Fix usage reporting.

photon-lib/py/photonlibpy/photonCamera.py

@@ -18,6 +18,7 @@
 from enum import Enum
 from typing import List
 
+import hal
 import ntcore
 
 # magical import to make serde stuff work
@@ -48,6 +49,8 @@ def setVersionCheckEnabled(enabled: bool):
 
 
 class PhotonCamera:
+    instance_count = 1
+
     def __init__(self, cameraName: str):
         """Constructs a PhotonCamera from the name of the camera.
 
@@ -108,6 +111,13 @@ def __init__(self, cameraName: str):
         # Start the time sync server
         inst.start()
 
+        # Usage reporting
+        hal.report(
+            hal.tResourceType.kResourceType_PhotonCamera.value,
+            PhotonCamera.instance_count,
+        )
+        PhotonCamera.instance_count += 1
+
     def getAllUnreadResults(self) -> List[PhotonPipelineResult]:
         """
         The list of pipeline results sent by PhotonVision since the last call to getAllUnreadResults().

photon-lib/py/photonlibpy/photonPoseEstimator.py

@@ -18,6 +18,7 @@
 import enum
 from typing import Optional
 
+import hal
 import wpilib
 from robotpy_apriltag import AprilTagFieldLayout
 from wpimath.geometry import Pose2d, Pose3d, Transform3d
@@ -61,6 +62,8 @@ class PoseStrategy(enum.Enum):
 
 
 class PhotonPoseEstimator:
+    instance_count = 1
+
     """
     The PhotonPoseEstimator class filters or combines readings from all the AprilTags visible at a
     given timestamp on the field to produce a single robot in field pose, using the strategy set
@@ -96,7 +99,12 @@ def __init__(
         self._lastPose: Optional[Pose3d] = None
         self._referencePose: Optional[Pose3d] = None
 
-        # TODO: Implement HAL reporting
+        # Usage reporting
+        hal.report(
+            hal.tResourceType.kResourceType_PhotonPoseEstimator.value,
+            PhotonPoseEstimator.instance_count,
+        )
+        PhotonPoseEstimator.instance_count += 1
 
     @property
     def fieldTags(self) -> AprilTagFieldLayout:

photon-lib/src/main/java/org/photonvision/PhotonCamera.java

@@ -58,7 +58,7 @@
 
 /** Represents a camera that is connected to PhotonVision. */
 public class PhotonCamera implements AutoCloseable {
-    private static int InstanceCount = 0;
+    private static int InstanceCount = 1;
     public static final String kTableName = "photonvision";
     private static final String PHOTON_ALERT_GROUP = "PhotonAlerts";
 

photon-lib/src/main/java/org/photonvision/PhotonPoseEstimator.java

@@ -58,7 +58,7 @@
  * below. Example usage can be found in our apriltagExample example project.
  */
 public class PhotonPoseEstimator {
-    private static int InstanceCount = 0;
+    private static int InstanceCount = 1;
 
     /** Position estimation strategies that can be used by the {@link PhotonPoseEstimator} class. */
     public enum PoseStrategy {

photon-lib/src/main/native/include/photon/PhotonCamera.h

@@ -225,7 +225,7 @@ class PhotonCamera {
  private:
   units::second_t lastVersionCheckTime = 0_s;
   static bool VERSION_CHECK_ENABLED;
-  inline static int InstanceCount = 0;
+  inline static int InstanceCount = 1;
 
   units::second_t prevTimeSyncWarnTime = 0_s;
 

photon-lib/src/main/native/include/photon/PhotonPoseEstimator.h

@@ -200,7 +200,7 @@ class PhotonPoseEstimator {
 
   units::second_t poseCacheTimestamp;
 
-  inline static int InstanceCount = 0;
+  inline static int InstanceCount = 1;
 
   inline void InvalidatePoseCache() { poseCacheTimestamp = -1_s; }