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update usage reporting to use generated values #531

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Dec 28, 2023
Merged

update usage reporting to use generated values #531

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4 changes: 2 additions & 2 deletions pathplannerlib-python/pathplannerlib/auto.py
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Original file line number Diff line number Diff line change
Expand Up @@ -13,7 +13,7 @@
from commands2.command import Command
from commands2.subsystem import Subsystem
from .config import HolonomicPathFollowerConfig, ReplanningConfig
from hal import report
from hal import report, tResourceType


class NamedCommands:
Expand Down Expand Up @@ -474,7 +474,7 @@ def __init__(self, auto_name: str):
self.setName(auto_name)

PathPlannerAuto._instances += 1
report(107, PathPlannerAuto._instances) # TODO: Use resource type when updated
report(tResourceType.kResourceType_PathPlannerAuto.value, PathPlannerAuto._instances)

@staticmethod
def getStartingPoseFromAutoFile(auto_name: str) -> Pose2d:
Expand Down
4 changes: 2 additions & 2 deletions pathplannerlib-python/pathplannerlib/commands.py
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Original file line number Diff line number Diff line change
Expand Up @@ -13,7 +13,7 @@
from typing import Callable, Tuple, List
from .config import ReplanningConfig, HolonomicPathFollowerConfig
from .pathfinding import Pathfinding
from hal import report
from hal import report, tResourceType


class FollowPathWithEvents(Command):
Expand Down Expand Up @@ -355,7 +355,7 @@ def __init__(self, constraints: PathConstraints, pose_supplier: Callable[[], Pos
self._goalEndState = GoalEndState(goal_end_vel, target_pose.rotation(), True)

PathfindingCommand._instances += 1
report(108, PathfindingCommand._instances) # TODO: Use resource type when updated
report(tResourceType.kResourceType_PathFindingCommand.value, PathfindingCommand._instances)

def initialize(self):
self._currentTrajectory = None
Expand Down
4 changes: 2 additions & 2 deletions pathplannerlib-python/pathplannerlib/path.py
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Expand Up @@ -11,7 +11,7 @@
from .geometry_util import decimal_range, cubicLerp, calculateRadius
from .trajectory import PathPlannerTrajectory, State
from wpilib import getDeployDirectory
from hal import report
from hal import report, tResourceType
import os
import json

Expand Down Expand Up @@ -364,7 +364,7 @@ def __init__(self, bezier_points: List[Translation2d], constraints: PathConstrai
self._previewStartingRotation = preview_starting_rotation

PathPlannerPath._instances += 1
report(106, PathPlannerPath._instances) # TODO: Use resource type when updated
report(tResourceType.kResourceType_PathPlannerPath.value, PathPlannerPath._instances)

@staticmethod
def fromPathPoints(path_points: List[PathPoint], constraints: PathConstraints,
Expand Down
3 changes: 2 additions & 1 deletion pathplannerlib/src/main/java/com/pathplanner/lib/commands/PathPlannerAuto.java
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Expand Up @@ -3,6 +3,7 @@
import com.pathplanner.lib.auto.AutoBuilder;
import com.pathplanner.lib.path.PathPlannerPath;
import com.pathplanner.lib.util.PPLibTelemetry;
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.Filesystem;
Expand Down Expand Up @@ -41,7 +42,7 @@ public PathPlannerAuto(String autoName) {
PPLibTelemetry.registerHotReloadAuto(autoName, this);

instances++;
HAL.report(107, instances); // TODO: Use tResourceType class when updated
HAL.report(tResourceType.kResourceType_PathPlannerAuto, instances);
}

/**
Expand Down
5 changes: 3 additions & 2 deletions pathplannerlib/src/main/java/com/pathplanner/lib/commands/PathfindingCommand.java
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Original file line number Diff line number Diff line change
Expand Up @@ -7,6 +7,7 @@
import com.pathplanner.lib.util.PPLibTelemetry;
import com.pathplanner.lib.util.PathPlannerLogging;
import com.pathplanner.lib.util.ReplanningConfig;
import edu.wpi.first.hal.FRCNetComm.tResourceType;
import edu.wpi.first.hal.HAL;
import edu.wpi.first.math.MathUtil;
import edu.wpi.first.math.geometry.Pose2d;
Expand Down Expand Up @@ -98,7 +99,7 @@ public PathfindingCommand(
this.replanningConfig = replanningConfig;

instances++;
HAL.report(108, instances); // TODO: Use tResourceType class when updated
HAL.report(tResourceType.kResourceType_PathFindingCommand, instances);
}

/**
Expand Down Expand Up @@ -144,7 +145,7 @@ public PathfindingCommand(
this.replanningConfig = replanningConfig;

instances++;
HAL.report(108, instances); // TODO: Use tResourceType class when updated
HAL.report(tResourceType.kResourceType_PathFindingCommand, instances);
}

