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[wpilib] DriverStation: Add usage reporting for opmodes (#8761)

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This commit is contained in:
Zach Harel
2026-04-24 22:20:45 -04:00
committed by GitHub
parent 68a8ebfc81
commit a6425d3e1e
2 changed files with 24 additions and 0 deletions
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15
wpilibc/src/main/native/cpp/driverstation/internal/DriverStationBackend.cpp
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@@ -22,6 +22,7 @@
#include "wpi/hal/DriverStationTypes.h"
#include "wpi/hal/HAL.h"
#include "wpi/hal/Power.h"
#include "wpi/hal/UsageReporting.hpp"
#include "wpi/nt/BooleanTopic.hpp"
#include "wpi/nt/IntegerTopic.hpp"
#include "wpi/nt/NetworkTable.hpp"
@@ -677,6 +678,20 @@ void DriverStationBackend::PublishOpModes() {
options.emplace_back(option);
}
HAL_SetOpModeOptions(options.data(), options.size());
int modeCounts[HAL_ROBOT_MODE_UTILITY + 1] = {0, 0, 0, 0};
for (const auto& opMode : options) {
++modeCounts[HAL_OpMode_GetRobotMode(opMode.id)];
}
HAL_ReportUsage("OpMode/AUTONOMOUS",
std::to_string(modeCounts[HAL_ROBOT_MODE_AUTONOMOUS]));
HAL_ReportUsage("OpMode/TELEOPERATED",
std::to_string(modeCounts[HAL_ROBOT_MODE_TELEOPERATED]));
HAL_ReportUsage("OpMode/UTILITY",
std::to_string(modeCounts[HAL_ROBOT_MODE_UTILITY]));
HAL_ReportUsage("OpMode/UNKNOWN",
std::to_string(modeCounts[HAL_ROBOT_MODE_UNKNOWN]));
}
void DriverStationBackend::ClearOpModes() {

9
wpilibj/src/main/java/org/wpilib/driverstation/internal/DriverStationBackend.java
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@@ -10,6 +10,7 @@ import java.util.Optional;
import java.util.OptionalDouble;
import java.util.OptionalInt;
import java.util.concurrent.locks.ReentrantLock;
import java.util.stream.Collectors;
import org.wpilib.datalog.BooleanArrayLogEntry;
import org.wpilib.datalog.DataLog;
import org.wpilib.datalog.FloatArrayLogEntry;
@@ -1343,6 +1344,14 @@ public final class DriverStationBackend {
} finally {
m_opModesMutex.unlock();
}
var modeCounts =
m_opModes.values().stream()
.collect(Collectors.groupingBy(OpModeOption::getMode, Collectors.counting()));
for (RobotMode mode : RobotMode.values()) {
HAL.reportUsage("OpMode/" + mode, String.valueOf(modeCounts.getOrDefault(mode, 0L)));
}
}
/** Clears all operating mode options and publishes an empty list to the driver station. */