Automatic code generation for choreo

src-tauri/src/api.rs

@@ -1,5 +1,6 @@
 #![allow(clippy::needless_pass_by_value)]
 
+use std::fs;
 use std::path::PathBuf;
 
 use crate::tauri::TauriResult;
@@ -55,6 +56,21 @@ pub async fn open_in_explorer(path: String) -> TauriResult<()> {
     debug_result!(open::that(path).map_err(ChoreoError::from));
 }
 
+#[tauri::command]
+pub async fn select_codegen_folder(app_handle: tauri::AppHandle) -> TauriResult<String> {
+    Ok(app_handle
+        .dialog()
+        .file()
+        .set_title("Select a folder to output generated Java files")
+        .blocking_pick_folder()
+        .ok_or(ChoreoError::FileNotFound(None))?
+        .as_path()
+        .ok_or(ChoreoError::FileNotFound(None))?
+        .to_str()
+        .ok_or(ChoreoError::FileNotFound(None))?
+        .to_string())
+}
+
 #[tauri::command]
 pub async fn open_project_dialog(app_handle: tauri::AppHandle) -> TauriResult<OpenFilePayload> {
     app_handle
@@ -86,6 +102,12 @@ pub async fn open_project_dialog(app_handle: tauri::AppHandle) -> TauriResult<Op
         })?
 }
 
+#[tauri::command]
+pub fn write_raw_file(content: String, file_path: String) -> ChoreoResult<()> {
+    fs::write(file_path, content.as_bytes())?;
+    Ok(())
+}
+
 #[tauri::command]
 pub async fn default_project() -> TauriResult<ProjectFile> {
     Ok(ProjectFile::default())

src-tauri/src/tauri.rs

@@ -203,11 +203,13 @@ pub fn run_tauri(project: Option<PathBuf>) {
             guess_control_interval_counts,
             open_in_explorer,
             default_project,
+            write_raw_file,
             read_project,
             write_project,
             write_trajectory,
             read_all_trajectory,
             open_project_dialog,
+            select_codegen_folder,
             read_trajectory,
             rename_trajectory,
             trajectory_up_to_date,

src/AppMenu.tsx

@@ -2,6 +2,7 @@ import {
   CopyAll,
   NoteAddOutlined,
   OpenInNew,
+  RemoveCircle,
   Settings
 } from "@mui/icons-material";
 import MenuIcon from "@mui/icons-material/Menu";
@@ -28,7 +29,10 @@ import {
   saveProjectDialog,
   uiState,
   openDiagnosticZipWithInfo,
-  openProjectSelectFeedback
+  openProjectSelectFeedback,
+  codeGenDialog,
+  disableCodegen,
+  codegenEnabled
 } from "./document/DocumentManager";
 
 import SettingsModal from "./components/config/SettingsModal";
@@ -189,6 +193,33 @@ class AppMenu extends Component<Props, State> {
               </ListItemIcon>
               <ListItemText primary="Export Diagnostic Report"></ListItemText>
             </ListItemButton>
+            <Tooltip
+              disableInteractive
+              title="Output Java files containing variables and constants defined in the GUI."
+            >
+              <ListItemButton
+                onClick={async () => {
+                  codeGenDialog();
+                }}
+              >
+                <ListItemIcon>
+                  <UploadIcon />
+                </ListItemIcon>
+                <ListItemText primary="Choose Codegen Folder"></ListItemText>
+              </ListItemButton>
+            </Tooltip>
+            {codegenEnabled() && (
+              <ListItemButton
+                onClick={async () => {
+                  disableCodegen();
+                }}
+              >
+                <ListItemIcon>
+                  <RemoveCircle />
+                </ListItemIcon>
+                <ListItemText primary="Disable Codegen"></ListItemText>
+              </ListItemButton>
+            )}
             <Divider orientation="horizontal"></Divider>
             {/* Info about save locations */}
             <ListItem>

