[choreo] Frontend typing cleanup

src-core/src/spec/mod.rs

@@ -14,17 +14,21 @@ pub struct OpenFilePayload {
 /// A trait for types that can be snapshotted.
 /// This allows for the type to be converted to a f64.
 /// This trait is only implemented for [`f64`] and [`Expr`].
-pub trait SnapshottableType: Debug + Clone {
-    fn snapshot(&self) -> f64;
+pub trait ExprOrNumber: Debug + Clone {
+    fn as_number(&self) -> f64;
 }
 
-impl SnapshottableType for f64 {
+impl ExprOrNumber for f64 {
     #[inline]
-    fn snapshot(&self) -> f64 {
+    fn as_number(&self) -> f64 {
         *self
     }
 }
 
+/// A struct that represents an expression.
+///
+/// The string is a mathematical expression that can be evaluated to a number.
+/// The number is the result of evaluating the expression.
 #[derive(Debug, Serialize, Deserialize, Clone)]
 pub struct Expr(pub String, pub f64);
 impl Expr {
@@ -33,9 +37,9 @@ impl Expr {
         Self(name.to_string(), value)
     }
 }
-impl SnapshottableType for Expr {
+impl ExprOrNumber for Expr {
     #[inline]
-    fn snapshot(&self) -> f64 {
+    fn as_number(&self) -> f64 {
         self.1
     }
 }

src-core/src/spec/project.rs

@@ -3,7 +3,7 @@ use std::collections::HashMap;
 use serde::{Deserialize, Serialize};
 use trajoptlib::Translation2d;
 
-use super::{traj::DriveType, Expr, SnapshottableType};
+use super::{traj::DriveType, Expr, ExprOrNumber};
 
 #[derive(Debug, Serialize, Deserialize, Clone, Copy)]
 pub enum Dimension {
@@ -36,34 +36,34 @@ pub struct Variables {
     pub poses: HashMap<String, PoseVariable>,
 }
 #[derive(Debug, Serialize, Deserialize, Clone, Copy)]
-pub struct Bumper<T: SnapshottableType> {
+pub struct Bumper<T: ExprOrNumber> {
     pub front: T,
     pub left: T,
     pub back: T,
     pub right: T,
 }
 
-impl<T: SnapshottableType> Bumper<T> {
+impl<T: ExprOrNumber> Bumper<T> {
     pub fn snapshot(&self) -> Bumper<f64> {
         Bumper {
-            front: self.front.snapshot(),
-            left: self.left.snapshot(),
-            back: self.back.snapshot(),
-            right: self.right.snapshot(),
+            front: self.front.as_number(),
+            left: self.left.as_number(),
+            back: self.back.as_number(),
+            right: self.right.as_number(),
         }
     }
 }
 #[derive(Debug, Serialize, Deserialize, Clone, Copy)]
-pub struct Module<T: SnapshottableType> {
+pub struct Module<T: ExprOrNumber> {
     pub x: T,
     pub y: T,
 }
 
-impl<T: SnapshottableType> Module<T> {
+impl<T: ExprOrNumber> Module<T> {
     pub fn snapshot(&self) -> Module<f64> {
         Module {
-            x: self.x.snapshot(),
-            y: self.y.snapshot(),
+            x: self.x.as_number(),
+            y: self.y.as_number(),
         }
     }
 }
@@ -77,7 +77,7 @@ impl Module<f64> {
     }
 }
 #[derive(Debug, Serialize, Deserialize, Clone, Copy)]
-pub struct RobotConfig<T: SnapshottableType> {
+pub struct RobotConfig<T: ExprOrNumber> {
     pub modules: [Module<T>; 4],
     pub mass: T,
     pub inertia: T,
@@ -90,26 +90,26 @@ pub struct RobotConfig<T: SnapshottableType> {
     pub bumper: Bumper<T>,
 }
 
