[wpilib] Add usage reporting for dashboards as instances (#7294)

Detects dashboards based on network tables client identity.

hal/src/generate/Instances.txt

@@ -52,3 +52,12 @@ kKinematics_SwerveDrive = 3
 kOdometry_DifferentialDrive = 1
 kOdometry_MecanumDrive = 2
 kOdometry_SwerveDrive = 3
+kDashboard_Unknown = 1
+kDashboard_Glass = 2
+kDashboard_SmartDashboard = 3
+kDashboard_Shuffleboard = 4
+kDashboard_Elastic = 5
+kDashboard_LabVIEW = 6
+kDashboard_AdvantageScope = 7
+kDashboard_QFRCDashboard = 8
+kDashboard_FRCWebComponents = 9

hal/src/generated/main/java/edu/wpi/first/hal/FRCNetComm.java

@@ -369,6 +369,24 @@ public final class FRCNetComm {
     public static final int kOdometry_MecanumDrive = 2;
     /** kOdometry_SwerveDrive = 3. */
     public static final int kOdometry_SwerveDrive = 3;
+    /** kDashboard_Unknown = 1. */
+    public static final int kDashboard_Unknown = 1;
+    /** kDashboard_Glass = 2. */
+    public static final int kDashboard_Glass = 2;
+    /** kDashboard_SmartDashboard = 3. */
+    public static final int kDashboard_SmartDashboard = 3;
+    /** kDashboard_Shuffleboard = 4. */
+    public static final int kDashboard_Shuffleboard = 4;
+    /** kDashboard_Elastic = 5. */
+    public static final int kDashboard_Elastic = 5;
+    /** kDashboard_LabVIEW = 6. */
+    public static final int kDashboard_LabVIEW = 6;
+    /** kDashboard_AdvantageScope = 7. */
+    public static final int kDashboard_AdvantageScope = 7;
+    /** kDashboard_QFRCDashboard = 8. */
+    public static final int kDashboard_QFRCDashboard = 8;
+    /** kDashboard_FRCWebComponents = 9. */
+    public static final int kDashboard_FRCWebComponents = 9;
   }
 
   /** Utility class. */

hal/src/generated/main/native/include/hal/FRCUsageReporting.h

@@ -223,6 +223,15 @@ namespace HALUsageReporting {
     kOdometry_DifferentialDrive = 1,
     kOdometry_MecanumDrive = 2,
     kOdometry_SwerveDrive = 3,
+    kDashboard_Unknown = 1,
+    kDashboard_Glass = 2,
+    kDashboard_SmartDashboard = 3,
+    kDashboard_Shuffleboard = 4,
+    kDashboard_Elastic = 5,
+    kDashboard_LabVIEW = 6,
+    kDashboard_AdvantageScope = 7,
+    kDashboard_QFRCDashboard = 8,
+    kDashboard_FRCWebComponents = 9,
   };
 }
 #endif

hal/src/generated/main/native/include/hal/UsageReporting.h

@@ -196,6 +196,15 @@ typedef enum
     kOdometry_DifferentialDrive = 1,
     kOdometry_MecanumDrive = 2,
     kOdometry_SwerveDrive = 3,
+    kDashboard_Unknown = 1,
+    kDashboard_Glass = 2,
+    kDashboard_SmartDashboard = 3,
+    kDashboard_Shuffleboard = 4,
+    kDashboard_Elastic = 5,
+    kDashboard_LabVIEW = 6,
+    kDashboard_AdvantageScope = 7,
+    kDashboard_QFRCDashboard = 8,
+    kDashboard_FRCWebComponents = 9,
 } tInstances;
 
 /**

wpilibc/src/main/native/cppcs/RobotBase.cpp

@@ -10,11 +10,13 @@
 
 #include <cstdio>
 #include <memory>
+#include <string>
 #include <utility>
 
 #include <cameraserver/CameraServerShared.h>
 #include <hal/FRCUsageReporting.h>
 #include <hal/HALBase.h>
+#include <networktables/NetworkTable.h>
 #include <networktables/NetworkTableInstance.h>
 #include <wpi/print.h>
 #include <wpi/timestamp.h>
@@ -249,6 +251,66 @@ RobotBase::RobotBase() {
     }
   }
 
