7 @@ public void log(String identifier, int[] value) {
return;
}

m_previousValues.put(identifier, value);
m_previousValues.put(identifier, value.clone());
m_backend.log(identifier, value);
}

Expand All @@ -143,7 +143,7 @@ public void log(String identifier, long[] value) {
return;
}

m_previousValues.put(identifier, value);
m_previousValues.put(identifier, value.clone());
m_backend.log(identifier, value);
}

Expand All @@ -156,7 +156,7 @@ public void log(String identifier, float[] value) {
return;
}

m_previousValues.put(identifier, value);
m_previousValues.put(identifier, value.clone());
m_backend.log(identifier, value);
}

Expand All @@ -169,7 +169,7 @@ public void log(String identifier, double[] value) {
return;
}

m_previousValues.put(identifier, value);
m_previousValues.put(identifier, value.clone());
m_backend.log(identifier, value);
}

Expand All @@ -182,7 +182,7 @@ public void log(String identifier, boolean[] value) {
return;
}

m_previousValues.put(identifier, value);
m_previousValues.put(identifier, value.clone());
m_backend.log(identifier, value);
}

Expand All @@ -208,7 +208,7 @@ public void log(String identifier, String[] value) {
return;
}

m_previousValues.put(identifier, value);
m_previousValues.put(identifier, value.clone());
m_backend.log(identifier, value);
}

Expand All @@ -234,7 +234,7 @@ public <S> void log(String identifier, S[] value, Struct<S> struct) {
return;
}

m_previousValues.put(identifier, value);
m_previousValues.put(identifier, value.clone());
m_backend.log(identifier, value, struct);
}
}
45 changes: 45 additions & 0 deletions epilogue-runtime/src/test/java/edu/wpi/first/epilogue/logging/CustomStruct.java
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Original file line number Diff line number Diff line change
@@ -0,0 +1,45 @@
// 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.

package edu.wpi.first.epilogue.logging;

import edu.wpi.first.util.struct.Struct;
import edu.wpi.first.util.struct.StructSerializable;
import java.nio.ByteBuffer;

public record CustomStruct(int x) implements StructSerializable {
public static final Serializer struct = new Serializer();

public static final class Serializer implements Struct<CustomStruct> {
@Override
public Class<CustomStruct> getTypeClass() {
return CustomStruct.class;
}

@Override
public String getTypeName() {
return "CustomStruct";
}

@Override
public int getSize() {
return kSizeInt32;
}

@Override
public String getSchema() {
return "int32 x;";
}

@Override
public CustomStruct unpack(ByteBuffer bb) {
return new CustomStruct(bb.getInt());
}

@Override
public void pack(ByteBuffer bb, CustomStruct value) {
bb.putInt(value.x);
}
}
}
132 changes: 132 additions & 0 deletions epilogue-runtime/src/test/java/edu/wpi/first/epilogue/logging/LazyBackendTest.java
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Original file line number Diff line number Diff line change
Expand Up @@ -4,6 +4,7 @@

package edu.wpi.first.epilogue.logging;

import static org.junit.jupiter.api.Assertions.assertArrayEquals;
import static org.junit.jupiter.api.Assertions.assertEquals;
import static org.junit.jupiter.api.Assertions.assertSame;

Expand Down Expand Up @@ -53,4 +54,135 @@ void lazyInt() {
backend.getEntries());
}
}

@Test
void inPlaceByteArray() {
var backend = new TestBackend();
var lazy = new LazyBackend(backend);

byte[] arr = new byte[] {0};
lazy.log("arr", arr);

arr[0] = 1;
lazy.log("arr", arr);

assertEquals(2, backend.getEntries().size());
assertArrayEquals(new byte[] {0}, (byte[]) backend.getEntries().get(0).value());
assertArrayEquals(new byte[] {1}, (byte[]) backend.getEntries().get(1).value());
}

@Test
void inPlaceIntArray() {
var backend = new TestBackend();
var lazy = new LazyBackend(backend);

int[] arr = new int[] {0};
lazy.log("arr", arr);

arr[0] = 1;
lazy.log("arr", arr);

assertEquals(2, backend.getEntries().size());
assertArrayEquals(new int[] {0}, (int[]) backend.getEntries().get(0).value());
assertArrayEquals(new int[] {1}, (int[]) backend.getEntries().get(1).value());
}

@Test
void inPlaceLongArray() {
var backend = new TestBackend();
var lazy = new LazyBackend(backend);

long[] arr = new long[] {0};
lazy.log("arr", arr);

arr[0] = 1;
lazy.log("arr", arr);

assertEquals(2, backend.getEntries().size());
assertArrayEquals(new long[] {0}, (long[]) backend.getEntries().get(0).value());
assertArrayEquals(new long[] {1}, (long[]) backend.getEntries().get(1).value());
}

@Test
void inPlaceFloatArray() {
var backend = new TestBackend();
var lazy = new LazyBackend(backend);

float[] arr = new float[] {0};
lazy.log("arr", arr);

arr[0] = 1;
lazy.log("arr", arr);

assertEquals(2, backend.getEntries().size());
assertArrayEquals(new float[] {0}, (float[]) backend.getEntries().get(0).value());
assertArrayEquals(new float[] {1}, (float[]) backend.getEntries().get(1).value());
}

@Test
void inPlaceDoubleArray() {
var backend = new TestBackend();
var lazy = new LazyBackend(backend);

double[] arr = new double[] {0};
lazy.log("arr", arr);

arr[0] = 1;
lazy.log("arr", arr);

assertEquals(2, backend.getEntries().size());
assertArrayEquals(new double[] {0}, (double[]) backend.getEntries().get(0).value());
assertArrayEquals(new double[] {1}, (double[]) backend.getEntries().get(1).value());
}

@Test
void inPlaceBooleanArray() {
var backend = new TestBackend();
var lazy = new LazyBackend(backend);

boolean[] arr = new boolean[] {false};
lazy.log("arr", arr);

arr[0] = true;
lazy.log("arr", arr);

assertEquals(2, backend.getEntries().size());
assertArrayEquals(new boolean[] {false}, (boolean[]) backend.getEntries().get(0).value());
assertArrayEquals(new boolean[] {true}, (boolean[]) backend.getEntries().get(1).value());
}

@Test
void inPlaceStringArray() {
var backend = new TestBackend();
var lazy = new LazyBackend(backend);

String[] arr = new String[] {"0"};
lazy.log("arr", arr);

arr[0] = "1";
lazy.log("arr", arr);

assertEquals(2, backend.getEntries().size());
assertArrayEquals(new String[] {"0"}, (String[]) backend.getEntries().get(0).value());
assertArrayEquals(new String[] {"1"}, (String[]) backend.getEntries().get(1).value());
}

@Test
void inPlaceStructArray() {
var backend = new TestBackend();
var lazy = new LazyBackend(backend);

CustomStruct[] arr = new CustomStruct[] {new CustomStruct(0)};

lazy.log("arr", arr, CustomStruct.struct);

arr[0] = new CustomStruct(1);
lazy.log("arr", arr, CustomStruct.struct);

assertEquals(2, backend.getEntries().size());
assertArrayEquals(
new byte[] {0x00, 0x00, 0x00, 0x00}, (byte[]) backend.getEntries().get(0).value());
assertArrayEquals(
new byte[] {0x01, 0x00, 0x00, 0x00}, (byte[]) backend.getEntries().get(1).value());
}
}
26 changes: 17 additions & 9 deletions epilogue-runtime/src/test/java/edu/wpi/first/epilogue/logging/TestBackend.java
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Original file line number Diff line number Diff line change
Expand Up @@ -55,32 +55,32 @@ public void log(String identifier, boolean value) {

@Override
public void log(String identifier, byte[] value) {
m_entries.add(new LogEntry<>(identifier, value));
m_entries.add(new LogEntry<>(identifier, value.clone()));
}

@Override
public void log(String identifier, int[] value) {
m_entries.add(new LogEntry<>(identifier, value));
m_entries.add(new LogEntry<>(identifier, value.clone()));
}

@Override
public void log(String identifier, long[] value) {
m_entries.add(new LogEntry<>(identifier, value));
m_entries.add(new LogEntry<>(identifier, value.clone()));
}

@Override
public void log(String identifier, float[] value) {
m_entries.add(new LogEntry<>(identifier, value));
m_entries.add(new LogEntry<>(identifier, value.clone()));
}

@Override
public void log(String identifier, double[] value) {
m_entries.add(new LogEntry<>(identifier, value));
m_entries.add(new LogEntry<>(identifier, value.clone()));
}

@Override
public void log(String identifier, boolean[] value) {
m_entries.add(new LogEntry<>(identifier, value));
m_entries.add(new LogEntry<>(identifier, value.clone()));
}

@Override
Expand All @@ -90,19 +90,27 @@ public void log(String identifier, String value) {

@Override
public void log(String identifier, String[] value) {
m_entries.add(new LogEntry<>(identifier, value));
m_entries.add(new LogEntry<>(identifier, value.clone()));
}

@Override
public <S> void log(String identifier, S value, Struct<S> struct) {
var serialized = StructBuffer.create(struct).write(value).array();
var buffer = StructBuffer.create(struct).write(value).position(0);
var serialized = new byte[buffer.capacity()];
for (int i = 0; i < buffer.capacity(); i++) {
serialized[i] = buffer.get();
}

m_entries.add(new LogEntry<>(identifier, serialized));
}

@Override
public <S> void log(String identifier, S[] value, Struct<S> struct) {
var serialized = StructBuffer.create(struct).writeArray(value).array();
var buffer = StructBuffer.create(struct).writeArray(value).position(0);
var serialized = new byte[buffer.capacity()];
for (int i = 0; i < buffer.capacity(); i++) {
serialized[i] = buffer.get();
}

m_entries.add(new LogEntry<>(identifier, serialized));
}
Expand Down
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