[wpimath] Add BangBangController Usage Reporting (#7411)

wpilibsuite · Nov 21, 2024 · 0a3ccf9 · 0a3ccf9
1 parent d92f17b
commit 0a3ccf9
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Showing 10 changed files with 27 additions and 2 deletions.
diff --git a/hal/src/generate/ResourceType.txt b/hal/src/generate/ResourceType.txt
@@ -114,3 +114,4 @@ kResourceType_Redux_future4 = 112
 kResourceType_Redux_future5 = 113
 kResourceType_RevSparkFlexCAN = 114
 kResourceType_RevSparkFlexPWM = 115
+kResourceType_BangBangController = 116
diff --git a/hal/src/generated/main/java/edu/wpi/first/hal/FRCNetComm.java b/hal/src/generated/main/java/edu/wpi/first/hal/FRCNetComm.java
diff --git a/hal/src/generated/main/native/include/hal/FRCUsageReporting.h b/hal/src/generated/main/native/include/hal/FRCUsageReporting.h
diff --git a/hal/src/generated/main/native/include/hal/UsageReporting.h b/hal/src/generated/main/native/include/hal/UsageReporting.h
diff --git a/wpilibc/src/main/native/cppcs/RobotBase.cpp b/wpilibc/src/main/native/cppcs/RobotBase.cpp
@@ -139,6 +139,9 @@ class WPILibMathShared : public wpi::math::MathShared {
         HAL_Report(HALUsageReporting::kResourceType_ProfiledPIDController,
                    count);
         break;
+      case wpi::math::MathUsageId::kController_BangBangController:
+        HAL_Report(HALUsageReporting::kResourceType_BangBangController, count);
+        break;
     }
   }
 

diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/RobotBase.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/RobotBase.java
@@ -115,6 +115,8 @@ public void reportUsage(MathUsageId id, int count) {
                   tResourceType.kResourceType_PIDController2, count);
               case kController_ProfiledPIDController -> HAL.report(
                   tResourceType.kResourceType_ProfiledPIDController, count);
+              case kController_BangBangController -> HAL.report(
+                  tResourceType.kResourceType_BangBangController, count);
               default -> {
                 // NOP
               }

diff --git a/wpimath/src/main/java/edu/wpi/first/math/MathUsageId.java b/wpimath/src/main/java/edu/wpi/first/math/MathUsageId.java
@@ -35,4 +35,7 @@ public enum MathUsageId {
 
   /** ProfiledPIDController. */
   kController_ProfiledPIDController,
+
+  /** BangBangController. */
+  kController_BangBangController,
 }
diff --git a/wpimath/src/main/java/edu/wpi/first/math/controller/BangBangController.java b/wpimath/src/main/java/edu/wpi/first/math/controller/BangBangController.java
@@ -45,7 +45,7 @@ public BangBangController(double tolerance) {
 
     SendableRegistry.addLW(this, "BangBangController", instances);
 
-    MathSharedStore.reportUsage(MathUsageId.kController_PIDController2, instances);
+    MathSharedStore.reportUsage(MathUsageId.kController_BangBangController, instances);
   }
 
   /**

diff --git a/wpimath/src/main/native/include/frc/controller/BangBangController.h b/wpimath/src/main/native/include/frc/controller/BangBangController.h
@@ -11,6 +11,8 @@
 #include <wpi/sendable/Sendable.h>
 #include <wpi/sendable/SendableHelper.h>
 
+#include "wpimath/MathShared.h"
+
 namespace frc {
 
 /**
@@ -40,7 +42,13 @@ class WPILIB_DLLEXPORT BangBangController
    */
   constexpr explicit BangBangController(
       double tolerance = std::numeric_limits<double>::infinity())
-      : m_tolerance(tolerance) {}
+      : m_tolerance(tolerance) {
+    if (!std::is_constant_evaluated()) {
+      ++instances;
+      wpi::math::MathSharedStore::ReportUsage(
+          wpi::math::MathUsageId::kController_BangBangController, instances);
+    }
+  }
 
   /**
    * Sets the setpoint for the bang-bang controller.
@@ -127,6 +135,9 @@ class WPILIB_DLLEXPORT BangBangController
 
   double m_setpoint = 0;
   double m_measurement = 0;
+
+  // Usage reporting instances
+  inline static int instances = 0;
 };
 
 }  // namespace frc
diff --git a/wpimath/src/main/native/include/wpimath/MathShared.h b/wpimath/src/main/native/include/wpimath/MathShared.h
@@ -24,6 +24,7 @@ enum class MathUsageId {
   kOdometry_MecanumDrive,
   kController_PIDController2,
   kController_ProfiledPIDController,
+  kController_BangBangController,
 };
 
 class WPILIB_DLLEXPORT MathShared {