+  connListenerHandle = inst.AddConnectionListener(false, [&](const nt::Event&
+                                                                 event) {
+    if (event.Is(nt::EventFlags::kConnected)) {
+      if (event.GetConnectionInfo()->remote_id.starts_with("glass")) {
+        HAL_Report(HALUsageReporting::kResourceType_Dashboard,
+                   HALUsageReporting::kDashboard_Glass);
+        m_dashboardDetected = true;
+      } else if (event.GetConnectionInfo()->remote_id.starts_with(
+                     "SmartDashboard")) {
+        HAL_Report(HALUsageReporting::kResourceType_Dashboard,
+                   HALUsageReporting::kDashboard_SmartDashboard);
+        m_dashboardDetected = true;
+      } else if (event.GetConnectionInfo()->remote_id.starts_with(
+                     "shuffleboard")) {
+        HAL_Report(HALUsageReporting::kResourceType_Dashboard,
+                   HALUsageReporting::kDashboard_Shuffleboard);
+        m_dashboardDetected = true;
+      } else if (event.GetConnectionInfo()->remote_id.starts_with("elastic") ||
+                 event.GetConnectionInfo()->remote_id.starts_with("Elastic")) {
+        HAL_Report(HALUsageReporting::kResourceType_Dashboard,
+                   HALUsageReporting::kDashboard_Elastic);
+        m_dashboardDetected = true;
+      } else if (event.GetConnectionInfo()->remote_id.starts_with(
+                     "Dashboard")) {
+        HAL_Report(HALUsageReporting::kResourceType_Dashboard,
+                   HALUsageReporting::kDashboard_LabVIEW);
+        m_dashboardDetected = true;
+      } else if (event.GetConnectionInfo()->remote_id.starts_with(
+                     "AdvantageScope")) {
+        HAL_Report(HALUsageReporting::kResourceType_Dashboard,
+                   HALUsageReporting::kDashboard_AdvantageScope);
+        m_dashboardDetected = true;
+      } else if (event.GetConnectionInfo()->remote_id.starts_with(
+                     "QFRCDashboard")) {
+        HAL_Report(HALUsageReporting::kResourceType_Dashboard,
+                   HALUsageReporting::kDashboard_QFRCDashboard);
+        m_dashboardDetected = true;
+      } else if (event.GetConnectionInfo()->remote_id.starts_with(
+                     "FRC Web Components")) {
+        HAL_Report(HALUsageReporting::kResourceType_Dashboard,
+                   HALUsageReporting::kDashboard_FRCWebComponents);
+        m_dashboardDetected = true;
+      } else {
+        if (!m_dashboardDetected) {
+          size_t delim = event.GetConnectionInfo()->remote_id.find('@');
+          if (delim != std::string::npos) {
+            HAL_Report(
+                HALUsageReporting::kResourceType_Dashboard,
+                HALUsageReporting::kDashboard_Unknown, 0,
+                event.GetConnectionInfo()->remote_id.substr(0, delim).c_str());
+          } else {
+            HAL_Report(HALUsageReporting::kResourceType_Dashboard,
+                       HALUsageReporting::kDashboard_Unknown, 0,
+                       event.GetConnectionInfo()->remote_id.c_str());
+          }
+        }
+      }
+    }
+  });
+
   SmartDashboard::init();
 
   if constexpr (!IsSimulation()) {

wpilibc/src/main/native/include/frc/RobotBase.h

@@ -10,6 +10,7 @@
 #include <hal/DriverStation.h>
 #include <hal/HALBase.h>
 #include <hal/Main.h>
+#include <networktables/NetworkTable.h>
 #include <wpi/RuntimeCheck.h>
 #include <wpi/condition_variable.h>
 #include <wpi/mutex.h>
@@ -274,6 +275,8 @@ class RobotBase {
   RobotBase& operator=(RobotBase&&) = default;
 
   static std::thread::id m_threadId;
+  NT_Listener connListenerHandle;
+  bool m_dashboardDetected = false;
 };
 
