From 806c26f9d889d115cb73237134af8a5a72543975 Mon Sep 17 00:00:00 2001
From: Jade Turner <spacey-sooty@proton.me>
Date: Fri, 6 Dec 2024 20:56:10 +0800
Subject: [PATCH] [choreolib] Fix C++ version checking

Resolves https://github.com/SleipnirGroup/Choreo/issues/973

Signed-off-by: Jade Turner <spacey-sooty@proton.me>
---
 choreolib/src/main/native/include/choreo/Choreo.h | 11 ++++++-----
 docs/contributing/schema-upgrade.md               |  4 ++--
 src/assets/Angle.tsx                              |  4 +++-
 3 files changed, 11 insertions(+), 8 deletions(-)

diff --git a/choreolib/src/main/native/include/choreo/Choreo.h b/choreolib/src/main/native/include/choreo/Choreo.h
index 11599fbcad..5f3fdaabb7 100644
--- a/choreolib/src/main/native/include/choreo/Choreo.h
+++ b/choreolib/src/main/native/include/choreo/Choreo.h
@@ -27,7 +27,8 @@
 
 namespace choreo {
 
-inline constexpr uint32_t kSpecVersion = 1;
+inline constexpr uint32_t kTrajSpecVersion = 0;
+inline constexpr uint32_t kChorSpecVersion = 1;
 
 /**
  * A class that handles loading choreo and caching choreo trajectories.
@@ -74,9 +75,9 @@ class Choreo {
 
       wpi::json json = wpi::json::parse(fileBuffer.value()->GetCharBuffer());
       uint32_t version = json["version"];
-      if (kSpecVersion != version) {
+      if (kChorSpecVersion != version) {
         throw fmt::format(".chor project file: Wrong version {}. Expected {}",
-                          version, kSpecVersion);
+                          version, kChorSpecVersion);
       }
       ProjectFile resultProjectFile;
       from_json(json, resultProjectFile);
@@ -152,9 +153,9 @@ class Choreo {
 
     wpi::json json = wpi::json::parse(trajectoryJsonString);
     uint32_t version = json["version"];
-    if (version != kSpecVersion) {
+    if (version != kTrajSpecVersion) {
       throw fmt::format("{}.traj: Wrong version {}. Expected {}",
-                        trajectoryName, version, kSpecVersion);
+                        trajectoryName, version, kTrajSpecVersion);
     }
     Trajectory<SampleType> trajectory;
     from_json(json, trajectory);
diff --git a/docs/contributing/schema-upgrade.md b/docs/contributing/schema-upgrade.md
index 8ac0e5bb5a..f9fea07c7c 100644
--- a/docs/contributing/schema-upgrade.md
+++ b/docs/contributing/schema-upgrade.md
@@ -100,11 +100,11 @@ Each store has a `get serialize()` computed property. This needs to be updated t
 #### `deserialize()`
 Each store has a `deserialize()` which populates the Mobx store from a data object.
 
-## choreolib
+## Choreolib
 
 Update TRAJ_SCHEMA_VERSION and PROJECT_SCHEMA_VERSION in the following:
 * Python: `choreolib/py/choreo/__init__.py`
 * Java: `choreolib/src/main/java/choreo/Choreo.java`
-* C++ currently does not do version validation.
+* C++: `choreolib/src/main/native/include/choreo/Choreo.h`
 
 Make any functional changes to the trajectory classes and loading methods in all three languages, according to the schema change being made.
diff --git a/src/assets/Angle.tsx b/src/assets/Angle.tsx
index 225cb67a05..328262e7cd 100644
--- a/src/assets/Angle.tsx
+++ b/src/assets/Angle.tsx
@@ -34,7 +34,9 @@ const Angle: React.FunctionComponent<SvgIconProps> = (props) => {
         y2={cornerY - length * Math.sin(angle)}
       ></line>
       <path
-        d={`M ${cornerX + r} ${cornerY} A ${r} ${r} 0 0 0 ${cornerX + r * Math.cos(angle)} ${cornerY - r * Math.sin(angle)}`}
+        d={`M ${cornerX + r} ${cornerY} A ${r} ${r} 0 0 0 ${
+          cornerX + r * Math.cos(angle)
+        } ${cornerY - r * Math.sin(angle)}`}
       ></path>
     </SvgIcon>
   );