[hal] Change usage reporting to string-based (wpilibsuite#7763)

calcmogul · Feb 7, 2025 · 764ada9 · 764ada9
1 parent bfff891
commit 764ada9
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Showing 188 changed files with 637 additions and 2,298 deletions.
diff --git a/.github/actions/pregen/action.yml b/.github/actions/pregen/action.yml
@@ -18,9 +18,6 @@ runs:
         wget https://github.com/HebiRobotics/QuickBuffers/releases/download/1.3.3/protoc-gen-quickbuf-1.3.3-linux-x86_64.exe
         chmod +x protoc-gen-quickbuf-1.3.3-linux-x86_64.exe
       shell: bash
-    - name: Regenerate hal
-      run: ./hal/generate_usage_reporting.py
-      shell: bash
 
     - name: Regenerate ntcore
       run: ./ntcore/generate_topics.py

diff --git a/cameraserver/src/main/java/edu/wpi/first/cameraserver/CameraServer.java b/cameraserver/src/main/java/edu/wpi/first/cameraserver/CameraServer.java
@@ -540,9 +540,7 @@ private CameraServer() {}
    * @return The USB camera capturing images.
    */
   public static UsbCamera startAutomaticCapture() {
-    UsbCamera camera = startAutomaticCapture(m_defaultUsbDevice.getAndIncrement());
-    CameraServerSharedStore.getCameraServerShared().reportUsbCamera(camera.getHandle());
-    return camera;
+    return startAutomaticCapture(m_defaultUsbDevice.getAndIncrement());
   }
 
   /**
@@ -557,7 +555,7 @@ public static UsbCamera startAutomaticCapture() {
   public static UsbCamera startAutomaticCapture(int dev) {
     UsbCamera camera = new UsbCamera("USB Camera " + dev, dev);
     startAutomaticCapture(camera);
-    CameraServerSharedStore.getCameraServerShared().reportUsbCamera(camera.getHandle());
+    CameraServerSharedStore.reportUsage("UsbCamera[" + dev + "]", "auto");
     return camera;
   }
 
@@ -571,7 +569,7 @@ public static UsbCamera startAutomaticCapture(int dev) {
   public static UsbCamera startAutomaticCapture(String name, int dev) {
     UsbCamera camera = new UsbCamera(name, dev);
     startAutomaticCapture(camera);
-    CameraServerSharedStore.getCameraServerShared().reportUsbCamera(camera.getHandle());
+    CameraServerSharedStore.reportUsage("UsbCamera[" + dev + "]", "name");
     return camera;
   }
 
@@ -585,7 +583,7 @@ public static UsbCamera startAutomaticCapture(String name, int dev) {
   public static UsbCamera startAutomaticCapture(String name, String path) {
     UsbCamera camera = new UsbCamera(name, path);
     startAutomaticCapture(camera);
-    CameraServerSharedStore.getCameraServerShared().reportUsbCamera(camera.getHandle());
+    CameraServerSharedStore.reportUsage("UsbCamera[" + path + "]", "path");
     return camera;
   }
 

diff --git a/cameraserver/src/main/java/edu/wpi/first/cameraserver/CameraServerShared.java b/cameraserver/src/main/java/edu/wpi/first/cameraserver/CameraServerShared.java
@@ -21,25 +21,12 @@ public interface CameraServerShared {
   void reportDriverStationError(String error);
 
   /**
-   * Report an video server usage.
+   * Report usage.
    *
-   * @param id the usage id
+   * @param resource the resource name
+   * @param data arbitrary string data
    */
-  void reportVideoServer(int id);
-
-  /**
-   * Report a usb camera usage.
-   *
-   * @param id the usage id
-   */
-  void reportUsbCamera(int id);
-
-  /**
-   * Report an axis camera usage.
-   *
-   * @param id the usage id
-   */
-  void reportAxisCamera(int id);
+  void reportUsage(String resource, String data);
 
   /**
    * Get if running on a roboRIO.

diff --git a/cameraserver/src/main/java/edu/wpi/first/cameraserver/CameraServerSharedStore.java b/cameraserver/src/main/java/edu/wpi/first/cameraserver/CameraServerSharedStore.java
@@ -20,17 +20,11 @@ public static synchronized CameraServerShared getCameraServerShared() {
       cameraServerShared =
           new CameraServerShared() {
             @Override
-            public void reportVideoServer(int id) {}
-
-            @Override
-            public void reportUsbCamera(int id) {}
+            public void reportUsage(String resource, String data) {}
 
