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[hal,wpilib,wpimath] Add Usage Reporting for Choreo and PathWeaver (#7464)

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This commit is contained in:
sciencewhiz
2024-11-30 20:33:09 -08:00
committed by GitHub
parent 9807d60566
commit 892e062316
11 changed files with 39 additions and 0 deletions
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3
hal/src/generate/ResourceType.txt
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@@ -117,3 +117,6 @@ kResourceType_RevSparkFlexPWM = 115
kResourceType_BangBangController = 116
kResourceType_DataLogManager = 117
kResourceType_LoggingFramework = 118
kResourceType_ChoreoTrajectory = 119
kResourceType_ChoreoTrigger = 120
kResourceType_PathWeaverTrajectory = 121

6
hal/src/generated/main/java/edu/wpi/first/hal/FRCNetComm.java generated
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@@ -257,6 +257,12 @@ public final class FRCNetComm {
public static final int kResourceType_DataLogManager = 117;
/** kResourceType_LoggingFramework = 118. */
public static final int kResourceType_LoggingFramework = 118;
/** kResourceType_ChoreoTrajectory = 119. */
public static final int kResourceType_ChoreoTrajectory = 119;
/** kResourceType_ChoreoTrigger = 120. */
public static final int kResourceType_ChoreoTrigger = 120;
/** kResourceType_PathWeaverTrajectory = 121. */
public static final int kResourceType_PathWeaverTrajectory = 121;
}
/**

3
hal/src/generated/main/native/include/hal/FRCUsageReporting.h generated
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@@ -170,6 +170,9 @@ namespace HALUsageReporting {
kResourceType_BangBangController = 116,
kResourceType_DataLogManager = 117,
kResourceType_LoggingFramework = 118,
kResourceType_ChoreoTrajectory = 119,
kResourceType_ChoreoTrigger = 120,
kResourceType_PathWeaverTrajectory = 121,
};
enum tInstances : int32_t {
kLanguage_LabVIEW = 1,

3
hal/src/generated/main/native/include/hal/UsageReporting.h generated
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@@ -139,6 +139,9 @@ typedef enum
kResourceType_BangBangController = 116,
kResourceType_DataLogManager = 117,
kResourceType_LoggingFramework = 118,
kResourceType_ChoreoTrajectory = 119,
kResourceType_ChoreoTrigger = 120,
kResourceType_PathWeaverTrajectory = 121,
// kResourceType_MaximumID = 255,
} tResourceType;

4
wpilibc/src/main/native/cppcs/RobotBase.cpp
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@@ -142,6 +142,10 @@ class WPILibMathShared : public wpi::math::MathShared {
case wpi::math::MathUsageId::kController_BangBangController:
HAL_Report(HALUsageReporting::kResourceType_BangBangController, count);
break;
case wpi::math::MathUsageId::kTrajectory_PathWeaver:
HAL_Report(HALUsageReporting::kResourceType_PathWeaverTrajectory,
count);
break;
}
}

2
wpilibj/src/main/java/edu/wpi/first/wpilibj/RobotBase.java
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@@ -117,6 +117,8 @@ public abstract class RobotBase implements AutoCloseable {
tResourceType.kResourceType_ProfiledPIDController, count);
case kController_BangBangController -> HAL.report(
tResourceType.kResourceType_BangBangController, count);
case kTrajectory_PathWeaver -> HAL.report(
tResourceType.kResourceType_PathWeaverTrajectory, count);
default -> {
// NOP
}

3
wpimath/src/main/java/edu/wpi/first/math/MathUsageId.java
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@@ -38,4 +38,7 @@ public enum MathUsageId {
/** BangBangController. */
kController_BangBangController,
/** PathWeaver Trajectory. */
kTrajectory_PathWeaver,
}

6
wpimath/src/main/java/edu/wpi/first/math/trajectory/TrajectoryUtil.java
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@@ -4,6 +4,8 @@
package edu.wpi.first.math.trajectory;
import edu.wpi.first.math.MathSharedStore;
import edu.wpi.first.math.MathUsageId;
import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.math.jni.TrajectoryUtilJNI;
@@ -68,6 +70,8 @@ public final class TrajectoryUtil {
return elements;
}
private static int pathWeaverTrajectoryInstances;
/**
* Imports a Trajectory from a JSON file exported from PathWeaver.
*
@@ -76,6 +80,8 @@ public final class TrajectoryUtil {
* @throws IOException if reading from the file fails.
*/
public static Trajectory fromPathweaverJson(Path path) throws IOException {
MathSharedStore.reportUsage(
MathUsageId.kTrajectory_PathWeaver, ++pathWeaverTrajectoryInstances);
return createTrajectoryFromElements(TrajectoryUtilJNI.fromPathweaverJson(path.toString()));
}

4
wpimath/src/main/native/cpp/trajectory/TrajectoryUtil.cpp
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@@ -36,6 +36,10 @@ Trajectory TrajectoryUtil::FromPathweaverJson(std::string_view path) {
wpi::json json = wpi::json::parse(fileBuffer.value()->GetCharBuffer());
wpi::math::MathSharedStore::ReportUsage(
wpi::math::MathUsageId::kTrajectory_PathWeaver,
++pathWeaverTrajectoryInstances);
return Trajectory{json.get<std::vector<Trajectory::State>>()};
}

4
wpimath/src/main/native/include/frc/trajectory/TrajectoryUtil.h
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@@ -53,5 +53,9 @@ class WPILIB_DLLEXPORT TrajectoryUtil {
* @return the trajectory represented by the JSON
*/
static Trajectory DeserializeTrajectory(std::string_view jsonStr);
private:
// Usage reporting for PathWeaver Trajectory instances
inline static int pathWeaverTrajectoryInstances = 0;
};
} // namespace frc

1
wpimath/src/main/native/include/wpimath/MathShared.h
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@@ -25,6 +25,7 @@ enum class MathUsageId {
kController_PIDController2,
kController_ProfiledPIDController,
kController_BangBangController,
kTrajectory_PathWeaver,
};
class WPILIB_DLLEXPORT MathShared {