Use marker name for triggers; change spec to prepare for timestamp-range markers.

choreolib/py/choreo/__init__.py

@@ -41,9 +41,9 @@ def load_differential_trajectory_string(
     splits = [int(split) for split in data["trajectory"]["splits"]]
     events = [
         EventMarker(
-            float(event["data"]["offset"]["val"])
-            + float(event["data"]["targetTimestamp"]),
-            event["event"]["data"]["event"],
+            float(event["from"]["offset"]["val"])
+            + float(event["from"]["targetTimestamp"]),
+            event["name"],
         )
         for event in data["events"]
     ]
@@ -96,9 +96,9 @@ def load_swerve_trajectory_string(trajectory_json_string: str) -> SwerveTrajecto
     splits = [int(split) for split in data["trajectory"]["splits"]]
     events = [
         EventMarker(
-            float(event["data"]["offset"]["val"])
-            + float(event["data"]["targetTimestamp"]),
-            event["event"]["data"]["event"],
+            float(event["from"]["offset"]["val"])
+            + float(event["from"]["targetTimestamp"]),
+            event["name"],
         )
         for event in data["events"]
     ]

choreolib/py/choreo/test/choreolib_test.py

@@ -38,9 +38,8 @@
   "forcesAvailable":false
  },
  "events":[
-  {"data":{"name":"Marker", "target":0, "targetTimestamp":0, "offset":{"exp":"0 s", "val":0.0}}, "event":{"type":"choreolib", "data":{"event":"testEvent"}}}
- ],
- "pplib_commands":[]
+  {"name":"testEvent", "from":{"target":0, "targetTimestamp":0, "offset":{"exp":"0 s", "val":0.0}}, "event":null}
+ ]
 }
 """
 

choreolib/py/choreo/test/resources/swerve_test.traj

@@ -47,6 +47,6 @@
   "splits":[],
   "forcesAvailable":false
  },
- "events":[{"data":{"name":"Marker", "target":1, "targetTimestamp":1.3926677138988457, "offset":{"exp":"-1 s", "val":-1.0}}, "event":{"type":"choreolib", "data":{"event":"testEvent"}}}],
+ "events":[{"name":"testEvent", "from":{"target":1, "targetTimestamp":1.3926677138988457, "offset":{"exp":"-1 s", "val":-1.0}}, "event":null}],
  "pplib_commands":[]
 }

choreolib/src/main/java/choreo/trajectory/EventMarker.java

@@ -34,26 +34,19 @@ public EventMarker deserialize(
       try {
         var targetTimestamp =
             json.getAsJsonObject()
-                .get("data")
+                .get("from")
                 .getAsJsonObject()
                 .get("targetTimestamp")
                 .getAsDouble();
         var offset =
             json.getAsJsonObject()
-                .get("data")
+                .get("from")
                 .getAsJsonObject()
                 .get("offset")
                 .getAsJsonObject()
                 .get("val")
                 .getAsDouble();
-        var event =
-            json.getAsJsonObject()
-                .get("event")
-                .getAsJsonObject()
-                .get("data")
-                .getAsJsonObject()
-                .get("event")
-                .getAsString();
+        var event = json.getAsJsonObject().get("name").getAsString();
 
         return new EventMarker(targetTimestamp + offset, event);
       } catch (IllegalStateException e) {

choreolib/src/main/native/cpp/choreo/trajectory/EventMarker.cpp

@@ -15,7 +15,7 @@ void choreo::to_json(wpi::json& json, const EventMarker& event) {
 
 void choreo::from_json(const wpi::json& json, EventMarker& event) {
   event.timestamp =
-      units::second_t{json.at("data").at("offset").at("val").get<double>() +
-                      json.at("data").at("targetTimestamp").get<double>()};
-  event.event = json.at("event").at("data").at("event").get<std::string>();
+      units::second_t{json.at("from").at("offset").at("val").get<double>() +
+                      json.at("from").at("targetTimestamp").get<double>()};
+  event.event = json.at("name").get<std::string>();
 }

choreolib/src/test/java/choreo/ChoreoTests.java

@@ -51,9 +51,8 @@ public class ChoreoTests {
   "forcesAvailable":false
  },
  "events":[
-  {"data":{"name":"Marker", "target":0, "targetTimestamp":0, "offset":{"exp":"0 s", "val":0.0}}, "event":{"type":"choreolib", "data":{"event":"testEvent"}}}
- ],
- "pplib_commands":[]
+  {"name":"testEvent", "from":{ "target":0, "targetTimestamp":0, "offset":{"exp":"0 s", "val":0.0}}, "event":null}
+ ]
 }
 """;
 