             @Override
             public void reportDriverStationError(String error) {}
 
-            @Override
-            public void reportAxisCamera(int id) {}
-
             @Override
             public Long getRobotMainThreadId() {
               return null;
@@ -40,6 +34,16 @@ public Long getRobotMainThreadId() {
     return cameraServerShared;
   }
 
+  /**
+   * Report usage.
+   *
+   * @param resource the resource name
+   * @param data arbitrary string data
+   */
+  public static void reportUsage(String resource, String data) {
+    getCameraServerShared().reportUsage(resource, data);
+  }
+
   /**
    * Set the CameraServerShared object.
    *

diff --git a/cameraserver/src/main/native/cpp/cameraserver/CameraServer.cpp b/cameraserver/src/main/native/cpp/cameraserver/CameraServer.cpp
@@ -471,19 +471,15 @@ Instance::Instance() {
 }
 
 cs::UsbCamera CameraServer::StartAutomaticCapture() {
-  cs::UsbCamera camera =
-      StartAutomaticCapture(::GetInstance().m_defaultUsbDevice++);
-  auto csShared = GetCameraServerShared();
-  csShared->ReportUsbCamera(camera.GetHandle());
-  return camera;
+  return StartAutomaticCapture(::GetInstance().m_defaultUsbDevice++);
 }
 
 cs::UsbCamera CameraServer::StartAutomaticCapture(int dev) {
   ::GetInstance();
   cs::UsbCamera camera{fmt::format("USB Camera {}", dev), dev};
   StartAutomaticCapture(camera);
   auto csShared = GetCameraServerShared();
-  csShared->ReportUsbCamera(camera.GetHandle());
+  csShared->ReportUsage(fmt::format("UsbCamera[{}]", dev), "auto");
   return camera;
 }
 
@@ -493,7 +489,7 @@ cs::UsbCamera CameraServer::StartAutomaticCapture(std::string_view name,
   cs::UsbCamera camera{name, dev};
   StartAutomaticCapture(camera);
   auto csShared = GetCameraServerShared();
-  csShared->ReportUsbCamera(camera.GetHandle());
+  csShared->ReportUsage(fmt::format("UsbCamera[{}]", dev), "name");
   return camera;
 }
 
@@ -503,7 +499,7 @@ cs::UsbCamera CameraServer::StartAutomaticCapture(std::string_view name,
   cs::UsbCamera camera{name, path};
   StartAutomaticCapture(camera);
   auto csShared = GetCameraServerShared();
-  csShared->ReportUsbCamera(camera.GetHandle());
+  csShared->ReportUsage(fmt::format("UsbCamera[{}]", path), "path");
   return camera;
 }
 

diff --git a/cameraserver/src/main/native/cpp/cameraserver/CameraServerShared.cpp b/cameraserver/src/main/native/cpp/cameraserver/CameraServerShared.cpp
@@ -12,9 +12,7 @@
 namespace {
 class DefaultCameraServerShared : public frc::CameraServerShared {
  public:
-  void ReportUsbCamera(int id) override {}
-  void ReportAxisCamera(int id) override {}
-  void ReportVideoServer(int id) override {}
+  void ReportUsage(std::string_view resource, std::string_view data) override {}
   void SetCameraServerErrorV(fmt::string_view format,
                              fmt::format_args args) override {}
   void SetVisionRunnerErrorV(fmt::string_view format,

diff --git a/cameraserver/src/main/native/include/cameraserver/CameraServerShared.h b/cameraserver/src/main/native/include/cameraserver/CameraServerShared.h
@@ -5,6 +5,7 @@
 #pragma once
 
 #include <memory>
+#include <string_view>
 #include <thread>
 #include <utility>
 
@@ -14,9 +15,8 @@ namespace frc {
 class CameraServerShared {
  public:
   virtual ~CameraServerShared() = default;
-  virtual void ReportUsbCamera(int id) = 0;
-  virtual void ReportAxisCamera(int id) = 0;
-  virtual void ReportVideoServer(int id) = 0;
+  virtual void ReportUsage(std::string_view resource,
+                           std::string_view data) = 0;
   virtual void SetCameraServerErrorV(fmt::string_view format,
                                      fmt::format_args args) = 0;
   virtual void SetVisionRunnerErrorV(fmt::string_view format,

diff --git a/epilogue-processor/src/main/java/edu/wpi/first/epilogue/processor/EpilogueGenerator.java b/epilogue-processor/src/main/java/edu/wpi/first/epilogue/processor/EpilogueGenerator.java
@@ -55,7 +55,6 @@ public void writeEpilogueFile(
         out.println("import static edu.wpi.first.units.Units.Seconds;");
         out.println();
 
