Merge branch 'main' into editing-paths-docs

.github/workflows/choreo.yml

@@ -39,6 +39,9 @@ jobs:
 
     steps:
       - uses: actions/checkout@v4
+        with:
+          persist-credentials: false
+          token: ${{secrets.GITHUB_TOKEN}}
 
       - uses: pnpm/action-setup@v4
         with:

.github/workflows/choreolib.yml

@@ -32,6 +32,8 @@ jobs:
         with:
           submodules: true
           fetch-depth: 0
+          persist-credentials: false
+          token: ${{secrets.GITHUB_TOKEN}}
 
       - name: Fetch all history and metadata
         run: |
@@ -87,6 +89,8 @@ jobs:
       - uses: actions/checkout@v4
         with:
           submodules: true
+          persist-credentials: false
+          token: ${{secrets.GITHUB_TOKEN}}
 
       - name: Fetch all history and metadata
         run: git fetch --prune --unshallow
@@ -128,6 +132,9 @@ jobs:
     runs-on: ubuntu-24.04
     steps:
       - uses: actions/checkout@v4
+        with:
+          persist-credentials: false
+          token: ${{secrets.GITHUB_TOKEN}}
 
       - uses: actions/upload-artifact@v4
         with:
@@ -142,11 +149,39 @@ jobs:
       - uses: actions/checkout@v4
         with:
           repository: wpilibsuite/build-tools
+          persist-credentials: false
+          token: ${{secrets.GITHUB_TOKEN}}
 
       - uses: actions/download-artifact@v4
         with:
           path: combiner/products/build/allOutputs
 
+      - name: Generate a token
+        if: startsWith(github.ref, 'refs/tags/v')
+        id: generate-token
+        uses: actions/create-github-app-token@v1
+        with:
+          app-id: ${{ secrets.CHOREOLIB_RELEASE_APP_ID }}
+          private-key: ${{ secrets.CHOREOLIB_RELEASE_APP_PRIVATE_KEY }}
+          owner: ${{ github.repository_owner }}
+
+      - name: Checkout ChoreoLib repository
+        if: startsWith(github.ref, 'refs/tags/v')
+        uses: actions/checkout@v4
+        with:
+          repository: SleipnirGroup/ChoreoLib
+          path: ChoreoLib
+          token: ${{ steps.generate-token.outputs.token }}
+          persist-credentials: false
+
+      - name: Copy ChoreoLib JSON
+        if: startsWith(github.ref, 'refs/tags/v')
+        run: |
+          cp combiner/products/build/allOutputs/ChoreoLib-json/ChoreoLib2025Beta.json ChoreoLib/dep/ChoreoLib2025Beta.json
+
+      - name: Remove JSON Artifact From Download
+        run: rm combiner/products/build/allOutputs/ChoreoLib-json/ChoreoLib2025Beta.json
+
       - name: Flatten Artifacts
         run: rsync -a --delete combiner/products/build/allOutputs/*/* combiner/products/build/allOutputs
 
@@ -158,6 +193,22 @@ jobs:
       - name: Combine
         run: ./gradlew publish -Pthirdparty
         working-directory: combiner
+
+      - name: Transfer ChoreoLib Artifacts
+        if: startsWith(github.ref, 'refs/tags/v')
+        run: cp -r ~/releases/maven/development/choreo/* ChoreoLib/dep/choreo
+
+      - name: Create Pull Request
+        if: startsWith(github.ref, 'refs/tags/v')
+        uses: peter-evans/create-pull-request@v7
+        with:
+          token: ${{ steps.generate-token.outputs.token }}
+          path: ./ChoreoLib
+          title: Add ChoreoLib ${{github.ref_name}}
+          commit-message: Add ChoreoLib ${{github.ref_name}}
+          body:
+          branch: publish-${{github.ref_name}}
+
       - uses: actions/upload-artifact@v4
         with:
           name: ChoreoLib-Maven
@@ -170,6 +221,8 @@ jobs:
       - uses: actions/checkout@v4
         with:
           fetch-depth: 0
+          persist-credentials: false
+          token: ${{secrets.GITHUB_TOKEN}}
 