-impl<T: SnapshottableType> RobotConfig<T> {
+impl<T: ExprOrNumber> RobotConfig<T> {
     pub fn snapshot(&self) -> RobotConfig<f64> {
         RobotConfig {
             modules: self.modules.clone().map(|modu: Module<T>| modu.snapshot()),
-            mass: self.mass.snapshot(),
-            inertia: self.inertia.snapshot(),
-            gearing: self.gearing.snapshot(),
-            radius: self.radius.snapshot(),
-            vmax: self.vmax.snapshot(),
-            tmax: self.tmax.snapshot(),
+            mass: self.mass.as_number(),
+            inertia: self.inertia.as_number(),
+            gearing: self.gearing.as_number(),
+            radius: self.radius.as_number(),
+            vmax: self.vmax.as_number(),
+            tmax: self.tmax.as_number(),
             bumper: self.bumper.snapshot(),
         }
     }
 }
-impl<T: SnapshottableType> RobotConfig<T> {
+impl<T: ExprOrNumber> RobotConfig<T> {
     pub fn wheel_max_torque(&self) -> f64 {
-        self.tmax.snapshot() * self.gearing.snapshot()
+        self.tmax.as_number() * self.gearing.as_number()
     }
     pub fn wheel_max_velocity(&self) -> f64 {
-        self.vmax.snapshot() / self.gearing.snapshot()
+        self.vmax.as_number() / self.gearing.as_number()
     }
 }
 

src-core/src/spec/traj.rs

@@ -1,12 +1,12 @@
 use serde::{Deserialize, Serialize};
 use trajoptlib::{DifferentialTrajectorySample, SwerveTrajectorySample};
 
-use super::{Expr, SnapshottableType};
+use super::{Expr, ExprOrNumber};
 
 #[derive(Serialize, Deserialize, Clone, Copy, Debug)]
 #[serde(rename_all = "camelCase")]
 /// A waypoint parameter.
-pub struct Waypoint<T: SnapshottableType> {
+pub struct Waypoint<T: ExprOrNumber> {
     /// The x coordinate of the waypoint (blue origin).
     ///
     /// Units: meters
@@ -36,12 +36,12 @@ pub struct Waypoint<T: SnapshottableType> {
 }
 
 #[allow(missing_docs)]
-impl<T: SnapshottableType> Waypoint<T> {
+impl<T: ExprOrNumber> Waypoint<T> {
     pub fn snapshot(&self) -> Waypoint<f64> {
         Waypoint {
-            x: self.x.snapshot(),
-            y: self.y.snapshot(),
-            heading: self.heading.snapshot(),
+            x: self.x.as_number(),
+            y: self.y.as_number(),
+            heading: self.heading.as_number(),
             intervals: self.intervals,
             split: self.split,
             fix_translation: self.fix_translation,
@@ -108,7 +108,7 @@ pub enum ConstraintScope {
 /// A constraint on the robot's motion.
 #[derive(Serialize, Deserialize, Clone, Copy, Debug)]
 #[serde(tag = "type", content = "props")]
-pub enum ConstraintData<T: SnapshottableType> {
+pub enum ConstraintData<T: ExprOrNumber> {
     /// A constraint on the maximum velocity.
     MaxVelocity {
         /// The maximum velocity.
@@ -149,7 +149,7 @@ pub enum ConstraintData<T: SnapshottableType> {
     KeepInRectangle { x: T, y: T, w: T, h: T },
 }
 
