[choreolib] Fix C++ version checking

Resolves #973

Signed-off-by: Jade Turner <[email protected]>

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 = 1;
+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);

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.

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>
   );

src/assets/Torque.tsx

@@ -43,7 +43,9 @@ const Torque: React.FunctionComponent<SvgIconProps> = (props) => {
       {/* right arrow part */}
       <line x1={endX} y1={cornerY - 9} x2={endX - 3} y2={cornerY - 12}></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>
 
       {/* <circle cx={12} cy={12} r={2} fill="currentColor"></circle>

src/components/config/variables/PoseVariablesConfigPanel.tsx

@@ -30,7 +30,11 @@ const PoseVariablePanel = observer(
           setName={(name) => props.setName(name)}
           validateName={(name) => props.validateName(name)}
         ></VariableRenamingInput>
-        {`(${entry[1].x.defaultUnitMagnitude?.toFixed(2)} m, ${entry[1].y.defaultUnitMagnitude?.toFixed(2)} m, ${entry[1].heading.defaultUnitMagnitude?.toFixed(2)} rad)`}
+        {`(${entry[1].x.defaultUnitMagnitude?.toFixed(
+          2
+        )} m, ${entry[1].y.defaultUnitMagnitude?.toFixed(
+          2
+        )} m, ${entry[1].heading.defaultUnitMagnitude?.toFixed(2)} rad)`}
         {props.actionButton()}
         {props.open && (
           <>

src/components/field/svg/OverlayWaypoint.tsx

@@ -205,9 +205,9 @@ class OverlayWaypoint extends Component<Props, State> {
     return (
       <g ref={this.rootRef}>
         <g
-          transform={`translate(${waypoint.x.value}, ${waypoint.y.value}) rotate(${
-            (waypoint.heading.value * 180) / Math.PI
-          })`}
+          transform={`translate(${waypoint.x.value}, ${
+            waypoint.y.value
+          }) rotate(${(waypoint.heading.value * 180) / Math.PI})`}
           id={this.appendIndexID("waypointGroup")}
         >
           {this.props.waypoint.type === 0 && (

src/components/sidebar/SidebarConstraint.tsx

@@ -46,7 +46,10 @@ class SidebarConstraint extends Component<Props, State> {
       return waypointIDToText(from, points);
     else if (from === "first" && to === "last") return "All";
     else {
-      return `${waypointIDToText(from, points)}-${waypointIDToText(to, points)}`;
+      return `${waypointIDToText(from, points)}-${waypointIDToText(
+        to,
+        points
+      )}`;
     }
   }
   render() {