       - uses: actions/setup-python@v5
         with:

.github/workflows/docs.yml

@@ -29,7 +29,7 @@ jobs:
           restore-keys: |
             mkdocs-material-
 
-      - run: pip install mkdocs-material
+      - run: pip install -r docs/requirements.txt
 
       - name: Install Doxygen
         run: |

.github/workflows/lint-format.yml

@@ -14,6 +14,8 @@ jobs:
       - uses: actions/checkout@v4
         with:
           fetch-depth: 0
+          persist-credentials: false
+          token: ${{secrets.GITHUB_TOKEN}}
 
       - name: Fetch all history and metadata
         run: |
@@ -54,7 +56,7 @@ jobs:
         with:
           python-version: 3.12
 
-      - run: pip3 install wpiformat==2024.50
+      - run: pip3 install wpiformat==2024.51
 
       - run: pnpm run fmt
 
@@ -86,7 +88,9 @@ jobs:
     runs-on: ubuntu-24.04
     steps:
       - uses: actions/checkout@v4
-
+        with:
+          persist-credentials: false
+          token: ${{secrets.GITHUB_TOKEN}}
       - uses: pnpm/action-setup@v4
         with:
           version: 9
@@ -105,6 +109,8 @@ jobs:
     steps:
       - uses: actions/checkout@v4
         with:
+          persist-credentials: false
+          token: ${{secrets.GITHUB_TOKEN}}
           fetch-depth: 0
 
       - name: Fetch all history and metadata
@@ -117,7 +123,7 @@ jobs:
         with:
           python-version: 3.12
 
-      - run: pip3 install wpiformat==2024.50
+      - run: pip3 install wpiformat==2024.51
 
       - name: Create compile_commands.json
         working-directory: choreolib
@@ -144,6 +150,8 @@ jobs:
     steps:
       - uses: actions/checkout@v4
         with:
+          persist-credentials: false
+          token: ${{secrets.GITHUB_TOKEN}}
           fetch-depth: 0
 
       - name: Fetch all history and metadata
@@ -167,7 +175,7 @@ jobs:
           echo "CXX=clang++" >> $GITHUB_ENV
           echo "CXXFLAGS=-stdlib=libc++" >> $GITHUB_ENV
 
-      - run: pip3 install wpiformat==2024.50
+      - run: pip3 install wpiformat==2024.51
 
       - name: Create compile_commands.json
         run: cmake -B build -S . -DCMAKE_EXPORT_COMPILE_COMMANDS=YES

.github/workflows/release.yml

@@ -14,11 +14,19 @@ jobs:
     runs-on: ubuntu-22.04
     container: ${{ matrix.container }}
     steps:
+      - name: Generate a token
+        id: generate-token
+        uses: actions/create-github-app-token@v1
+        with:
+          app-id: ${{ secrets.CHOREOLIB_RELEASE_APP_ID }}
+          private-key: ${{ secrets.CHOREOLIB_RELEASE_APP_PRIVATE_KEY }}
+
       - uses: actions/checkout@v4
         with:
           submodules: true
           fetch-depth: 0
-          token: ${{ secrets.CHOREO_RELEASE_PAT }}
+          token: ${{ steps.generate-token.outputs.token }}
+
       - name: Install Python dependencies
         run: pip install tomlkit
 

.github/workflows/trajoptlib-cpp.yml

@@ -31,6 +31,9 @@ jobs:
 
     steps:
       - uses: actions/checkout@v4
+        with:
+          persist-credentials: false
+          token: ${{secrets.GITHUB_TOKEN}}
 
       - name: Install dependencies (Windows)
         uses: lukka/[email protected]

.github/workflows/trajoptlib-rust.yml

@@ -27,6 +27,9 @@ jobs:
 
     steps:
       - uses: actions/checkout@v4
+        with:
+          persist-credentials: false
+          token: ${{secrets.GITHUB_TOKEN}}
 
       - name: Install dependencies (Windows)
         uses: lukka/[email protected]

.github/workflows/trajoptlib-sanitizers.yml

@@ -25,6 +25,9 @@ jobs:
 
     steps:
       - uses: actions/checkout@v4
+        with:
+          persist-credentials: false
+          token: ${{secrets.GITHUB_TOKEN}}
 