-impl<T: SnapshottableType> ConstraintData<T> {
+impl<T: ExprOrNumber> ConstraintData<T> {
     /// The scope of the constraint.
     pub fn scope(&self) -> ConstraintScope {
         match self {
@@ -162,44 +162,44 @@ impl<T: SnapshottableType> ConstraintData<T> {
     pub fn snapshot(&self) -> ConstraintData<f64> {
         match self {
             ConstraintData::MaxVelocity { max } => ConstraintData::MaxVelocity {
-                max: max.snapshot(),
+                max: max.as_number(),
             },
             ConstraintData::MaxAngularVelocity { max } => ConstraintData::MaxAngularVelocity {
-                max: max.snapshot(),
+                max: max.as_number(),
             },
             ConstraintData::PointAt {
                 x,
                 y,
                 tolerance,
                 flip,
             } => ConstraintData::PointAt {
-                x: x.snapshot(),
-                y: y.snapshot(),
-                tolerance: tolerance.snapshot(),
+                x: x.as_number(),
+                y: y.as_number(),
+                tolerance: tolerance.as_number(),
                 flip: *flip,
             },
             ConstraintData::MaxAcceleration { max } => ConstraintData::MaxAcceleration {
-                max: max.snapshot(),
+                max: max.as_number(),
             },
             ConstraintData::StopPoint {} => ConstraintData::StopPoint {},
             ConstraintData::KeepInCircle { x, y, r } => ConstraintData::KeepInCircle {
-                x: x.snapshot(),
-                y: y.snapshot(),
-                r: r.snapshot(),
+                x: x.as_number(),
+                y: y.as_number(),
+                r: r.as_number(),
             },
             ConstraintData::KeepInRectangle { x, y, w, h } => ConstraintData::KeepInRectangle {
-                x: x.snapshot(),
-                y: y.snapshot(),
-                w: w.snapshot(),
-                h: h.snapshot(),
+                x: x.as_number(),
+                y: y.as_number(),
+                w: w.as_number(),
+                h: h.as_number(),
             },
         }
     }
 }
 
 /// A constraint on the robot's motion and where it applies.
 #[derive(Debug, Clone, Copy, Serialize, Deserialize)]
-pub struct Constraint<T: SnapshottableType> {
+pub struct Constraint<T: ExprOrNumber> {
     /// The waypoint the constraint starts at.
     pub from: WaypointID,
     /// The waypoint the constraint ends at.
@@ -210,7 +210,7 @@ pub struct Constraint<T: SnapshottableType> {
     pub data: ConstraintData<T>,
 }
 
-impl<T: SnapshottableType> Constraint<T> {
+impl<T: ExprOrNumber> Constraint<T> {
     #[allow(missing_docs)]
     pub fn snapshot(&self) -> Constraint<f64> {
         Constraint::<f64> {
@@ -223,7 +223,7 @@ impl<T: SnapshottableType> Constraint<T> {
 
 /// A constraint on the robot's motion and where it applies.
 #[derive(Debug, Clone, Copy, Serialize, Deserialize)]
-pub struct ConstraintIDX<T: SnapshottableType> {
+pub struct ConstraintIDX<T: ExprOrNumber> {
     /// The index of the waypoint the constraint starts at.
     pub from: usize,
     /// The index of the waypoint the constraint ends at.
@@ -344,14 +344,14 @@ pub enum DriveType {
 
 /// The parameters used for generating a trajectory.
 #[derive(Serialize, Deserialize, Clone, Debug)]
-pub struct Parameters<T: SnapshottableType> {
+pub struct Parameters<T: ExprOrNumber> {
     /// The waypoints the robot will pass through or use for initial guess.
     pub waypoints: Vec<Waypoint<T>>,
     /// The constraints on the robot's motion.
     pub constraints: Vec<Constraint<T>>,
 }
 
-impl<T: SnapshottableType> Parameters<T> {
+impl<T: ExprOrNumber> Parameters<T> {
     #[allow(missing_docs)]
     pub fn snapshot(&self) -> Parameters<f64> {
         Parameters {
@@ -388,6 +388,14 @@ pub struct TrajFile {
     pub params: Parameters<Expr>,
     /// The trajectory the robot will follow.
     pub traj: Trajectory,
+    /// The choreo events.
+    #[serde(default)]
+    pub events: Vec<EventMarker>,
+    /// The pplib commands to execute.
+    /// This is a compatibility layer for working with
+    /// the path planner library.
+    #[serde(default)]
+    pub pplib_commands: Vec<PplibCommandMarker>,
 }
 
