From 4595f84719759d71491e11e8df55d60ce2a6154c Mon Sep 17 00:00:00 2001
From: Starlight220 <53231611+Starlight220@users.noreply.github.com>
Date: Fri, 5 Jan 2024 21:57:14 +0200
Subject: [PATCH] [wpilib] Report LiveWindow-enabled-in-test (#6158)

---
 hal/src/generate/Instances.txt                            | 1 +
 .../generated/main/java/edu/wpi/first/hal/FRCNetComm.java | 2 ++
 .../generated/main/native/include/hal/FRCUsageReporting.h | 1 +
 wpilibc/src/main/native/cpp/IterativeRobotBase.cpp        | 7 +++++++
 .../java/edu/wpi/first/wpilibj/IterativeRobotBase.java    | 8 ++++++++
 5 files changed, 19 insertions(+)

diff --git a/hal/src/generate/Instances.txt b/hal/src/generate/Instances.txt
index d136bc0f52..fc27682eea 100644
--- a/hal/src/generate/Instances.txt
+++ b/hal/src/generate/Instances.txt
@@ -45,6 +45,7 @@ kADXL345_I2C = 2
 kCommand_Scheduler = 1
 kCommand2_Scheduler = 2
 kSmartDashboard_Instance = 1
+kSmartDashboard_LiveWindow = 2
 kKinematics_DifferentialDrive = 1
 kKinematics_MecanumDrive = 2
 kKinematics_SwerveDrive = 3
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
index 0a0daa0d06..0814a3d0fc 100644
--- a/hal/src/generated/main/java/edu/wpi/first/hal/FRCNetComm.java
+++ b/hal/src/generated/main/java/edu/wpi/first/hal/FRCNetComm.java
@@ -354,6 +354,8 @@ public final class FRCNetComm {
     public static final int kCommand2_Scheduler = 2;
     /** kSmartDashboard_Instance = 1. */
     public static final int kSmartDashboard_Instance = 1;
+    /** kSmartDashboard_LiveWindow = 2. */
+    public static final int kSmartDashboard_LiveWindow = 2;
     /** kKinematics_DifferentialDrive = 1. */
     public static final int kKinematics_DifferentialDrive = 1;
     /** kKinematics_MecanumDrive = 2. */
diff --git a/hal/src/generated/main/native/include/hal/FRCUsageReporting.h b/hal/src/generated/main/native/include/hal/FRCUsageReporting.h
index b25a37e21d..024ff13eb4 100644
--- a/hal/src/generated/main/native/include/hal/FRCUsageReporting.h
+++ b/hal/src/generated/main/native/include/hal/FRCUsageReporting.h
@@ -216,6 +216,7 @@ namespace HALUsageReporting {
     kCommand_Scheduler = 1,
     kCommand2_Scheduler = 2,
     kSmartDashboard_Instance = 1,
+    kSmartDashboard_LiveWindow = 2,
     kKinematics_DifferentialDrive = 1,
     kKinematics_MecanumDrive = 2,
     kKinematics_SwerveDrive = 3,
diff --git a/wpilibc/src/main/native/cpp/IterativeRobotBase.cpp b/wpilibc/src/main/native/cpp/IterativeRobotBase.cpp
index ee941b61cc..3669bce78e 100644
--- a/wpilibc/src/main/native/cpp/IterativeRobotBase.cpp
+++ b/wpilibc/src/main/native/cpp/IterativeRobotBase.cpp
@@ -8,6 +8,7 @@
 
 #include <fmt/format.h>
 #include <hal/DriverStation.h>
+#include <hal/FRCUsageReporting.h>
 #include <networktables/NetworkTableInstance.h>
 
 #include "frc/DSControlWord.h"
@@ -97,10 +98,16 @@ void IterativeRobotBase::SetNetworkTablesFlushEnabled(bool enabled) {
 }
 
 void IterativeRobotBase::EnableLiveWindowInTest(bool testLW) {
+  static bool hasReported;
   if (IsTestEnabled()) {
     throw FRC_MakeError(err::IncompatibleMode,
                         "Can't configure test mode while in test mode!");
   }
+  if (!hasReported && testLW) {
+    HAL_Report(HALUsageReporting::kResourceType_SmartDashboard,
+               HALUsageReporting::kSmartDashboard_LiveWindow);
+    hasReported = true;
+  }
   m_lwEnabledInTest = testLW;
 }
 
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/IterativeRobotBase.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/IterativeRobotBase.java
index f042545b61..12433930e5 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/IterativeRobotBase.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/IterativeRobotBase.java
@@ -5,6 +5,8 @@
 package edu.wpi.first.wpilibj;
 
 import edu.wpi.first.hal.DriverStationJNI;
+import edu.wpi.first.hal.FRCNetComm.tInstances;
+import edu.wpi.first.hal.FRCNetComm.tResourceType;
 import edu.wpi.first.hal.HAL;
 import edu.wpi.first.networktables.NetworkTableInstance;
 import edu.wpi.first.wpilibj.livewindow.LiveWindow;
@@ -257,6 +259,8 @@ public abstract class IterativeRobotBase extends RobotBase {
     m_ntFlushEnabled = enabled;
   }
 
+  private boolean m_reportedLw;
+
   /**
    * Sets whether LiveWindow operation is enabled during test mode. Calling
    *
@@ -267,6 +271,10 @@ public abstract class IterativeRobotBase extends RobotBase {
     if (isTestEnabled()) {
       throw new ConcurrentModificationException("Can't configure test mode while in test mode!");
     }
+    if (!m_reportedLw && testLW) {
+      HAL.report(tResourceType.kResourceType_SmartDashboard, tInstances.kSmartDashboard_LiveWindow);
+      m_reportedLw = true;
+    }
     m_lwEnabledInTest = testLW;
   }