From 918c3b98d7fcbac2aa262bdae88f009de6148026 Mon Sep 17 00:00:00 2001
From: Sriman Achanta <68172138+srimanachanta@users.noreply.github.com>
Date: Sat, 16 Dec 2023 14:02:52 -0500
Subject: [PATCH] report cpp usage

---
 .../src/main/native/cpp/photon/PhotonCamera.cpp    |  7 ++++++-
 .../main/native/cpp/photon/PhotonPoseEstimator.cpp | 14 ++++++++++++--
 .../src/main/native/include/photon/PhotonCamera.h  |  1 +
 .../native/include/photon/PhotonPoseEstimator.h    |  2 ++
 4 files changed, 21 insertions(+), 3 deletions(-)

diff --git a/photon-lib/src/main/native/cpp/photon/PhotonCamera.cpp b/photon-lib/src/main/native/cpp/photon/PhotonCamera.cpp
index ff26f74fb8..02d9b46527 100644
--- a/photon-lib/src/main/native/cpp/photon/PhotonCamera.cpp
+++ b/photon-lib/src/main/native/cpp/photon/PhotonCamera.cpp
@@ -24,6 +24,8 @@
 
 #include "photon/PhotonCamera.h"
 
+#include <hal/FRCUsageReporting.h>
+
 #include <frc/Errors.h>
 #include <frc/Timer.h>
 #include <opencv2/core.hpp>
@@ -69,7 +71,10 @@ PhotonCamera::PhotonCamera(nt::NetworkTableInstance instance,
           rootTable->GetBooleanTopic("driverModeRequest").Publish()),
       m_topicNameSubscriber(instance, PHOTON_PREFIX, {.topicsOnly = true}),
       path(rootTable->GetPath()),
-      m_cameraName(cameraName) {}
+      m_cameraName(cameraName) {
+  HAL_Report(HALUsageReporting::kResourceType_PhotonCamera, InstanceCount);
+  InstanceCount++;
+}
 
 PhotonCamera::PhotonCamera(const std::string_view cameraName)
     : PhotonCamera(nt::NetworkTableInstance::GetDefault(), cameraName) {}
diff --git a/photon-lib/src/main/native/cpp/photon/PhotonPoseEstimator.cpp b/photon-lib/src/main/native/cpp/photon/PhotonPoseEstimator.cpp
index f2ff30f7ea..30bc6de2df 100644
--- a/photon-lib/src/main/native/cpp/photon/PhotonPoseEstimator.cpp
+++ b/photon-lib/src/main/native/cpp/photon/PhotonPoseEstimator.cpp
@@ -24,6 +24,8 @@
 
 #include "photon/PhotonPoseEstimator.h"
 
+#include <hal/FRCUsageReporting.h>
+
 #include <cmath>
 #include <iostream>
 #include <limits>
@@ -68,7 +70,11 @@ PhotonPoseEstimator::PhotonPoseEstimator(frc::AprilTagFieldLayout tags,
       m_robotToCamera(robotToCamera),
       lastPose(frc::Pose3d()),
       referencePose(frc::Pose3d()),
-      poseCacheTimestamp(-1_s) {}
+      poseCacheTimestamp(-1_s) {
+  HAL_Report(HALUsageReporting::kResourceType_PhotonPoseEstimator,
+             InstanceCount);
+  InstanceCount++;
+}
 
 PhotonPoseEstimator::PhotonPoseEstimator(frc::AprilTagFieldLayout tags,
                                          PoseStrategy strat, PhotonCamera&& cam,
@@ -79,7 +85,11 @@ PhotonPoseEstimator::PhotonPoseEstimator(frc::AprilTagFieldLayout tags,
       m_robotToCamera(robotToCamera),
       lastPose(frc::Pose3d()),
       referencePose(frc::Pose3d()),
-      poseCacheTimestamp(-1_s) {}
+      poseCacheTimestamp(-1_s) {
+  HAL_Report(HALUsageReporting::kResourceType_PhotonPoseEstimator,
+             InstanceCount);
+  InstanceCount++;
+}
 
 void PhotonPoseEstimator::SetMultiTagFallbackStrategy(PoseStrategy strategy) {
   if (strategy == MULTI_TAG_PNP_ON_COPROCESSOR ||
diff --git a/photon-lib/src/main/native/include/photon/PhotonCamera.h b/photon-lib/src/main/native/include/photon/PhotonCamera.h
index 582458e014..99aa52c61b 100644
--- a/photon-lib/src/main/native/include/photon/PhotonCamera.h
+++ b/photon-lib/src/main/native/include/photon/PhotonCamera.h
@@ -205,6 +205,7 @@ class PhotonCamera {
  private:
   units::second_t lastVersionCheckTime = 0_s;
   inline static bool VERSION_CHECK_ENABLED = true;
+  inline static int InstanceCount = 0;
 
   void VerifyVersion();
 };
diff --git a/photon-lib/src/main/native/include/photon/PhotonPoseEstimator.h b/photon-lib/src/main/native/include/photon/PhotonPoseEstimator.h
index cdb60f6cee..2c863330bb 100644
--- a/photon-lib/src/main/native/include/photon/PhotonPoseEstimator.h
+++ b/photon-lib/src/main/native/include/photon/PhotonPoseEstimator.h
@@ -231,6 +231,8 @@ class PhotonPoseEstimator {
 
   units::second_t poseCacheTimestamp;
 
+  inline static int InstanceCount = 0;
+
   inline void InvalidatePoseCache() { poseCacheTimestamp = -1_s; }
 
   std::optional<EstimatedRobotPose> Update(