Merge branch 'main' into obstacle-refactor-2025

Lewis-Seiden · Sep 22, 2024 · 746695e · 746695e
2 parents 13de3cb + acb16dc
commit 746695e
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Showing 17 changed files with 108 additions and 73 deletions.
diff --git a/.github/workflows/choreo.yml b/.github/workflows/choreo.yml
@@ -26,7 +26,7 @@ jobs:
             os: macOS-14
             tauri-build-flags: --target x86_64-apple-darwin -v -- --workspace
 
-          - artifact-name: macOS-arm64
+          - artifact-name: macOS-aarch64
             os: macOS-14
             tauri-build-flags: --target aarch64-apple-darwin -v -- --workspace
 
@@ -83,43 +83,34 @@ jobs:
           RUSTC_WRAPPER: sccache
           SCCACHE_GHA_ENABLED: true
 
-      - name: Upload bundle (Windows x86)
+      - name: Package artifacts (Windows x86_64)
         if: matrix.artifact-name == 'Windows-x86_64'
-        uses: actions/upload-artifact@v4
-        with:
-          name: ${{ matrix.artifact-name }}
-          path: target/x86_64-pc-windows-msvc/release/bundle/nsis/*.exe
+        run: Compress-Archive -DestinationPath ${{ matrix.artifact-name }}.zip -Path target/x86_64-pc-windows-msvc/release/choreo.exe,target/x86_64-pc-windows-msvc/release/choreo-cli.exe,target/x86_64-pc-windows-msvc/release/bundle/nsis/*.exe
 
-      - name: Upload bundle (Windows ARM)
+      - name: Package artifacts (Windows aarch64)
         if: matrix.artifact-name == 'Windows-aarch64'
-        uses: actions/upload-artifact@v4
-        with:
-          name: ${{ matrix.artifact-name }}
-          path: target/aarch64-pc-windows-msvc/release/bundle/nsis/*.exe
+        run: Compress-Archive -DestinationPath ${{ matrix.artifact-name }}.zip -Path target/aarch64-pc-windows-msvc/release/choreo.exe,target/aarch64-pc-windows-msvc/release/choreo-cli.exe,target/aarch64-pc-windows-msvc/release/bundle/nsis/*.exe
 
-      - name: Upload bundle (macOS x86)
+      - name: Package artifacts (macOS x86_64)
         if: matrix.artifact-name == 'macOS-x86_64'
-        uses: actions/upload-artifact@v4
-        with:
-          name: ${{ matrix.artifact-name }}
-          path: target/x86_64-apple-darwin/release/bundle/dmg/*.dmg
+        run: |
+          zip -j ${{ matrix.artifact-name }}.zip target/x86_64-apple-darwin/release/Choreo target/x86_64-apple-darwin/release/choreo-cli target/x86_64-apple-darwin/release/bundle/dmg/*.dmg
 
-      - name: Upload bundle (macOS ARM)
-        if: matrix.artifact-name == 'macOS-arm64'
-        uses: actions/upload-artifact@v4
-        with:
-          name: ${{ matrix.artifact-name }}
-          path: target/aarch64-apple-darwin/release/bundle/dmg/*.dmg
+      - name: Package artifacts (macOS aarch64)
+        if: matrix.artifact-name == 'macOS-aarch64'
+        run: |
+          zip -j ${{ matrix.artifact-name }}.zip target/aarch64-apple-darwin/release/Choreo target/aarch64-apple-darwin/release/choreo-cli target/aarch64-apple-darwin/release/bundle/dmg/*.dmg
 
-      - name: Upload bundle (Linux)
+      - name: Package artifacts (Linux x86_64)
         if: matrix.artifact-name == 'Linux-x86_64'
-        uses: actions/upload-artifact@v4
+        run: zip -j ${{ matrix.artifact-name }}.zip target/x86_64-unknown-linux-gnu/release/choreo target/x86_64-unknown-linux-gnu/release/choreo-cli target/x86_64-unknown-linux-gnu/release/bundle/appimage/*.AppImage target/x86_64-unknown-linux-gnu/release/bundle/deb/*.deb target/x86_64-unknown-linux-gnu/release/bundle/rpm/*.rpm
+
+      # Zipping manually works around upload-artifact stripping execute
+      # permissions from files
+      - uses: actions/upload-artifact@v4
         with:
           name: ${{ matrix.artifact-name }}
-          path: |
-            target/x86_64-unknown-linux-gnu/release/bundle/appimage/*.AppImage
-            target/x86_64-unknown-linux-gnu/release/bundle/deb/*.deb
-            target/x86_64-unknown-linux-gnu/release/bundle/rpm/*.rpm
+          path: ${{ matrix.artifact-name }}.zip
 
   release:
     name: Create draft release
@@ -138,33 +129,47 @@ jobs:
       - name: Display structure of downloaded files
         run: ls -R
 
