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[hal] Change usage reporting to string-based (#7763)

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This commit is contained in:
Peter Johnson
2025-02-07 12:37:23 -08:00
committed by GitHub
parent bfff891b5c
commit 764ada9b66
188 changed files with 637 additions and 2298 deletions
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4
wpimath/src/main/native/include/frc/controller/BangBangController.h
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@@ -45,8 +45,8 @@ class WPILIB_DLLEXPORT BangBangController
: m_tolerance(tolerance) {
if (!std::is_constant_evaluated()) {
++instances;
wpi::math::MathSharedStore::ReportUsage(
wpi::math::MathUsageId::kController_BangBangController, instances);
wpi::math::MathSharedStore::ReportUsage("BangBangController",
std::to_string(instances));
}
}

4
wpimath/src/main/native/include/frc/controller/PIDController.h
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@@ -74,8 +74,8 @@ class WPILIB_DLLEXPORT PIDController
if (!std::is_constant_evaluated()) {
++instances;
wpi::math::MathSharedStore::ReportUsage(
wpi::math::MathUsageId::kController_PIDController2, instances);
wpi::math::MathSharedStore::ReportUsage("PIDController",
std::to_string(instances));
wpi::SendableRegistry::Add(this, "PIDController", instances);
}
}

4
wpimath/src/main/native/include/frc/controller/ProfiledPIDController.h
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@@ -63,8 +63,8 @@ class ProfiledPIDController
m_profile{m_constraints} {
if (!std::is_constant_evaluated()) {
int instances = detail::IncrementAndGetProfiledPIDControllerInstances();
wpi::math::MathSharedStore::ReportUsage(
wpi::math::MathUsageId::kController_ProfiledPIDController, instances);
wpi::math::MathSharedStore::ReportUsage("ProfiledPIDController",
std::to_string(instances));
wpi::SendableRegistry::Add(this, "ProfiledPIDController", instances);
}
}

4
wpimath/src/main/native/include/frc/filter/LinearFilter.h
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@@ -96,8 +96,8 @@ class LinearFilter {
if (!std::is_constant_evaluated()) {
++instances;
wpi::math::MathSharedStore::ReportUsage(
wpi::math::MathUsageId::kFilter_Linear, instances);
wpi::math::MathSharedStore::ReportUsage("LinearFilter",
std::to_string(instances));
}
}

4
wpimath/src/main/native/include/frc/kinematics/DifferentialDriveKinematics.h
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@@ -41,8 +41,8 @@ class WPILIB_DLLEXPORT DifferentialDriveKinematics
constexpr explicit DifferentialDriveKinematics(units::meter_t trackWidth)
: trackWidth(trackWidth) {
if (!std::is_constant_evaluated()) {
wpi::math::MathSharedStore::ReportUsage(
wpi::math::MathUsageId::kKinematics_DifferentialDrive, 1);
wpi::math::MathSharedStore::ReportUsage("DifferentialDriveKinematics",
"");
}
}

3
wpimath/src/main/native/include/frc/kinematics/MecanumDriveKinematics.h
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@@ -66,8 +66,7 @@ class WPILIB_DLLEXPORT MecanumDriveKinematics
SetInverseKinematics(frontLeftWheel, frontRightWheel, rearLeftWheel,
rearRightWheel);
m_forwardKinematics = m_inverseKinematics.householderQr();
wpi::math::MathSharedStore::ReportUsage(
wpi::math::MathUsageId::kKinematics_MecanumDrive, 1);
wpi::math::MathSharedStore::ReportUsage("MecanumDriveKinematics", "");
}
MecanumDriveKinematics(const MecanumDriveKinematics&) = default;

6
wpimath/src/main/native/include/frc/kinematics/SwerveDriveKinematics.h
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@@ -78,8 +78,7 @@ class SwerveDriveKinematics
m_forwardKinematics = m_inverseKinematics.householderQr();
wpi::math::MathSharedStore::ReportUsage(
wpi::math::MathUsageId::kKinematics_SwerveDrive, 1);
wpi::math::MathSharedStore::ReportUsage("SwerveDriveKinematics", "");
}
explicit SwerveDriveKinematics(
@@ -95,8 +94,7 @@ class SwerveDriveKinematics
m_forwardKinematics = m_inverseKinematics.householderQr();
wpi::math::MathSharedStore::ReportUsage(
wpi::math::MathUsageId::kKinematics_SwerveDrive, 1);
wpi::math::MathSharedStore::ReportUsage("Kinematics_SwerveDrive", "");
}
SwerveDriveKinematics(const SwerveDriveKinematics&) = default;

3
wpimath/src/main/native/include/frc/kinematics/SwerveDriveOdometry.h
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@@ -48,8 +48,7 @@ class SwerveDriveOdometry
: SwerveDriveOdometry::Odometry(m_kinematicsImpl, gyroAngle,
modulePositions, initialPose),
m_kinematicsImpl(kinematics) {
wpi::math::MathSharedStore::ReportUsage(
wpi::math::MathUsageId::kOdometry_SwerveDrive, 1);
wpi::math::MathSharedStore::ReportUsage("SwerveDriveOdometry", "");
}
private:

3
wpimath/src/main/native/include/frc/kinematics/SwerveDriveOdometry3d.h
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@@ -53,8 +53,7 @@ class SwerveDriveOdometry3d
: SwerveDriveOdometry3d::Odometry3d(m_kinematicsImpl, gyroAngle,
modulePositions, initialPose),
m_kinematicsImpl(kinematics) {
wpi::math::MathSharedStore::ReportUsage(
wpi::math::MathUsageId::kOdometry_SwerveDrive, 1);
wpi::math::MathSharedStore::ReportUsage("SwerveDriveOdometry3d", "");
}
#if defined(__GNUC__) && !defined(__clang__)
#pragma GCC diagnostic pop

6
wpimath/src/main/native/include/frc/trajectory/TrapezoidProfile.h
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@@ -69,8 +69,7 @@ class TrapezoidProfile {
*/
constexpr Constraints() {
if (!std::is_constant_evaluated()) {
wpi::math::MathSharedStore::ReportUsage(
wpi::math::MathUsageId::kTrajectory_TrapezoidProfile, 1);
wpi::math::MathSharedStore::ReportUsage("TrapezoidProfile", "");
}
}
@@ -84,8 +83,7 @@ class TrapezoidProfile {
Acceleration_t maxAcceleration)
: maxVelocity{maxVelocity}, maxAcceleration{maxAcceleration} {
if (!std::is_constant_evaluated()) {
wpi::math::MathSharedStore::ReportUsage(
wpi::math::MathUsageId::kTrajectory_TrapezoidProfile, 1);
wpi::math::MathSharedStore::ReportUsage("TrapezoidProfile", "");
}
}
};

22
wpimath/src/main/native/include/wpimath/MathShared.h
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@@ -13,28 +13,14 @@
namespace wpi::math {
enum class MathUsageId {
kKinematics_DifferentialDrive,
kKinematics_MecanumDrive,
kKinematics_SwerveDrive,
kTrajectory_TrapezoidProfile,
kFilter_Linear,
kOdometry_DifferentialDrive,
kOdometry_SwerveDrive,
kOdometry_MecanumDrive,
kController_PIDController2,
kController_ProfiledPIDController,
kController_BangBangController,
kTrajectory_PathWeaver,
};
class WPILIB_DLLEXPORT MathShared {
public:
virtual ~MathShared() = default;
virtual void ReportErrorV(fmt::string_view format, fmt::format_args args) = 0;
virtual void ReportWarningV(fmt::string_view format,
fmt::format_args args) = 0;
virtual void ReportUsage(MathUsageId id, int count) = 0;
virtual void ReportUsage(std::string_view resource,
std::string_view data) = 0;
virtual units::second_t GetTimestamp() = 0;
template <typename S, typename... Args>
@@ -72,8 +58,8 @@ class WPILIB_DLLEXPORT MathSharedStore {
ReportWarningV(format, fmt::make_format_args(args...));
}
static void ReportUsage(MathUsageId id, int count) {
GetMathShared().ReportUsage(id, count);
static void ReportUsage(std::string_view resource, std::string_view data) {
GetMathShared().ReportUsage(resource, data);
}
static units::second_t GetTimestamp() {