Merge branch 'main' into trajopt-spline-initial-guess-wpilib

docs/document-settings/robot-configuration.md

@@ -38,7 +38,7 @@ These values should be determined by consulting the motor's documentation.
 
 !!! tip "Choosing a Motor Max Speed"
 
-    A reasonable choice of Motor Max Speed is ~80% of the free speed of the drive motor(s). Although your motors have more speed available, this headroom helps ensure that your robot is able to close any errors and return to the planned trajectory. Use the [Motor Calculator](#motor-calculator) to help select an appropriate value.
+    A reasonable choice of Motor Max Speed is ~80% of the free speed of the drive motor(s). Although your motors have more speed available, this headroom helps ensure that your robot is able to close any errors and return to the planned trajectory.
 
 - **Motor Max Torque** $[N * m]$: The maximum torque applied by each drive motor
 

docs/usage/saving.md

@@ -3,7 +3,7 @@
 Once trajectories are created by Choreo, they must be saved within your robot project.
 
 Choreo has 2 different kinds of files: a .chor file which stores general configs for your project,
-and multiple .traj files which store individual trajectories. Choreo generates and updates .traj files
+and multiple .traj files which store individual path information. Each .traj file correlates to one path in Choreo. Choreo generates and updates .traj files
 in the same directory (or folder) that your .chor file is stored in.
 
 ## Saving your .chor file
@@ -33,50 +33,44 @@ To access the sidebar, click the hamburger icon in the upper left corner.
 
 General Info:
 
+In the sidebar, there are four actions related to saving your project, along with your project's current save location.
 
-In the sidebar, there are five actions related to saving your project, along with your project's current save location.
+## Open Project
 
-## Open File
+This opens the system’s file select dialog to select the robot’s `.chor` file.
 
-This opens the system’s file select dialog to select the robot’s `.chor` file. This .chor file should be under the folders `src/main/deploy/choreo`
-in your robot project.
+## Save Project/Save Project As
 
-## Save File
+This opens the system’s file save dialog to select where to save the robot’s `.chor` file.
 
-This opens the system’s file save dialog to select where to save the robot’s `.chor` file. Choreo strongly recommends saving this file in your `deploy/choreo` folder within your project.
+## New Project
 
-## New File
+Creates a new unsaved project.
 
-Creates a new file in memory, essentially clearing all trajectories. If you have unsaved changes, Choreo will ask before clearing them.
+## Export Diagnostic Report
 
-## Export Trajectory
-
-Exports the trajectory as a file individually to the path you select in the UI. This is not tied with the robot project structure, so you can place the trajectory file anywhere you like.
-
-## Save All Trajectories
-
-This saves all the trajectories into the folder structure described below.
+This exports a .zip file with your project `.chor` and `.traj` files, as well as some logs. Choreo support may ask for this report when trying to help you.
 
 ## Project Details
 
 If you have saved your choreo file correctly, you should see the following:
 
 ![Project Info](../media/project_info.png)
 
-Below "Project saved at", you can see the directory in which the saved `.chor` file lives. You can also copy this path or open it in your system's file explorer.
+Below "Project saved at", you can see the directory in which the project files live. You can also copy this path or open it in your system's file explorer.
 
 !!! warning
 
-    If you get the below, it means you have not saved the file yet
+    If you get the below, it means you have not saved the file yet.
 
      ![Project not saved](../media/project_not_saved.png){: style="height:60px;"}
 
 # Folder Structure Example
 
 For C++ and Java teams:
 
-- Choreo file lives at: `~/Development/FRC/Roboto/src/main/deploy/choreo/ChoreoProject.chor`
-- Trajectories (`.traj`) live in: `~/Development/FRC/Roboto/src/main/deploy/choreo/...`
+- Choreo file lives at: `~/Development/FRC/Robot/src/main/deploy/choreo/ChoreoProject.chor`
+- Trajectories (`.traj`) live in: `~/Development/FRC/Robot/src/main/deploy/choreo/...`
 
 For Python teams:
 

docs/usage/view-options-panel.md

@@ -52,11 +52,11 @@ Split trajectories on stop points are shown in different colors. In other words,
 
 ### Field
 
-Shows the field svg overlay.
+Shows the field background layer.
 