-      - name: Rename Windows x86_64 bundle
+      - name: Rename Windows x86_64 artifacts
         working-directory: pkg/Windows-x86_64
-        run: mv *.exe Choreo-${{ github.ref_name }}-Windows-x86_64.exe
+        run: |
+          unzip -o Windows-x86_64.zip
+          mv choreo.exe Choreo-${{ github.ref_name }}-Windows-x86_64.exe
+          mv choreo-cli.exe Choreo-CLI-${{ github.ref_name }}-Windows-x86_64.exe
+          mv Choreo_*_x64-setup.exe Choreo-${{ github.ref_name }}-Windows-x86_64-setup.exe
 
-      - name: Rename Windows aarch64 bundle
+      - name: Rename Windows aarch64 artifacts
         working-directory: pkg/Windows-aarch64
-        run: mv *.exe Choreo-${{ github.ref_name }}-Windows-aarch64.exe
+        run: |
+          unzip -o Windows-aarch64.zip
+          mv choreo.exe Choreo-${{ github.ref_name }}-Windows-aarch64.exe
+          mv choreo-cli.exe Choreo-CLI-${{ github.ref_name }}-Windows-aarch64.exe
+          mv Choreo_*_arm64-setup.exe Choreo-${{ github.ref_name }}-Windows-aarch64-setup.exe
 
-      - name: Rename macOS x86_64 bundle
+      - name: Rename macOS x86_64 artifacts
         working-directory: pkg/macOS-x86_64
-        run: mv *.dmg Choreo-${{ github.ref_name }}-macOS-x86_64.dmg
-
-      - name: Rename macOS arm64 bundle
-        working-directory: pkg/macOS-arm64
-        run: mv *.dmg Choreo-${{ github.ref_name }}-macOS-arm64.dmg
-
-      - name: Rename Linux x86_64 file (.AppImage)
-        working-directory: pkg/Linux-x86_64/appimage
-        run: mv *.AppImage Choreo-${{ github.ref_name }}-Linux-x86_64.AppImage
+        run: |
+          unzip -o macOS-x86_64.zip
+          mv Choreo Choreo-${{ github.ref_name }}-macOS-x86_64
+          mv choreo-cli Choreo-CLI-${{ github.ref_name }}-macOS-x86_64
+          mv Choreo_*_aarch64.dmg Choreo-${{ github.ref_name }}-macOS-x86_64.dmg
 
-      - name: Rename Linux x86_64 file (.deb)
-        working-directory: pkg/Linux-x86_64/deb
-        run: mv *.deb Choreo-${{ github.ref_name }}-Linux-x86_64.deb
+      - name: Rename macOS aarch64 artifacts
+        working-directory: pkg/macOS-aarch64
+        run: |
+          unzip -o macOS-aarch64.zip
+          mv Choreo Choreo-${{ github.ref_name }}-macOS-aarch64
+          mv choreo-cli Choreo-CLI-${{ github.ref_name }}-macOS-aarch64
+          mv Choreo_*_aarch64.dmg Choreo-${{ github.ref_name }}-macOS-aarch64.dmg
 
-      - name: Rename Linux x86_64 file (.rpm)
-        working-directory: pkg/Linux-x86_64/rpm
-        run: mv *.rpm Choreo-${{ github.ref_name }}-Linux-x86_64.rpm
+      - name: Rename Linux x86_64 artifacts
+        working-directory: pkg/Linux-x86_64
+        run: |
+          unzip -o Linux-x86_64.zip
+          mv choreo Choreo-${{ github.ref_name }}-Linux-x86_64
+          mv choreo-cli Choreo-CLI-${{ github.ref_name }}-Linux-x86_64
+          mv choreo_*_amd64.AppImage Choreo-${{ github.ref_name }}-Linux-x86_64.AppImage
+          mv choreo_*_amd64.deb Choreo-${{ github.ref_name }}-Linux-x86_64.deb
+          mv choreo-*.x86_64.rpm Choreo-${{ github.ref_name }}-Linux-x86_64.rpm
 
       - name: Display structure of renamed files
         run: ls -R
@@ -173,6 +178,6 @@ jobs:
         with:
           name: Choreo ${{ github.ref_name }}
           tag: ${{ github.ref_name }}
-          artifacts: "pkg/**/*.AppImage,pkg/**/*.deb,pkg/**/*.dmg,pkg/**/*.exe,pkg/**/*.rpm"
+          artifacts: "pkg/**/*.AppImage,pkg/**/*.deb,pkg/**/*.dmg,pkg/**/*.exe,pkg/**/*.rpm,pkg/**/Choreo,pkg/**/choreo,pkg/**/choreo-cli"
           draft: true
           prerelease: true
diff --git a/.github/workflows/lint-format.yml b/.github/workflows/lint-format.yml
@@ -49,7 +49,7 @@ jobs:
         with:
           python-version: 3.12
 