 impl TrajFile {
@@ -402,3 +410,34 @@ impl TrajFile {
         serde_json::from_str(content).map_err(Into::into)
     }
 }
+
+#[derive(Debug, Clone, Serialize, Deserialize)]
+#[serde(rename_all = "camelCase")]
+pub struct PplibCommandMarker {
+    pub name: String,
+    pub target: Option<usize>,
+    pub traj_target_index: Option<usize>,
+    pub target_timestamp: Option<f64>,
+    pub offset: f64,
+    pub command: PplibCommand,
+}
+
+#[derive(Debug, Clone, Serialize, Deserialize)]
+#[serde(rename_all = "camelCase", tag = "type", content = "data")]
+pub enum PplibCommand {
+    Named { name: String },
+    Wait { wait_time: f64 },
+    Sequential { commands: Vec<PplibCommand> },
+    Parallel { commands: Vec<PplibCommand> },
+    Race { commands: Vec<PplibCommand> },
+    Deadline { commands: Vec<PplibCommand> },
+}
+
+#[derive(Debug, Clone, Serialize, Deserialize)]
+#[serde(rename_all = "camelCase")]
+pub struct EventMarker {
+    /// The name of the event.
+    pub event: String,
+    /// The offset from the beginning of the trajectory.
+    pub timestamp: f64,
+}

src/AppMenu.tsx

@@ -31,7 +31,7 @@ import {
 } from "./document/DocumentManager";
 
 import SettingsModal from "./components/config/SettingsModal";
-import { Commands } from "./document/tauriCommands";
+import { Commands } from "./document/Backend";
 import { version } from "./util/version";
 
 type Props = object;

src/components/config/CircularObstacleConfigPanel.tsx

@@ -1,7 +1,7 @@
 import { observer } from "mobx-react";
 import { Component } from "react";
 import styles from "./WaypointConfigPanel.module.css";
-import { ICircularObstacleStore } from "../../document/CircularObstacleStore";
+import { ICircularObstacleStore } from "../../document/stores/CircularObstacleStore";
 import ExpressionInput from "../input/ExpressionInput";
 import ExpressionInputList from "../input/ExpressionInputList";
 

src/components/config/ConstraintsConfigPanel.tsx

@@ -1,6 +1,6 @@
 import { observer } from "mobx-react";
 import { Component } from "react";
-import { IConstraintStore } from "../../document/ConstraintStore";
+import { IConstraintStore } from "../../document/stores//ConstraintStore";
 import BooleanInput from "../input/BooleanInput";
 import ExpressionInput from "../input/ExpressionInput";
 import ExpressionInputList from "../input/ExpressionInputList";

src/components/config/ScopeSlider.tsx

@@ -1,7 +1,7 @@
 import { Slider, SliderProps } from "@mui/material";
 import { observer } from "mobx-react";
 import { Component } from "react";
-import { IHolonomicWaypointStore } from "../../document/HolonomicWaypointStore";
+import { IHolonomicWaypointStore } from "../../document/stores/HolonomicWaypointStore";
 
 type Props = {
   isRange: boolean;

src/components/config/WaypointConfigPanel.tsx

@@ -1,7 +1,7 @@
 import { ToggleButton, ToggleButtonGroup, Tooltip } from "@mui/material";
 import { observer } from "mobx-react";
 import { Component, ReactElement } from "react";
-import { IHolonomicWaypointStore } from "../../document/HolonomicWaypointStore";
+import { IHolonomicWaypointStore } from "../../document/stores/HolonomicWaypointStore";
 import { WaypointData } from "../../document/UIData";
 import BooleanInput from "../input/BooleanInput";
 import ExpressionInput from "../input/ExpressionInput";

src/components/config/eventmarker/CommandDraggable.tsx

@@ -13,7 +13,7 @@ import {
   CommandType,
   CommandUIData,
   ICommandStore
-} from "../../../document/EventMarkerStore";
+} from "../../../document/stores/PplibCommandMarkerStore";
 import ExpressionInput from "../../input/ExpressionInput";
 import ExpressionInputList from "../../input/ExpressionInputList";
 

src/components/config/eventmarker/EventMarkerConfigPanel.tsx

@@ -6,7 +6,7 @@ import { DragDropContext } from "@hello-pangea/dnd";
 import {
   CommandStore,
   IEventMarkerStore
-} from "../../../document/EventMarkerStore";
+} from "../../../document/stores/PplibCommandMarkerStore";
 import ExpressionInput from "../../input/ExpressionInput";
 import ExpressionInputList from "../../input/ExpressionInputList";
 import InputStyles from "../../input/InputList.module.css";