 ### Grid
 
-Shows the grid overlay
+Shows a 1 meter grid layer.
 
 ### Trajectory
 
@@ -65,14 +65,15 @@ Shows the grid overlay
 ### Samples
 
 ![samples](../media/samples.png)
+![Mini waypoints](../media/samples-mini-waypoints.png)
+
+Shows a dot at every sample along the path, and mini waypoints at the locations of the waypoints that generated the trajectory.
 
 ### Waypoints
 
 ![waypoints](../media/waypoints.png)
 
-### Obstacles
-
-Shows the obstacles in the path.
+Shows or hides the editable waypoints.
 
 ### Focus
 

src-core/src/file_management/mod.rs

@@ -26,7 +26,8 @@ type DeployPath = Arc<Mutex<PathBuf>>;
 type TrajectoryFileName = String;
 
 mod diagnostics;
-mod formatter;
+
+pub mod formatter;
 pub mod upgrader;
 
 pub use diagnostics::{create_diagnostic_file, get_log_lines};

src-core/src/spec/trajectory.rs

@@ -3,7 +3,7 @@ use trajoptlib::{DifferentialTrajectorySample, SwerveTrajectorySample};
 
 use super::{upgraders::upgrade_traj_file, Expr, SnapshottableType};
 
-#[derive(Serialize, Deserialize, Clone, Copy, Debug)]
+#[derive(Serialize, Deserialize, Clone, Copy, Debug, PartialEq)]
 #[serde(rename_all = "camelCase")]
 /// A waypoint parameter.
 pub struct Waypoint<T: SnapshottableType> {
@@ -53,7 +53,7 @@ impl<T: SnapshottableType> Waypoint<T> {
 }
 
 /// A waypoint identifier.
-#[derive(Serialize, Deserialize, Clone, Copy, Debug)]
+#[derive(Serialize, Deserialize, Clone, Copy, Debug, PartialEq, Eq)]
 #[serde(rename_all = "camelCase")]
 pub enum WaypointID {
     /// The first waypoint.
@@ -106,7 +106,7 @@ pub enum ConstraintScope {
 }
 
 /// A constraint on the robot's motion.
-#[derive(Serialize, Deserialize, Clone, Copy, Debug)]
+#[derive(Serialize, Deserialize, Clone, Copy, Debug, PartialEq)]
 #[serde(tag = "type", content = "props")]
 pub enum ConstraintData<T: SnapshottableType> {
     /// A constraint on the maximum velocity.
@@ -211,7 +211,7 @@ impl<T: SnapshottableType> ConstraintData<T> {
 }
 
 /// A constraint on the robot's motion and where it applies.
-#[derive(Debug, Clone, Copy, Serialize, Deserialize)]
+#[derive(Debug, Clone, Copy, Serialize, Deserialize, PartialEq)]
 pub struct Constraint<T: SnapshottableType> {
     /// The waypoint the constraint starts at.
     pub from: WaypointID,
@@ -237,7 +237,7 @@ impl<T: SnapshottableType> Constraint<T> {
 }
 
 /// A constraint on the robot's motion and where it applies.
-#[derive(Debug, Clone, Copy, Serialize, Deserialize)]
+#[derive(Debug, Clone, Copy, Serialize, Deserialize, PartialEq)]
 pub struct ConstraintIDX<T: SnapshottableType> {
     /// The index of the waypoint the constraint starts at.
     pub from: usize,
@@ -252,7 +252,7 @@ pub struct ConstraintIDX<T: SnapshottableType> {
 