-      - run: pip3 install wpiformat==2024.40
+      - run: pip3 install wpiformat==2024.41
 
       - run: pnpm run fmt
 
@@ -112,7 +112,7 @@ jobs:
         with:
           python-version: 3.12
 
-      - run: pip3 install wpiformat==2024.40
+      - run: pip3 install wpiformat==2024.41
 
       - name: Create compile_commands.json
         working-directory: choreolib
@@ -162,7 +162,7 @@ jobs:
           echo "CXX=clang++" >> $GITHUB_ENV
           echo "CXXFLAGS=-stdlib=libc++" >> $GITHUB_ENV
 
-      - run: pip3 install wpiformat==2024.40
+      - run: pip3 install wpiformat==2024.41
 
       - name: Create compile_commands.json
         run: cmake -B build -S . -DCMAKE_EXPORT_COMPILE_COMMANDS=YES

diff --git a/choreolib/build.gradle b/choreolib/build.gradle
@@ -13,11 +13,11 @@ plugins {
 repositories {
     mavenCentral()
 }
-if (project.hasProperty('releaseMode')) {
-    wpilibRepositories.addAllReleaseRepositories(project)
-} else {
-    wpilibRepositories.addAllDevelopmentRepositories(project)
-}
+// if (project.hasProperty('releaseMode')) {
+wpilibRepositories.addAllReleaseRepositories(project)
+// } else {
+//     wpilibRepositories.addAllDevelopmentRepositories(project)
+// }
 
 // Apply C++ configuration
 apply from: 'config.gradle'

diff --git a/choreolib/src/main/native/cpp/choreo/lib/Choreo.cpp b/choreolib/src/main/native/cpp/choreo/lib/Choreo.cpp
@@ -3,8 +3,11 @@
 #include "choreo/lib/Choreo.h"
 
 #include <filesystem>
+#include <memory>
 #include <numbers>
 #include <regex>
+#include <string>
+#include <vector>
 
 #include <fmt/format.h>
 #include <frc/DriverStation.h>

diff --git a/choreolib/src/main/native/cpp/choreo/lib/ChoreoTrajectory.cpp b/choreolib/src/main/native/cpp/choreo/lib/ChoreoTrajectory.cpp
@@ -2,6 +2,8 @@
 
 #include "choreo/lib/ChoreoTrajectory.h"
 
+#include <vector>
+
 #include <units/math.h>
 #include <wpi/json.h>
 

diff --git a/choreolib/src/main/native/cpp/choreo/lib/ChoreoTrajectoryState.cpp b/choreolib/src/main/native/cpp/choreo/lib/ChoreoTrajectoryState.cpp
@@ -3,6 +3,7 @@
 #include "choreo/lib/ChoreoTrajectoryState.h"
 
 #include <algorithm>
+#include <functional>
 #include <numbers>
 
 #include <frc/geometry/Twist2d.h>

diff --git a/rename-sidecar.cjs → copy-sidecar.cjs b/rename-sidecar.cjs → copy-sidecar.cjs
@@ -20,10 +20,10 @@ if (fs.existsSync(oldPathNative)) {
   exit(1);
 }
 
-fs.rename(path, newPath, (err) => {
+fs.copyFile(path, newPath, (err) => {
   if (err) {
-    console.error(`Error renaming ${path} to ${newPath}: ${err}`);
+    console.error(`Error copying ${path} to ${newPath}: ${err}`);
     exit(1);
   }
-  console.log(`Renamed ${path} to ${newPath}`);
+  console.log(`Copied ${path} to ${newPath}`);
 });
diff --git a/src-tauri/tauri.conf.json b/src-tauri/tauri.conf.json
@@ -2,7 +2,7 @@
   "build": {
     "beforeDevCommand": "vite",
     "beforeBuildCommand": "vite build",
-    "beforeBundleCommand": "node rename-sidecar.cjs choreo-cli ./target",
+    "beforeBundleCommand": "node copy-sidecar.cjs choreo-cli ./target",
     "devPath": "http://localhost:1420",
     "distDir": "../dist",
     "withGlobalTauri": false

diff --git a/src/document/ExpressionStore.tsx b/src/document/ExpressionStore.tsx
@@ -454,7 +454,11 @@ export const ExpressionStore = types
             if (value !== undefined) {
               self.setValue(value);
             }
-          }
+          },
+          // do this calculation when setting up the reaction
+          // so value is populated (default is false but this causes issues
+          // when restoring ExpressionStores out of undo history)
+          { fireImmediately: true }
         );
       },
       beforeDestroy: () => {