@Override
Expand Down
5 changes: 3 additions & 2 deletions pathplannerlib/src/main/java/com/pathplanner/lib/path/PathPlannerPath.java
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Original file line number Diff line number Diff line change
Expand Up @@ -2,6 +2,7 @@

import com.pathplanner.lib.util.GeometryUtil;
import com.pathplanner.lib.util.PPLibTelemetry;
import edu.wpi.first.hal.FRCNetComm.tResourceType;
import edu.wpi.first.hal.HAL;
import edu.wpi.first.math.MathUtil;
import edu.wpi.first.math.geometry.Pose2d;
Expand Down Expand Up @@ -69,7 +70,7 @@ public PathPlannerPath(
precalcValues();

instances++;
HAL.report(106, instances); // TODO: Use tResourceType class when updated
HAL.report(tResourceType.kResourceType_PathPlannerPath, instances);
}

/**
Expand Down Expand Up @@ -156,7 +157,7 @@ private PathPlannerPath(PathConstraints globalConstraints, GoalEndState goalEndS
this.previewStartingRotation = Rotation2d.fromDegrees(0);

instances++;
HAL.report(106, instances); // TODO: Use tResourceType class when updated
HAL.report(tResourceType.kResourceType_PathPlannerPath, instances);
}

/**
Expand Down
4 changes: 2 additions & 2 deletions pathplannerlib/src/main/native/cpp/pathplanner/lib/commands/PathPlannerAuto.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -3,7 +3,7 @@
#include "pathplanner/lib/util/PPLibTelemetry.h"
#include <frc/Filesystem.h>
#include <wpi/MemoryBuffer.h>
#include <hal/HAL.h>
#include <hal/FRCUsageReporting.h>

using namespace pathplanner;

Expand All @@ -20,7 +20,7 @@ PathPlannerAuto::PathPlannerAuto(std::string autoName) {
SetName(autoName);

m_instances++;
HAL_Report(107, m_instances); // TODO: Use resource type when updated
HAL_Report(HALUsageReporting::kResourceType_PathPlannerAuto, m_instances);
}

std::vector<std::shared_ptr<PathPlannerPath>> PathPlannerAuto::getPathGroupFromAutoFile(
Expand Down
8 changes: 5 additions & 3 deletions pathplannerlib/src/main/native/cpp/pathplanner/lib/commands/PathfindingCommand.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -2,7 +2,7 @@
#include "pathplanner/lib/pathfinding/Pathfinding.h"
#include "pathplanner/lib/util/GeometryUtil.h"
#include <vector>
#include <hal/HAL.h>
#include <hal/FRCUsageReporting.h>

using namespace pathplanner;

Expand Down Expand Up @@ -48,7 +48,8 @@ PathfindingCommand::PathfindingCommand(
m_goalEndState = GoalEndState(goalEndVel, targetRotation, true);

m_instances++;
HAL_Report(108, m_instances); // TODO: Use resource type when updated
HAL_Report(HALUsageReporting::kResourceType_PathFindingCommand,
m_instances);
}

PathfindingCommand::PathfindingCommand(frc::Pose2d targetPose,
Expand All @@ -68,7 +69,8 @@ PathfindingCommand::PathfindingCommand(frc::Pose2d targetPose,
Pathfinding::ensureInitialized();

m_instances++;
HAL_Report(108, m_instances); // TODO: Use resource type when updated
HAL_Report(HALUsageReporting::kResourceType_PathFindingCommand,
m_instances);
}

void PathfindingCommand::Initialize() {
Expand Down
6 changes: 3 additions & 3 deletions pathplannerlib/src/main/native/cpp/pathplanner/lib/path/PathPlannerPath.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -6,7 +6,7 @@
#include <wpi/MemoryBuffer.h>
#include <limits>
#include <optional>
#include <hal/HAL.h>
#include <hal/FRCUsageReporting.h>

using namespace pathplanner;

Expand All @@ -28,15 +28,15 @@ PathPlannerPath::PathPlannerPath(std::vector<frc::Translation2d> bezierPoints,
precalcValues();

m_instances++;
HAL_Report(106, m_instances); // TODO: Use resource type when updated
HAL_Report(HALUsageReporting::kResourceType_PathPlannerPath, m_instances);
}

PathPlannerPath::PathPlannerPath(PathConstraints constraints,
GoalEndState goalEndState) : m_bezierPoints(), m_rotationTargets(), m_constraintZones(), m_eventMarkers(), m_globalConstraints(
constraints), m_goalEndState(goalEndState), m_reversed(false), m_previewStartingRotation(), m_isChoreoPath(
false), m_choreoTrajectory() {
m_instances++;
HAL_Report(106, m_instances); // TODO: Use resource type when updated
HAL_Report(HALUsageReporting::kResourceType_PathPlannerPath, m_instances);
}

void PathPlannerPath::hotReload(const wpi::json &json) {
Expand Down