-        out.println("import edu.wpi.first.hal.FRCNetComm;");
         out.println("import edu.wpi.first.hal.HAL;");
         out.println();
 
@@ -89,10 +88,7 @@ public void writeEpilogueFile(
         out.println(
             """
               static {
-                HAL.report(
-                  FRCNetComm.tResourceType.kResourceType_LoggingFramework,
-                  FRCNetComm.tInstances.kLoggingFramework_Epilogue
-                );
+                HAL.reportUsage("Epilogue", "");
               }
             """);
 

diff --git a/epilogue-processor/src/test/java/edu/wpi/first/epilogue/processor/EpilogueGeneratorTest.java b/epilogue-processor/src/test/java/edu/wpi/first/epilogue/processor/EpilogueGeneratorTest.java
@@ -33,17 +33,13 @@ class Example {
 
         import static edu.wpi.first.units.Units.Seconds;
 
-        import edu.wpi.first.hal.FRCNetComm;
         import edu.wpi.first.hal.HAL;
 
         import edu.wpi.first.epilogue.ExampleLogger;
 
         public final class Epilogue {
           static {
-            HAL.report(
-              FRCNetComm.tResourceType.kResourceType_LoggingFramework,
-              FRCNetComm.tInstances.kLoggingFramework_Epilogue
-            );
+            HAL.reportUsage("Epilogue", "");
           }
 
           private static final EpilogueConfiguration config = new EpilogueConfiguration();
@@ -92,17 +88,13 @@ public void endCompetition() {}
 
         import static edu.wpi.first.units.Units.Seconds;
 
-        import edu.wpi.first.hal.FRCNetComm;
         import edu.wpi.first.hal.HAL;
 
         import edu.wpi.first.epilogue.ExampleLogger;
 
         public final class Epilogue {
           static {
-            HAL.report(
-              FRCNetComm.tResourceType.kResourceType_LoggingFramework,
-              FRCNetComm.tInstances.kLoggingFramework_Epilogue
-            );
+            HAL.reportUsage("Epilogue", "");
           }
 
           private static final EpilogueConfiguration config = new EpilogueConfiguration();
@@ -146,17 +138,13 @@ class Example extends edu.wpi.first.wpilibj.TimedRobot {
 
         import static edu.wpi.first.units.Units.Seconds;
 
-        import edu.wpi.first.hal.FRCNetComm;
         import edu.wpi.first.hal.HAL;
 
         import edu.wpi.first.epilogue.ExampleLogger;
 
         public final class Epilogue {
           static {
-            HAL.report(
-              FRCNetComm.tResourceType.kResourceType_LoggingFramework,
-              FRCNetComm.tInstances.kLoggingFramework_Epilogue
-            );
+            HAL.reportUsage("Epilogue", "");
           }
 
           private static final EpilogueConfiguration config = new EpilogueConfiguration();
@@ -234,18 +222,14 @@ class BetaBot extends edu.wpi.first.wpilibj.TimedRobot { }
 
         import static edu.wpi.first.units.Units.Seconds;
 
-        import edu.wpi.first.hal.FRCNetComm;
         import edu.wpi.first.hal.HAL;
 
         import edu.wpi.first.epilogue.AlphaBotLogger;
         import edu.wpi.first.epilogue.BetaBotLogger;
 
         public final class Epilogue {
           static {
-            HAL.report(
-              FRCNetComm.tResourceType.kResourceType_LoggingFramework,
-              FRCNetComm.tInstances.kLoggingFramework_Epilogue
-            );
+            HAL.reportUsage("Epilogue", "");
           }
 
           private static final EpilogueConfiguration config = new EpilogueConfiguration();
@@ -371,18 +355,14 @@ class Example {
 
         import static edu.wpi.first.units.Units.Seconds;
 
