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

wpimath/src/main/java/edu/wpi/first/math/MathUsageId.java

@@ -38,4 +38,7 @@ public enum MathUsageId {
 
   /** BangBangController. */
   kController_BangBangController,
+
+  /** PathWeaver Trajectory. */
+  kTrajectory_PathWeaver,
 }

wpimath/src/main/java/edu/wpi/first/math/trajectory/TrajectoryUtil.java

@@ -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()));
   }
 

wpimath/src/main/native/cpp/trajectory/TrajectoryUtil.cpp

@@ -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>>()};
 }
 

wpimath/src/main/native/include/frc/trajectory/TrajectoryUtil.h

@@ -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

wpimath/src/main/native/include/wpimath/MathShared.h

@@ -25,6 +25,7 @@ enum class MathUsageId {
   kController_PIDController2,
   kController_ProfiledPIDController,
   kController_BangBangController,
+  kTrajectory_PathWeaver,
 };
 
 class WPILIB_DLLEXPORT MathShared {