[hal,wpilib,wpimath] Add Usage Reporting for Choreo and PathWeaver (#…

…7464)
wpilibsuite · Dec 1, 2024 · 892e062 · 892e062
1 parent 9807d60
commit 892e062
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Showing 11 changed files with 39 additions and 0 deletions.
diff --git a/hal/src/generate/ResourceType.txt b/hal/src/generate/ResourceType.txt
@@ -117,3 +117,6 @@ kResourceType_RevSparkFlexPWM = 115
 kResourceType_BangBangController = 116
 kResourceType_DataLogManager = 117
 kResourceType_LoggingFramework = 118
+kResourceType_ChoreoTrajectory = 119
+kResourceType_ChoreoTrigger = 120
+kResourceType_PathWeaverTrajectory = 121
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
@@ -142,6 +142,10 @@ class WPILibMathShared : public wpi::math::MathShared {
       case wpi::math::MathUsageId::kController_BangBangController:
         HAL_Report(HALUsageReporting::kResourceType_BangBangController, count);
         break;
+      case wpi::math::MathUsageId::kTrajectory_PathWeaver:
+        HAL_Report(HALUsageReporting::kResourceType_PathWeaverTrajectory,
+                   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
@@ -117,6 +117,8 @@ public void reportUsage(MathUsageId id, int count) {
                   tResourceType.kResourceType_ProfiledPIDController, count);
               case kController_BangBangController -> HAL.report(
                   tResourceType.kResourceType_BangBangController, count);
+              case kTrajectory_PathWeaver -> HAL.report(
+                  tResourceType.kResourceType_PathWeaverTrajectory, 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
@@ -38,4 +38,7 @@ public enum MathUsageId {
 
   /** BangBangController. */
   kController_BangBangController,
+
+  /** PathWeaver Trajectory. */
+  kTrajectory_PathWeaver,
 }
diff --git a/wpimath/src/main/java/edu/wpi/first/math/trajectory/TrajectoryUtil.java b/wpimath/src/main/java/edu/wpi/first/math/trajectory/TrajectoryUtil.java
@@ -4,6 +4,8 @@
 
 package edu.wpi.first.math.trajectory;
 
+import edu.wpi.first.math.MathSharedStore;
+import edu.wpi.first.math.MathUsageId;
 import edu.wpi.first.math.geometry.Pose2d;
 import edu.wpi.first.math.geometry.Rotation2d;
 import edu.wpi.first.math.jni.TrajectoryUtilJNI;
@@ -68,6 +70,8 @@ private static double[] getElementsFromTrajectory(Trajectory trajectory) {
     return elements;
   }
 
+  private static int pathWeaverTrajectoryInstances;
+
   /**
    * Imports a Trajectory from a JSON file exported from PathWeaver.
    *
@@ -76,6 +80,8 @@ private static double[] getElementsFromTrajectory(Trajectory trajectory) {
    * @throws IOException if reading from the file fails.
    */
   public static Trajectory fromPathweaverJson(Path path) throws IOException {
+    MathSharedStore.reportUsage(
+        MathUsageId.kTrajectory_PathWeaver, ++pathWeaverTrajectoryInstances);
     return createTrajectoryFromElements(TrajectoryUtilJNI.fromPathweaverJson(path.toString()));
   }
 

diff --git a/wpimath/src/main/native/cpp/trajectory/TrajectoryUtil.cpp b/wpimath/src/main/native/cpp/trajectory/TrajectoryUtil.cpp
@@ -36,6 +36,10 @@ Trajectory TrajectoryUtil::FromPathweaverJson(std::string_view path) {
 
   wpi::json json = wpi::json::parse(fileBuffer.value()->GetCharBuffer());
 
+  wpi::math::MathSharedStore::ReportUsage(
+      wpi::math::MathUsageId::kTrajectory_PathWeaver,
+      ++pathWeaverTrajectoryInstances);
+
   return Trajectory{json.get<std::vector<Trajectory::State>>()};
 }
 

diff --git a/wpimath/src/main/native/include/frc/trajectory/TrajectoryUtil.h b/wpimath/src/main/native/include/frc/trajectory/TrajectoryUtil.h
@@ -53,5 +53,9 @@ class WPILIB_DLLEXPORT TrajectoryUtil {
    * @return the trajectory represented by the JSON
    */
   static Trajectory DeserializeTrajectory(std::string_view jsonStr);
+
+ private:
+  // Usage reporting for PathWeaver Trajectory instances
+  inline static int pathWeaverTrajectoryInstances = 0;
 };
 }  // namespace frc
diff --git a/wpimath/src/main/native/include/wpimath/MathShared.h b/wpimath/src/main/native/include/wpimath/MathShared.h
@@ -25,6 +25,7 @@ enum class MathUsageId {
   kController_PIDController2,
   kController_ProfiledPIDController,
   kController_BangBangController,
+  kTrajectory_PathWeaver,
 };
 
 class WPILIB_DLLEXPORT MathShared {