 /// A sample of the robot's state at a point in time during the trajectory.
 #[allow(missing_docs)]
-#[derive(Debug, Clone, Copy, Serialize, Deserialize)]
+#[derive(Debug, Clone, Copy, Serialize, Deserialize, PartialEq)]
 #[serde(untagged)]
 pub enum Sample {
     /// A sample for a swerve drive.
@@ -363,7 +363,7 @@ pub enum DriveType {
 }
 
 /// The parameters used for generating a trajectory.
-#[derive(Serialize, Deserialize, Clone, Debug)]
+#[derive(Serialize, Deserialize, Clone, Debug, PartialEq)]
 #[serde(rename_all = "camelCase")]
 pub struct Parameters<T: SnapshottableType> {
     /// The waypoints the robot will pass through or use for initial guess.
@@ -441,6 +441,15 @@ impl TrajectoryFile {
         let val = upgrade_traj_file(serde_json::from_str(content)?)?;
         serde_json::from_value(val).map_err(Into::into)
     }
+
+    pub fn up_to_date(&self) -> bool {
+        // Can't use is_some_and due to its move semantics.
+        if let Some(snap) = &self.snapshot {
+            snap == &self.params.snapshot()
+        } else {
+            false
+        }
+    }
 }
 
 #[derive(Debug, Clone, Serialize, Deserialize)]
@@ -482,3 +491,54 @@ pub enum PplibCommand {
         commands: Vec<PplibCommand>,
     },
 }
+
+#[cfg(test)]
+mod tests {
+    use crate::spec::TRAJ_SCHEMA_VERSION;
+
+    use super::*;
+    fn test_trajectory() -> TrajectoryFile {
+        let parameters = Parameters::<Expr> {
+            waypoints: vec![Waypoint::<Expr> {
+                x: Expr::fill_in_value(0.0, "m"),
+                y: Expr::fill_in_value(0.0, "m"),
+                heading: Expr::fill_in_value(0.0, "rad"),
+                intervals: 20,
+                split: false,
+                fix_translation: false,
+                fix_heading: false,
+                override_intervals: false,
+                is_initial_guess: false,
+            }],
+            constraints: vec![],
+            target_dt: Expr::fill_in_value(0.05, "s"),
+        };
+        TrajectoryFile {
+            name: "Test".to_string(),
+            version: TRAJ_SCHEMA_VERSION,
+            snapshot: Some(parameters.snapshot()),
+            params: parameters,
+            trajectory: Trajectory {
+                sample_type: Some(DriveType::Swerve),
+                waypoints: Vec::new(),
+                samples: Vec::new(),
+                splits: Vec::new(),
+            },
+            events: Vec::new(),
+        }
+    }
+    #[test]
+    fn snapshot_equality() {
+        assert!(test_trajectory().up_to_date());
+    }
+
+    #[test]
+    fn snapshot_equality_through_serde() -> serde_json::Result<()> {
+        use crate::file_management::formatter;
+        let trajectory = test_trajectory();
+        let serde_trajectory = formatter::to_string_pretty(&trajectory)?;
+        let deser_trajectory = TrajectoryFile::from_content(serde_trajectory.as_str());
+        assert!(deser_trajectory.is_ok_and(|t| t.up_to_date()));
+        Ok(())
+    }
+}

src-tauri/src/api.rs

@@ -150,6 +150,11 @@ pub async fn delete_trajectory(
     debug_result!(file_management::delete_trajectory_file(&resources, trajectory).await);
 }
 
+#[tauri::command]
+pub async fn trajectory_up_to_date(trajectory: TrajectoryFile) -> bool {
+    trajectory.up_to_date()
+}
+
 #[tauri::command]
 pub async fn set_deploy_root(app_handle: tauri::AppHandle, dir: String) {
     let resources = app_handle.state::<WritingResources>();

src-tauri/src/tauri.rs

@@ -207,6 +207,7 @@ pub fn run_tauri(project: Option<PathBuf>) {
             open_project_dialog,
             read_trajectory,
             rename_trajectory,
+            trajectory_up_to_date,
             set_deploy_root,
             get_deploy_root,
             requested_file,