Add an option to run without NetworkTables

.github/workflows/ci.yml

@@ -34,17 +34,17 @@ jobs:
 
   build-host:
     env:
-      MACOSX_DEPLOYMENT_TARGET: 12
+      MACOSX_DEPLOYMENT_TARGET: 13
     strategy:
       fail-fast: false
       matrix:
         include:
           - os: windows-2022
             artifact-name: Win64
             architecture: x64
-          - os: macos-12
+          - os: macos-14
             artifact-name: macOS
-            architecture: x64
+            architecture: aarch64
     name: "Build - ${{ matrix.artifact-name }}"
     runs-on: ${{ matrix.os }}
     steps:

.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

@@ -62,4 +62,4 @@
             ]
         }
     ]
-}
+}

build.gradle

@@ -21,19 +21,19 @@ apply from: 'config.gradle'
 
 // Apply Java configuration
 dependencies {
-    implementation 'edu.wpi.first.cscore:cscore-java:2024.+'
-    implementation 'edu.wpi.first.cameraserver:cameraserver-java:2024.+'
-    implementation 'edu.wpi.first.ntcore:ntcore-java:2024.+'
-    implementation 'edu.wpi.first.wpilibj:wpilibj-java:2024.+'
-    implementation 'edu.wpi.first.wpiutil:wpiutil-java:2024.+'
-    implementation 'edu.wpi.first.wpimath:wpimath-java:2024.+'
-    implementation 'edu.wpi.first.wpiunits:wpiunits-java:2024.+'
-    implementation 'edu.wpi.first.hal:hal-java:2024.+'
+    implementation 'edu.wpi.first.cscore:cscore-java:2025.+'
+    implementation 'edu.wpi.first.cameraserver:cameraserver-java:2025.+'
+    implementation 'edu.wpi.first.ntcore:ntcore-java:2025.+'
+    implementation 'edu.wpi.first.wpilibj:wpilibj-java:2025.+'
+    implementation 'edu.wpi.first.wpiutil:wpiutil-java:2025.+'
+    implementation 'edu.wpi.first.wpimath:wpimath-java:2025.+'
+    implementation 'edu.wpi.first.wpiunits:wpiunits-java:2025.+'
+    implementation 'edu.wpi.first.hal:hal-java:2025.+'
     implementation "org.ejml:ejml-simple:0.43.1"
     implementation "com.fasterxml.jackson.core:jackson-annotations:2.12.4"
     implementation "com.fasterxml.jackson.core:jackson-core:2.12.4"
     implementation "com.fasterxml.jackson.core:jackson-databind:2.12.4"
-    implementation 'edu.wpi.first.thirdparty.frc2024.opencv:opencv-java:4.8.0-2'
+    // implementation 'edu.wpi.first.thirdparty.frc2024.opencv:opencv-java:4.8.0-2'
 }
 
 // Set up exports properly

config.gradle

@@ -6,7 +6,7 @@ nativeUtils.withCrossRoboRIO()
 nativeUtils {
     wpi {
         configureDependencies {
-            wpiVersion = "2024.+"
+            wpiVersion = "2025.+"
             opencvYear = "frc2024"
             googleTestYear = "frc2024"
             niLibVersion = "2024.2.1"

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

@@ -15,18 +15,20 @@
 
 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.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 +46,9 @@ public class URCL {
   private static RawPublisher periodicPublisher;
   private static RawPublisher aliasesPublisher;
   private static Notifier notifier;
+  private static RawLogEntry persistentLogEntry;
+  private static RawLogEntry periodicLogEntry;
+  private static RawLogEntry aliasLogEntry;
 
   /**
    * Start capturing data from REV motor controllers to NetworkTables. This method
@@ -53,10 +58,20 @@ public static void start() {
     start(Map.of());
   }
 
+  /**
+   * Start capturing data from REV motor controllers to a Datalog. This method
+   * should only be called once.
+   *
+   * @param log the DataLog to log to.
+   */
+  public static void start(DataLog log) {
+    start(Map.of(), log);
+  }
+
   /**
    * 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) {
@@ -68,7 +83,7 @@ public static void start(Map<Integer, String> aliases) {
 
     // Update aliases buffer
     updateAliasesBuffer(aliases);
-    
+
     // Start driver
     URCLJNI.start();
     persistentBuffer = URCLJNI.getPersistentBuffer();
@@ -96,12 +111,51 @@ public static void start(Map<Integer, String> aliases) {
     notifier.startPeriodic(period);
   }
 
+  /**
+   * Start capturing data from REV motor controllers to a DataLog. This method
+   * should only be called once.
+   *
+   * @param aliases The set of aliases mapping CAN IDs to names.
+   * @param log     the DataLog to log to. Note using a DataLog means it will not
+   *                log to NetworkTables.
+   */
+  public static void start(Map<Integer, String> aliases, DataLog log) {
+    if (running) {
+      DriverStation.reportError("URCL cannot be started multiple times", true);
+      return;
+    }
+    running = true;
+
+    // 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);
+
+    persistentLogEntry = new RawLogEntry(log, "URCL/Raw/Persistent", "",
+        "URCLr2_persistent");
+    periodicLogEntry = new RawLogEntry(log, "/URCL/Raw/Periodic", "", "URCLr2_periodic");
+    aliasLogEntry = new RawLogEntry(log, "/URCL/Raw/Aliases", "", "URCLr2_aliases");
+    notifier = new Notifier(() -> {
+      var data = getData();
+      persistentLogEntry.update(data[0]);
+      periodicLogEntry.append(data[1]);
+      aliasLogEntry.update(data[2]);
+    });
+    notifier.setName("URCL");
+    notifier.startPeriodic(period);
+  }
+
   /**
    * Start capturing data from REV motor controllers to an external framework like
    * <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() {
@@ -113,17 +167,17 @@ 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
    */
   public static Supplier<ByteBuffer[]> startExternal(Map<Integer, String> aliases) {
     if (running) {
       DriverStation.reportError("URCL cannot be started multiple times", true);
       ByteBuffer[] emptyOutput = new ByteBuffer[] {
-        ByteBuffer.allocate(0),
-        ByteBuffer.allocate(0),
-        ByteBuffer.allocate(0)
+          ByteBuffer.allocate(0),
+          ByteBuffer.allocate(0),
+          ByteBuffer.allocate(0)
       };
       return () -> emptyOutput;
     }
@@ -167,9 +221,9 @@ private static ByteBuffer[] getData() {
     int persistentSize = persistentBuffer.getInt(0);
     int periodicSize = periodicBuffer.getInt(0);
     return new ByteBuffer[] {
-      persistentBuffer.slice(4, persistentSize),
-      periodicBuffer.slice(4, periodicSize),
-      aliasesBuffer
+        persistentBuffer.slice(4, persistentSize),
+        periodicBuffer.slice(4, periodicSize),
+        aliasesBuffer
     };
   }
 }

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();