choreolib/src/test/native/cpp/TrajectoryFileTests.cpp

@@ -47,9 +47,8 @@ constexpr std::string_view swerveTrajectoryString =
   "forcesAvailable":false
  },
  "events":[
-  {"data":{"name":"Marker", "target":0, "targetTimestamp":0, "offset":{"exp":"0 s", "val":0.0}}, "event":{"type":"choreolib", "data":{"event":"testEvent"}}}
- ],
- "pplib_commands":[]
+  {"name":"testEvent", "from":{"target":0, "targetTimestamp":0, "offset":{"exp":"0 s", "val":0.0}}, "event":null}
+ ]
 })";
 
 const wpi::json swerveTrajectoryJson = wpi::json::parse(swerveTrajectoryString);

src-core/src/spec/trajectory.rs

@@ -418,12 +418,7 @@ pub struct TrajectoryFile {
     pub trajectory: Trajectory,
     /// The choreo events.
     #[serde(default)]
-    pub events: Vec<ChoreolibEventMarker>,
-    /// The pplib commands to execute.
-    /// This is a compatibility layer for working with
-    /// the path planner library.
-    #[serde(default)]
-    pub pplib_commands: Vec<PplibEventMarker>,
+    pub events: Vec<EventMarker>,
 }
 
 impl TrajectoryFile {
@@ -442,24 +437,17 @@ impl TrajectoryFile {
 #[derive(Debug, Clone, Serialize, Deserialize)]
 #[serde(rename_all = "camelCase")]
 pub struct EventMarkerData {
-    pub name: String,
     pub target: Option<usize>,
     pub target_timestamp: Option<f64>,
     pub offset: Expr,
 }
 
 #[derive(Debug, Clone, Serialize, Deserialize)]
 #[serde(rename_all = "camelCase")]
-pub struct ChoreolibEventMarker {
-    data: EventMarkerData,
-    event: ChoreolibEvent,
-}
-
-#[derive(Debug, Clone, Serialize, Deserialize)]
-#[serde(rename_all = "camelCase")]
-pub struct PplibEventMarker {
-    data: EventMarkerData,
-    event: PplibCommand,
+pub struct EventMarker {
+    pub name: String,
+    pub from: EventMarkerData,
+    pub event: Option<PplibCommand>,
 }
 
 #[derive(Debug, Clone, Serialize, Deserialize)]
@@ -485,10 +473,3 @@ pub enum PplibCommand {
         commands: Vec<PplibCommand>,
     },
 }
-
-// single-case enum so that it matches the serialization from above
-#[derive(Debug, Clone, Serialize, Deserialize)]
-#[serde(rename_all = "camelCase", tag = "type", content = "data")]
-pub enum ChoreolibEvent {
-    Choreolib { event: String },
-}

src/components/config/eventmarker/CommandDraggable.tsx

@@ -92,7 +92,7 @@ class CommandDraggable extends Component<Props, State> {
             onChange={(e) => command.setType(e.target.value as CommandType)}
           >
             {CommandUIData.map((data) => {
-              if (data.id === "choreolib" && this.props.parent !== undefined) {
+              if (data.id === "none" && this.props.parent !== undefined) {
                 return undefined;
               }
 
@@ -126,29 +126,6 @@ class CommandDraggable extends Component<Props, State> {
               }}
             ></TextField>
           )}
-          {command.isChoreolib && (
-            <TextField
-              inputRef={this.eventInputRef}
-              sx={{
-                marginLeft: "1ch",
-                ".MuiInput-input": {
-                  paddingBottom: "0px"
-                }
-              }}
-              fullWidth
-              variant="standard"
-              placeholder="Event"
-              value={command.event ?? ""}
-              size="small"
-              onClick={(e) => e.stopPropagation()}
-              onChange={(e) => command.setEvent(e.target.value)}
-              onKeyDown={(e) => {
-                if (e.key == "Enter") {
-                  this.eventInputRef.current?.blur();
-                }
-              }}
-            ></TextField>
-          )}
           {command.isWait && (
             <ExpressionInputList style={{ flexGrow: 1 }}>
               <ExpressionInput

src/components/config/eventmarker/EventMarkerConfigPanel.tsx

@@ -68,7 +68,7 @@ class EventMarkerConfigPanel extends Component<Props, State> {
   }
   render() {
     const marker = this.props.marker;
-    const data = marker.data;
+    const data = marker.from;
     let startIndex = (data.getTargetIndex() ?? -0.5) + 1;
     const points = this.props.points;
     const pointcount = points.length;
@@ -125,8 +125,8 @@ class EventMarkerConfigPanel extends Component<Props, State> {
 
           <TextField
             inputRef={this.nameInputRef}
-            value={data.name}
-            onChange={(e) => data.setName(e.target.value)}
+            value={marker.name}
+            onChange={(e) => marker.setName(e.target.value)}
             variant="standard"
             size="small"
             placeholder="Marker Name"

src/components/field/PathAnimationSlider.tsx

@@ -69,11 +69,11 @@ class PathAnimationSlider extends Component<Props, State> {
                   })
                   .concat(
                     activePath.markers.flatMap((marker: IEventMarkerStore) => {
-                      if (marker.data.timestamp === undefined) {
+                      if (marker.from.timestamp === undefined) {
                         return [];
                       }
                       return {
-                        value: marker.data.timestamp,
+                        value: marker.from.timestamp,
                         label: (
                           <span>
                             <Room

src/components/field/svg/FieldEventMarkerAddLayer.tsx

@@ -30,7 +30,7 @@ class FieldConstraintsAddLayer extends Component<Props, State> {
               onClick={() => {
                 const newMarker = activePath.addEventMarker();
 
-                newMarker.data.setTarget({ uuid: point.uuid });
+                newMarker.from.setTarget({ uuid: point.uuid });
                 // TODO set direct timestamp if trajectory not stale
                 doc.setSelectedSidebarItem(newMarker);
               }}

src/components/field/svg/FieldEventMarkers.tsx

@@ -50,10 +50,10 @@ class FieldEventMarkers extends Component<Props, State> {
     const path = doc.pathlist.activePath;
     const markers = path.markers;
     return markers.flatMap((marker) => {
-      if (marker.data.timestamp === undefined) {
+      if (marker.from.timestamp === undefined) {
         return [];
       }
-      const marked = sample(marker.data.timestamp, path.trajectory.samples);
+      const marked = sample(marker.from.timestamp, path.trajectory.samples);
       return (
         <FieldEventMarker
           key={marker.uuid}

src/components/sidebar/SidebarEventMarker.tsx

@@ -47,9 +47,9 @@ class SidebarMarker extends Component<Props, State> {
           className={styles.SidebarLabel}
           style={{ display: "grid", gridTemplateColumns: "1fr auto auto" }}
         >
-          <Tooltip disableInteractive title={this.props.marker.data.name}>
+          <Tooltip disableInteractive title={this.props.marker.name}>
             <span style={{ overflow: "hidden", textOverflow: "ellipsis" }}>
-              {this.props.marker.data.name}
+              {this.props.marker.name}
             </span>
           </Tooltip>
           {/* {!isInSameSegment || marker.data.getTargetIndex() === undefined ? (
@@ -63,11 +63,11 @@ class SidebarMarker extends Component<Props, State> {
             <span></span>
           )} */}
           <span>
-            <span>{this.waypointIDToText(this.props.marker.data.target)} </span>
+            <span>{this.waypointIDToText(this.props.marker.from.target)} </span>
             <span style={{}}>
               (
-              {(this.props.marker.data.offset.value < 0 ? "" : "+") +
-                this.props.marker.data.offset.value.toFixed(2) +
+              {(this.props.marker.from.offset.value < 0 ? "" : "+") +
+                this.props.marker.from.offset.value.toFixed(2) +
                 " s"}
               )
             </span>

src/document/2025/v2025_0_0.ts

@@ -137,8 +137,7 @@ export interface Trajectory {
   params: ChoreoPath<Expr>;
   snapshot: ChoreoPath<number>;
   trajectory: Output;
-  events: EventMarker<ChoreolibEvent>[];
-  pplibCommands: EventMarker<PplibCommand>[];
+  events: EventMarker[];
 }
 
 export type GroupCommand = {
@@ -159,15 +158,8 @@ export type NamedCommand = {
     name: string | null;
   };
 };
-export type ChoreolibEvent = {
-  type: "choreolib";
-  data: {
-    event: string | null;
-  };
-};
 
 export type EventMarkerData = {
-  name: string;
   target: WaypointIDX | undefined;
   offset: Expr;
   /**
@@ -176,8 +168,9 @@ export type EventMarkerData = {
   targetTimestamp: number | undefined;
 };
 export type PplibCommand = WaitCommand | GroupCommand | NamedCommand;
-export type Command = PplibCommand | ChoreolibEvent;
-export interface EventMarker<C extends Command> {
-  data: EventMarkerData;
-  event: C;
+export type Command = PplibCommand | undefined;
+export interface EventMarker {
+  name: string;
+  from: EventMarkerData;
+  event: Command;
 }