       - name: Install dependencies
         run: sudo apt-get update && sudo apt-get install -y ninja-build

choreolib/ChoreoLib2025Beta.json

@@ -1,7 +1,7 @@
 {
   "fileName": "ChoreoLib2025Beta.json",
   "name": "ChoreoLib",
-  "version": "2025.0.0-beta-7",
+  "version": "2025.0.0-beta-9",
   "uuid": "b5e23f0a-dac9-4ad2-8dd6-02767c520aca",
   "frcYear": "2025",
   "mavenUrls": [
@@ -13,7 +13,7 @@
     {
       "groupId": "choreo",
       "artifactId": "ChoreoLib-java",
-      "version": "2025.0.0-beta-7"
+      "version": "2025.0.0-beta-9"
     },
     {
       "groupId": "com.google.code.gson",
@@ -26,7 +26,7 @@
     {
       "groupId": "choreo",
       "artifactId": "ChoreoLib-cpp",
-      "version": "2025.0.0-beta-7",
+      "version": "2025.0.0-beta-9",
       "libName": "ChoreoLib",
       "headerClassifier": "headers",
       "sharedLibrary": false,

choreolib/config.gradle

@@ -8,9 +8,7 @@ nativeUtils.withCrossLinuxArm64()
 nativeUtils {
     wpi {
         configureDependencies {
-            // TODO: Revert once WPILib releases 2025.1.1-beta-3
-            wpiVersion = "2025.1.1-beta-2-36-g882233b"
-            // wpiVersion = "2025.+"
+            wpiVersion = "2025.+"
             niLibVersion = "2025.0.0"
         }
     }

choreolib/py/choreo/util/__init__.py

@@ -2,11 +2,9 @@
 from enum import Enum
 from typing import *
 
+from choreo.util.field_dimensions import FIELD_LENGTH, FIELD_WIDTH
 from wpimath.geometry import Pose2d
 
-FIELD_LENGTH = 16.5811
-FIELD_WIDTH = 8.19912
-
 
 class FlipperType(Enum):
     MIRRORED = 0

choreolib/py/choreo/util/field_dimensions.py

@@ -0,0 +1,3 @@
+# Auto-generated by update_field_dimensions.py
+FIELD_LENGTH = 16.5811
+FIELD_WIDTH = 8.19912

choreolib/src/main/java/choreo/Choreo.java

@@ -57,10 +57,11 @@ static void setChoreoDir(File choreoDir) {
    * Trajectory}, {@link Boolean})->void, where the function consumes a trajectory and a boolean
    * indicating whether the trajectory is starting or finishing.
    *
-   * @param <SampleType> DifferentialSample or SwerveSample.
+   * @param <ST> {@link choreo.trajectory.DifferentialSample} or {@link
+   *     choreo.trajectory.SwerveSample}
    */
-  public interface TrajectoryLogger<SampleType extends TrajectorySample<SampleType>>
-      extends BiConsumer<Trajectory<SampleType>, Boolean> {}
+  public interface TrajectoryLogger<ST extends TrajectorySample<ST>>
+      extends BiConsumer<Trajectory<ST>, Boolean> {}
 
   /** Default constructor. */
   private Choreo() {
@@ -106,6 +107,26 @@ Optional<Trajectory<SampleType>> loadTrajectory(String trajectoryName) {
     return Optional.empty();
   }
 
+  /**
+   * Fetches the names of all available trajectories in the deploy directory.
+   *
+   * @return A list of all available trajectory names.
+   */
+  public static String[] availableTrajectories() {
+    List<String> trajectories = new ArrayList<>();
+    File[] files = CHOREO_DIR.listFiles();
+    if (files != null) {
+      for (File file : files) {
+        if (file.getName().endsWith(TRAJECTORY_FILE_EXTENSION)) {
+          trajectories.add(
+              file.getName()
+                  .substring(0, file.getName().length() - TRAJECTORY_FILE_EXTENSION.length()));
+        }
+      }
+    }
+    return trajectories.toArray(new String[0]);
+  }
+
   /**
    * Load a trajectory from a string.
    *