diff --git a/src/document/PathListStore.ts b/src/document/PathListStore.ts
@@ -118,6 +118,12 @@ export const PathListStore = types
             } else {
               path.params.addConstraint("StopPoint", "first");
               path.params.addConstraint("StopPoint", "last");
+              path.params.addConstraint("KeepInRectangle", "first", "last", {
+                x: ["0 m", 0.0],
+                y: ["0 m", 0.0],
+                w: ["16.54 m", 16.54],
+                h: ["8.21 m", 8.21]
+              });
             }
 
             if (self.paths.size === 1 || select) {

diff --git a/trajoptlib/CMakeLists.txt b/trajoptlib/CMakeLists.txt
@@ -103,8 +103,8 @@ set(BUILD_EXAMPLES OFF)
 fetchcontent_declare(
     Sleipnir
     GIT_REPOSITORY https://github.com/SleipnirGroup/Sleipnir.git
-    # main on 2024-09-07
-    GIT_TAG 6672fd9a2adf710ac5cb0edbaf36bb46b1e4815d
+    # main on 2024-09-18
+    GIT_TAG 8bbce85252bc351c5aacb0de9f50fa31b8b9e1ae
     PATCH_COMMAND
         git apply ${CMAKE_CURRENT_SOURCE_DIR}/cmake/0001-Downgrade-to-C-20.patch
     UPDATE_DISCONNECTED 1

diff --git a/trajoptlib/cmake/0001-Downgrade-to-C-20.patch b/trajoptlib/cmake/0001-Downgrade-to-C-20.patch
@@ -71,10 +71,11 @@ diff --git a/include/sleipnir/util/Print.hpp b/include/sleipnir/util/Print.hpp
 index 339320bce6d017ca85025060ba445b2f025bb225..fcf2e69bfb5a081cd915bdded3caa80cd9c38518 100644
 --- a/include/sleipnir/util/Print.hpp
 +++ b/include/sleipnir/util/Print.hpp
-@@ -2,52 +2,53 @@
+@@ -2,53 +2,54 @@
 
  #pragma once
 
+ #include <cstdio>
 -#include <print>
  #include <system_error>
  #include <utility>

diff --git a/trajoptlib/src/DifferentialTrajectoryGenerator.cpp b/trajoptlib/src/DifferentialTrajectoryGenerator.cpp
@@ -2,8 +2,11 @@
 
 #include "trajopt/DifferentialTrajectoryGenerator.hpp"
 
+#include <algorithm>
 #include <cmath>
 #include <ranges>
+#include <utility>
+#include <vector>
 
 #include <sleipnir/autodiff/Variable.hpp>
 #include <sleipnir/optimization/SolverExitCondition.hpp>

diff --git a/trajoptlib/src/RustFFI.cpp b/trajoptlib/src/RustFFI.cpp
@@ -6,6 +6,8 @@
 
 #include <algorithm>
 #include <cstddef>
+#include <memory>
+#include <utility>
 #include <vector>
 
 #include "trajopt/constraint/AngularVelocityMaxMagnitudeConstraint.hpp"

diff --git a/trajoptlib/src/RustFFI.hpp b/trajoptlib/src/RustFFI.hpp
@@ -4,12 +4,27 @@
 
 #include <cstddef>
 #include <memory>
+#include <string>
 
 #include <rust/cxx.h>
+#include <sleipnir/optimization/SolverExitCondition.hpp>
 
 #include "trajopt/DifferentialTrajectoryGenerator.hpp"
 #include "trajopt/SwerveTrajectoryGenerator.hpp"
 
+// override cxx try/catch so it catches thrown integers/exit conditions
+namespace rust::behavior {
+template <typename Try, typename Fail>
+static void trycatch(Try&& func, Fail&& fail) noexcept try {
+  func();
+} catch (const std::exception& e) {
+  fail(e.what());
+} catch (const sleipnir::SolverExitCondition& e) {
+  // TODO: Use std::to_underlying() from C++23
+  fail(std::to_string(static_cast<uint8_t>(e)));
+}
+}  // namespace rust::behavior
+
 namespace trajopt::rsffi {
 
 struct SwerveTrajectory;

diff --git a/trajoptlib/src/SwerveTrajectoryGenerator.cpp b/trajoptlib/src/SwerveTrajectoryGenerator.cpp
@@ -8,6 +8,7 @@
 #include <chrono>
 #include <ranges>
 #include <utility>
+#include <vector>
 
 #include <sleipnir/optimization/OptimizationProblem.hpp>
 #include <sleipnir/optimization/SolverExitCondition.hpp>

diff --git a/update_version.py b/update_version.py
@@ -8,14 +8,6 @@
 from pathlib import Path
 from typing import Literal
 
-REQUIREMENTS = ["json", "tomlkit"]
-
-try:
-    import json
-    import tomlkit
-except ImportError:
-    raise ImportError(f"Please install the following packages: {REQUIREMENTS}")
-
 
 @dataclass(frozen=True, slots=True)
 class VersionLocation: