Add usage reporting for many new things (#2184)

- new CommandScheduler
- kinematics and odometry classes
- new PIDController
- ProfiledPIDController
- TrapezoidProfile (reported in Constraints class)

Also update instances.txt to match latest NI version.

One side effect is that a couple of classes are no longer constexpr.

wpilibc/src/main/native/include/frc/controller/ProfiledPIDController.h

@@ -21,6 +21,9 @@
 #include "frc/trajectory/TrapezoidProfile.h"
 
 namespace frc {
+namespace detail {
+void ReportProfiledPIDController();
+}  // namespace detail
 
 /**
  * Implements a PID control loop whose setpoint is constrained by a trapezoid
@@ -54,7 +57,9 @@ class ProfiledPIDController
    */
   ProfiledPIDController(double Kp, double Ki, double Kd,
                         Constraints constraints, units::second_t period = 20_ms)
-      : m_controller(Kp, Ki, Kd, period), m_constraints(constraints) {}
+      : m_controller(Kp, Ki, Kd, period), m_constraints(constraints) {
+    detail::ReportProfiledPIDController();
+  }
 
   ~ProfiledPIDController() override = default;
 

wpilibc/src/main/native/include/frc/kinematics/DifferentialDriveKinematics.h

@@ -7,6 +7,7 @@
 
 #pragma once
 
+#include <hal/FRCUsageReporting.h>
 #include <units/units.h>
 
 #include "frc/kinematics/ChassisSpeeds.h"
@@ -31,8 +32,11 @@ class DifferentialDriveKinematics {
    * empirical value may be larger than the physical measured value due to
    * scrubbing effects.
    */
-  constexpr explicit DifferentialDriveKinematics(units::meter_t trackWidth)
-      : trackWidth(trackWidth) {}
+  explicit DifferentialDriveKinematics(units::meter_t trackWidth)
+      : trackWidth(trackWidth) {
+    HAL_Report(HALUsageReporting::kResourceType_Kinematics,
+               HALUsageReporting::kKinematics_DifferentialDrive);
+  }
 
   /**
    * Returns a chassis speed from left and right component velocities using

wpilibc/src/main/native/include/frc/kinematics/MecanumDriveKinematics.h

@@ -9,6 +9,7 @@
 
 #include <Eigen/Core>
 #include <Eigen/QR>
+#include <hal/FRCUsageReporting.h>
 
 #include "frc/geometry/Translation2d.h"
 #include "frc/kinematics/ChassisSpeeds.h"
@@ -63,6 +64,8 @@ class MecanumDriveKinematics {
     SetInverseKinematics(frontLeftWheel, frontRightWheel, rearLeftWheel,
                          rearRightWheel);
     m_forwardKinematics = m_inverseKinematics.householderQr();
+    HAL_Report(HALUsageReporting::kResourceType_Kinematics,
+               HALUsageReporting::kKinematics_MecanumDrive);
   }
 
   MecanumDriveKinematics(const MecanumDriveKinematics&) = default;

wpilibc/src/main/native/include/frc/kinematics/SwerveDriveKinematics.h

@@ -12,6 +12,7 @@
 
 #include <Eigen/Core>
 #include <Eigen/QR>
+#include <hal/FRCUsageReporting.h>
 #include <units/units.h>
 
 #include "frc/geometry/Rotation2d.h"
@@ -71,6 +72,9 @@ class SwerveDriveKinematics {
     }
 
     m_forwardKinematics = m_inverseKinematics.householderQr();
+
+    HAL_Report(HALUsageReporting::kResourceType_Kinematics,
+               HALUsageReporting::kKinematics_SwerveDrive);
   }
 
   SwerveDriveKinematics(const SwerveDriveKinematics&) = default;

wpilibc/src/main/native/include/frc/kinematics/SwerveDriveOdometry.inc

@@ -7,6 +7,8 @@
 
 #pragma once
 
+#include <hal/FRCUsageReporting.h>
+
 namespace frc {
 template <size_t NumModules>
 SwerveDriveOdometry<NumModules>::SwerveDriveOdometry(
@@ -15,6 +17,8 @@ SwerveDriveOdometry<NumModules>::SwerveDriveOdometry(
     : m_kinematics(kinematics), m_pose(initialPose) {
   m_previousAngle = m_pose.Rotation();
   m_gyroOffset = m_pose.Rotation() - gyroAngle;
+  HAL_Report(HALUsageReporting::kResourceType_Odometry,
+             HALUsageReporting::kOdometry_SwerveDrive);
 }
 
 template <size_t NumModules>

wpilibc/src/main/native/include/frc/trajectory/TrapezoidProfile.h

@@ -7,6 +7,7 @@
 
 #pragma once
 
+#include <hal/FRCUsageReporting.h>
 #include <units/units.h>
 
 namespace frc {
@@ -53,6 +54,13 @@ class TrapezoidProfile {
  public:
   class Constraints {
    public:
+    Constraints() {
+      HAL_Report(HALUsageReporting::kResourceType_TrapezoidProfile, 1);
+    }
+    Constraints(Velocity_t maxVelocity_, Acceleration_t maxAcceleration_)
+        : maxVelocity{maxVelocity_}, maxAcceleration{maxAcceleration_} {
+      HAL_Report(HALUsageReporting::kResourceType_TrapezoidProfile, 1);
+    }
     Velocity_t maxVelocity{0};
     Acceleration_t maxAcceleration{0};
   };