-        import edu.wpi.first.hal.FRCNetComm;
         import edu.wpi.first.hal.HAL;
 
         import edu.wpi.first.epilogue.ExampleLogger;
         import edu.wpi.first.epilogue.CustomLogger;
 
         public final class Epilogue {
           static {
-            HAL.report(
-              FRCNetComm.tResourceType.kResourceType_LoggingFramework,
-              FRCNetComm.tInstances.kLoggingFramework_Epilogue
-            );
+            HAL.reportUsage("Epilogue", "");
           }
 
           private static final EpilogueConfiguration config = new EpilogueConfiguration();

diff --git a/hal/BUILD.bazel b/hal/BUILD.bazel
@@ -3,14 +3,6 @@ load("@rules_java//java:defs.bzl", "java_binary")
 load("//shared/bazel/rules:java_rules.bzl", "wpilib_java_junit5_test")
 load("//shared/bazel/rules:jni_rules.bzl", "wpilib_jni_cc_library", "wpilib_jni_java_library")
 
-cc_library(
-    name = "generated_cc_headers",
-    hdrs = glob(["src/generated/main/native/include/**"]),
-    includes = ["src/generated/main/native/include"],
-    strip_include_prefix = "src/generated/main/native/include",
-    visibility = ["//hal:__subpackages__"],
-)
-
 cc_library(
     name = "mrc_cc_headers",
     hdrs = glob(["src/mrc/include/**"]),
@@ -27,12 +19,6 @@ cc_library(
     visibility = ["//hal:__subpackages__"],
 )
 
-filegroup(
-    name = "generated_java",
-    srcs = glob(["src/generated/main/java/**/*.java"]),
-    visibility = ["//hal:__subpackages__"],
-)
-
 SYSTEMCORE_SRCS = glob(["src/main/native/systemcore/**"])
 
 SIM_SRCS = glob(["src/main/native/sim/**"])
@@ -59,7 +45,6 @@ cc_library(
     strip_include_prefix = "src/main/native/include",
     visibility = ["//visibility:public"],
     deps = [
-        ":generated_cc_headers",
         ":generated_mrc_cc_headers",
         ":mrc_cc_headers",
         "//ntcore:ntcore.static",
@@ -80,7 +65,7 @@ wpilib_jni_cc_library(
 
 wpilib_jni_java_library(
     name = "hal-java",
-    srcs = [":generated_java"] + glob(["src/main/java/**/*.java"]),
+    srcs = glob(["src/main/java/**/*.java"]),
     native_libs = [":wpiHaljni"],
     visibility = ["//visibility:public"],
     deps = [

diff --git a/hal/CMakeLists.txt b/hal/CMakeLists.txt
@@ -19,7 +19,6 @@ target_include_directories(
     hal
     PUBLIC
         $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src/main/native/include>
-        $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src/generated/main/native/include>
         $<INSTALL_INTERFACE:${include_dest}/hal>
 )
 target_link_libraries(hal PUBLIC ntcore wpiutil)
@@ -29,7 +28,6 @@ set_property(TARGET hal PROPERTY FOLDER "libraries")
 install(TARGETS hal EXPORT hal)
 export(TARGETS hal FILE hal.cmake NAMESPACE hal::)
 install(DIRECTORY src/main/native/include/ DESTINATION "${include_dest}/hal")
-install(DIRECTORY src/generated/main/native/include/ DESTINATION "${include_dest}/hal")
 
 configure_file(hal-config.cmake.in ${WPILIB_BINARY_DIR}/hal-config.cmake)
 install(FILES ${WPILIB_BINARY_DIR}/hal-config.cmake DESTINATION share/hal)
@@ -41,7 +39,7 @@ if(WITH_JAVA)
 
     file(GLOB_RECURSE hal_shared_jni_src src/main/native/cpp/jni/*.cpp)
 
-    file(GLOB_RECURSE JAVA_SOURCES src/main/java/*.java src/generated/main/java/*.java)
+    file(GLOB_RECURSE JAVA_SOURCES src/main/java/*.java)
     set(CMAKE_JNI_TARGET true)
 
     add_jar(
@@ -77,9 +75,7 @@ if(WITH_JAVA_SOURCE)
     include(CreateSourceJar)
     add_source_jar(
         hal_src_jar
-        BASE_DIRECTORIES
-            ${CMAKE_CURRENT_SOURCE_DIR}/src/main/java
-            ${CMAKE_CURRENT_SOURCE_DIR}/src/generated/main/java
+        BASE_DIRECTORIES ${CMAKE_CURRENT_SOURCE_DIR}/src/main/java
         OUTPUT_NAME wpiHal-sources
         OUTPUT_DIR ${WPILIB_BINARY_DIR}/${java_lib_dest}
     )