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Report cpp usage (#1045)

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This commit is contained in:
Sriman Achanta
2023-12-16 15:26:00 -05:00
committed by GitHub
parent cba4db0bce
commit 6b8882fe53
4 changed files with 21 additions and 3 deletions
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7
photon-lib/src/main/native/cpp/photon/PhotonCamera.cpp
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@@ -24,6 +24,8 @@
#include "photon/PhotonCamera.h"
#include <hal/FRCUsageReporting.h>
#include <frc/Errors.h>
#include <frc/Timer.h>
#include <opencv2/core.hpp>
@@ -69,7 +71,10 @@ PhotonCamera::PhotonCamera(nt::NetworkTableInstance instance,
rootTable->GetBooleanTopic("driverModeRequest").Publish()),
m_topicNameSubscriber(instance, PHOTON_PREFIX, {.topicsOnly = true}),
path(rootTable->GetPath()),
m_cameraName(cameraName) {}
m_cameraName(cameraName) {
HAL_Report(HALUsageReporting::kResourceType_PhotonCamera, InstanceCount);
InstanceCount++;
}
PhotonCamera::PhotonCamera(const std::string_view cameraName)
: PhotonCamera(nt::NetworkTableInstance::GetDefault(), cameraName) {}

14
photon-lib/src/main/native/cpp/photon/PhotonPoseEstimator.cpp
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@@ -24,6 +24,8 @@
#include "photon/PhotonPoseEstimator.h"
#include <hal/FRCUsageReporting.h>
#include <cmath>
#include <iostream>
#include <limits>
@@ -68,7 +70,11 @@ PhotonPoseEstimator::PhotonPoseEstimator(frc::AprilTagFieldLayout tags,
m_robotToCamera(robotToCamera),
lastPose(frc::Pose3d()),
referencePose(frc::Pose3d()),
poseCacheTimestamp(-1_s) {}
poseCacheTimestamp(-1_s) {
HAL_Report(HALUsageReporting::kResourceType_PhotonPoseEstimator,
InstanceCount);
InstanceCount++;
}
PhotonPoseEstimator::PhotonPoseEstimator(frc::AprilTagFieldLayout tags,
PoseStrategy strat, PhotonCamera&& cam,
@@ -79,7 +85,11 @@ PhotonPoseEstimator::PhotonPoseEstimator(frc::AprilTagFieldLayout tags,
m_robotToCamera(robotToCamera),
lastPose(frc::Pose3d()),
referencePose(frc::Pose3d()),
poseCacheTimestamp(-1_s) {}
poseCacheTimestamp(-1_s) {
HAL_Report(HALUsageReporting::kResourceType_PhotonPoseEstimator,
InstanceCount);
InstanceCount++;
}
void PhotonPoseEstimator::SetMultiTagFallbackStrategy(PoseStrategy strategy) {
if (strategy == MULTI_TAG_PNP_ON_COPROCESSOR ||

1
photon-lib/src/main/native/include/photon/PhotonCamera.h
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@@ -205,6 +205,7 @@ class PhotonCamera {
private:
units::second_t lastVersionCheckTime = 0_s;
inline static bool VERSION_CHECK_ENABLED = true;
inline static int InstanceCount = 0;
void VerifyVersion();
};

2
photon-lib/src/main/native/include/photon/PhotonPoseEstimator.h
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@@ -231,6 +231,8 @@ class PhotonPoseEstimator {
units::second_t poseCacheTimestamp;
inline static int InstanceCount = 0;
inline void InvalidatePoseCache() { poseCacheTimestamp = -1_s; }
std::optional<EstimatedRobotPose> Update(