 }  // namespace frc

wpilibj/src/main/java/edu/wpi/first/wpilibj/RobotBase.java

@@ -14,6 +14,7 @@ import edu.wpi.first.math.MathShared;
 import edu.wpi.first.math.MathSharedStore;
 import edu.wpi.first.math.MathUsageId;
 import edu.wpi.first.networktables.MultiSubscriber;
+import edu.wpi.first.networktables.NetworkTableEvent;
 import edu.wpi.first.networktables.NetworkTableInstance;
 import edu.wpi.first.util.WPIUtilJNI;
 import edu.wpi.first.wpilibj.livewindow.LiveWindow;
@@ -43,6 +44,10 @@ public abstract class RobotBase implements AutoCloseable {
 
   private final MultiSubscriber m_suball;
 
+  private final int m_connListenerHandle;
+
+  private boolean m_dashboardDetected;
+
   private static void setupCameraServerShared() {
     CameraServerShared shared =
         new CameraServerShared() {
@@ -158,6 +163,65 @@ public abstract class RobotBase implements AutoCloseable {
       System.err.println("timed out while waiting for NT server to start");
     }
 
+    m_connListenerHandle =
+        inst.addConnectionListener(
+            false,
+            event -> {
+              if (event.is(NetworkTableEvent.Kind.kConnected)) {
+                if (event.connInfo.remote_id.startsWith("glass")) {
+                  HAL.report(tResourceType.kResourceType_Dashboard, tInstances.kDashboard_Glass);
+                  m_dashboardDetected = true;
+                } else if (event.connInfo.remote_id.startsWith("SmartDashboard")) {
+                  HAL.report(
+                      tResourceType.kResourceType_Dashboard, tInstances.kDashboard_SmartDashboard);
+                  m_dashboardDetected = true;
+                } else if (event.connInfo.remote_id.startsWith("shuffleboard")) {
+                  HAL.report(
+                      tResourceType.kResourceType_Dashboard, tInstances.kDashboard_Shuffleboard);
+                  m_dashboardDetected = true;
+                } else if (event.connInfo.remote_id.startsWith("elastic")
+                    || event.connInfo.remote_id.startsWith("Elastic")) {
+                  HAL.report(tResourceType.kResourceType_Dashboard, tInstances.kDashboard_Elastic);
+                  m_dashboardDetected = true;
+                } else if (event.connInfo.remote_id.startsWith("Dashboard")) {
+                  HAL.report(tResourceType.kResourceType_Dashboard, tInstances.kDashboard_LabVIEW);
+                  m_dashboardDetected = true;
+                } else if (event.connInfo.remote_id.startsWith("AdvantageScope")) {
+                  HAL.report(
+                      tResourceType.kResourceType_Dashboard, tInstances.kDashboard_AdvantageScope);
+                  m_dashboardDetected = true;
+                } else if (event.connInfo.remote_id.startsWith("QFRCDashboard")) {
+                  HAL.report(
+                      tResourceType.kResourceType_Dashboard, tInstances.kDashboard_QFRCDashboard);
+                  m_dashboardDetected = true;
+                } else if (event.connInfo.remote_id.startsWith("FRC Web Components")) {
+                  HAL.report(
+                      tResourceType.kResourceType_Dashboard,
+                      tInstances.kDashboard_FRCWebComponents);
+                  m_dashboardDetected = true;
+                } else {
+                  // Only report unknown if there wasn't another dashboard already reported
+                  // (unknown could also be another device)
+                  if (!m_dashboardDetected) {
+                    int delim = event.connInfo.remote_id.indexOf('@');
+                    if (delim != -1) {
+                      HAL.report(
+                          tResourceType.kResourceType_Dashboard,
+                          tInstances.kDashboard_Unknown,
+                          0,
+                          event.connInfo.remote_id.substring(0, delim));
+                    } else {
+                      HAL.report(
+                          tResourceType.kResourceType_Dashboard,
+                          tInstances.kDashboard_Unknown,
+                          0,
+                          event.connInfo.remote_id);
+                    }
+                  }
+                }
+              }
+            });
+
     LiveWindow.setEnabled(false);
     Shuffleboard.disableActuatorWidgets();
   }
@@ -174,6 +238,7 @@ public abstract class RobotBase implements AutoCloseable {
   @Override
   public void close() {
     m_suball.close();
+    NetworkTableInstance.getDefault().removeListener(m_connListenerHandle);
   }
 
   /**