[choreolib] Add usage reporting (#963)

SleipnirGroup · Dec 2, 2024 · c0dd437 · c0dd437
1 parent ee7d531
commit c0dd437
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diff --git a/.styleguide b/.styleguide
@@ -19,6 +19,7 @@ includeOtherLibs {
   ^frc/
   ^frc2/
   ^gtest/
+  ^hal/
   ^units/
   ^wpi/
 }
diff --git a/choreolib/build.gradle b/choreolib/build.gradle
@@ -45,6 +45,7 @@ dependencies {
     implementation 'edu.wpi.first.wpiunits:wpiunits-java:2025.+'
     implementation 'edu.wpi.first.ntcore:ntcore-java:2025.+'
     implementation 'edu.wpi.first.ntcore:ntcore-jni:2025.+'
+    implementation 'edu.wpi.first.hal:hal-java:2025.+'
 
     api "com.fasterxml.jackson.core:jackson-annotations:2.15.2"
     api "com.fasterxml.jackson.core:jackson-core:2.15.2"

diff --git a/choreolib/src/main/java/choreo/Choreo.java b/choreolib/src/main/java/choreo/Choreo.java
@@ -19,6 +19,8 @@
 import com.google.gson.GsonBuilder;
 import com.google.gson.JsonObject;
 import com.google.gson.JsonSyntaxException;
+import edu.wpi.first.hal.FRCNetComm.tResourceType;
+import edu.wpi.first.hal.HAL;
 import edu.wpi.first.math.geometry.Pose2d;
 import edu.wpi.first.wpilibj.DriverStation;
 import edu.wpi.first.wpilibj.Filesystem;
@@ -182,9 +184,13 @@ static Trajectory<? extends TrajectorySample<?>> loadTrajectoryString(
       splits = newArray;
     }
     if (projectFile.type.equals("Swerve")) {
+      HAL.report(tResourceType.kResourceType_ChoreoTrajectory, 1);
+
       SwerveSample[] samples = GSON.fromJson(trajectoryObj.get("samples"), SwerveSample[].class);
       return new Trajectory<SwerveSample>(name, List.of(samples), List.of(splits), List.of(events));
     } else if (projectFile.type.equals("Differential")) {
+      HAL.report(tResourceType.kResourceType_ChoreoTrajectory, 2);
+
       DifferentialSample[] sampleArray =
           GSON.fromJson(trajectoryObj.get("samples"), DifferentialSample[].class);
       return new Trajectory<DifferentialSample>(

diff --git a/choreolib/src/main/java/choreo/auto/AutoFactory.java b/choreolib/src/main/java/choreo/auto/AutoFactory.java
@@ -8,6 +8,8 @@
 import choreo.trajectory.SwerveSample;
 import choreo.trajectory.Trajectory;
 import choreo.trajectory.TrajectorySample;
+import edu.wpi.first.hal.FRCNetComm.tResourceType;
+import edu.wpi.first.hal.HAL;
 import edu.wpi.first.math.geometry.Pose2d;
 import edu.wpi.first.wpilibj.DriverStation;
 import edu.wpi.first.wpilibj.RobotBase;
@@ -125,6 +127,7 @@ public <SampleType extends TrajectorySample<SampleType>> AutoFactory(
     this.bindings.merge(bindings);
     this.trajectoryLogger =
         trajectoryLogger.map(logger -> (TrajectoryLogger<? extends TrajectorySample<?>>) logger);
+    HAL.report(tResourceType.kResourceType_ChoreoTrigger, 1);
   }
 
   /**

diff --git a/choreolib/src/main/native/include/choreo/Choreo.h b/choreolib/src/main/native/include/choreo/Choreo.h
@@ -2,6 +2,7 @@
 
 #pragma once
 
+#include <concepts>
 #include <functional>
 #include <optional>
 #include <string>
@@ -14,10 +15,13 @@
 #include <frc/Filesystem.h>
 #include <frc/geometry/Pose2d.h>
 #include <frc2/command/Subsystem.h>
+#include <hal/FRCUsageReporting.h>
 #include <wpi/MemoryBuffer.h>
 #include <wpi/json.h>
 
+#include "choreo/trajectory/DifferentialSample.h"
 #include "choreo/trajectory/ProjectFile.h"
+#include "choreo/trajectory/SwerveSample.h"
 #include "choreo/trajectory/Trajectory.h"
 #include "choreo/trajectory/TrajectorySample.h"
 #include "choreo/util/AllianceFlipperUtil.h"
@@ -144,6 +148,12 @@ class Choreo {
   template <TrajectorySample SampleType>
   static std::optional<Trajectory<SampleType>> LoadTrajectoryString(
       std::string_view trajectoryJsonString, std::string_view trajectoryName) {
+    if constexpr (std::same_as<SampleType, SwerveSample>) {
+      HAL_Report(HALUsageReporting::kResourceType_ChoreoTrajectory, 1);
+    } else if constexpr (std::same_as<SampleType, DifferentialSample>) {
+      HAL_Report(HALUsageReporting::kResourceType_ChoreoTrajectory, 2);
+    }
+
     wpi::json json = wpi::json::parse(trajectoryJsonString);
     std::string version = json["version"];
     if (kSpecVersion != version) {