src/codegen/genConstsFile.ts

@@ -0,0 +1,67 @@
+import { Project } from "../document/2025/DocumentTypes";
+import { writeConst } from "./internals";
+
+export function genConstsFile(project: Project, packageName: string): string {
+  const out: string[] = [];
+  out.push(`package ${packageName};`);
+  out.push(`
+import edu.wpi.first.math.geometry.Translation2d;
+import edu.wpi.first.units.measure.*;
+import static edu.wpi.first.units.Units.*;
+
+/**
+ * Generated file containing document settings for your Choreo project.
+ * This allows for modifying constants in choreo while keeping your robot code up-to-date.
+ * DO NOT MODIFY this file yourself, as it is auto-generated.
+ */
+public final class ChoreoConsts {`);
+
+  const config = project.config;
+  const maxLinearVel =
+    (config.vmax.val / config.gearing.val) * config.radius.val;
+  const maxWheelForce =
+    (config.tmax.val * config.gearing.val * 4) / config.radius.val;
+  const maxLinearAccel = maxWheelForce / config.mass.val;
+
+  out.push(writeConst(config.gearing, "gearing", "Number"));
+  out.push(writeConst(config.cof, "frictionCoefficient", "Number"));
+  out.push(writeConst(config.radius, "wheelRadius", "Length"));
+  out.push(writeConst(config.inertia, "moi", "MoI"));
+  out.push(writeConst(config.mass, "mass", "Mass"));
+  out.push(writeConst(config.tmax, "driveMotorMaxTorque", "Torque"));
+
+  const bumperWB = config.bumper.front.val + config.bumper.back.val;
+  const bumperTW = config.bumper.side.val * 2;
+  out.push(writeConst(bumperWB, "wheelBaseWithBumpers", "Length"));
+  out.push(writeConst(bumperTW, "trackWidthWithBumpers", "Length"));
+
+  if (project.type === "Swerve") {
+    out.push(`
+    public static final Translation2d[] moduleTranslations = {
+        new Translation2d(${config.frontLeft.x.val}, ${config.frontLeft.y.val}),
+        new Translation2d(${config.frontLeft.x.val}, ${-config.frontLeft.y.val}),
+        new Translation2d(${config.backLeft.x.val}, ${config.backLeft.y.val}),
+        new Translation2d(${config.backLeft.x.val}, ${-config.backLeft.y.val}),
+    };`);
+    const drivebaseRadius = Math.hypot(
+      config.frontLeft.x.val,
+      config.frontLeft.y.val
+    );
+    const frictionFloorForce = config.mass.val * 9.81 * config.cof.val;
+    const minLinearForce = Math.min(frictionFloorForce, maxWheelForce);
+    const maxAngularVel = maxLinearVel / drivebaseRadius;
+    const maxAngularAccel =
+      (minLinearForce * drivebaseRadius) / config.inertia.val;
+    out.push(writeConst(maxAngularVel, "maxAngularVel", "AngVel"));
+    out.push(writeConst(maxAngularAccel, "maxAngularAccel", "AngAcc"));
+  } else {
+    out.push(writeConst(config.differentialTrackWidth, "trackWidth", "Length"));
+    out.push("");
+  }
+  out.push(writeConst(maxLinearVel, "maxLinearVel", "LinVel"));
+  out.push(writeConst(maxLinearAccel, "maxLinearAccel", "LinAcc"));
+  out.push("");
+  out.push("    private ChoreoConsts() {}");
+  out.push("}");
+  return out.join("\n");
+}

src/codegen/genVarsFile.ts

@@ -0,0 +1,46 @@
+import { Project } from "../document/2025/DocumentTypes";
+import { round, writeConst } from "./internals";
+
+export function genVarsFile(project: Project, packageName: string): string {
+  const expressions = project.variables.expressions;
+  const poses = project.variables.poses;
+  const out: string[] = [];
+  out.push(`package ${packageName};\n`);
+  out.push(`
+import edu.wpi.first.math.geometry.Pose2d;
+import edu.wpi.first.math.geometry.Rotation2d;
+import edu.wpi.first.units.measure.*;
+import static edu.wpi.first.units.Units.*;
+
+/**
+ * Generated file containing variables defined in Choreo.
+ * DO NOT MODIFY THIS YOURSELF; instead, change these values
+ * in the choreo GUI.
+ */
+public final class ChoreoVars {`);
+  for (const varName in project.variables.expressions) {
+    const data = expressions[varName];
+    out.push(writeConst(data.var, varName, data.dimension));
+  }
+  out.push("");
+  out.push("    public static final class Poses {");
+  for (const poseName in poses) {
+    const pose = poses[poseName];
+    const heading =
+      Math.abs(pose.heading.val) < 1e-5
+        ? "Rotation2d.kZero"
+        : `Rotation2d.fromRadians(${round(pose.heading.val, 3)})`;
+    const x = round(pose.x.val, 3);
+    const y = round(pose.y.val, 3);
+    out.push(
+      `        public static final Pose2d ${poseName} = new Pose2d(${x}, ${y}, ${heading});`
+    );
+  }
+  out.push("");
+  out.push("        private Poses() {}");
+  out.push("    }");
+  out.push("");
+  out.push("    private ChoreoVars() {}");
+  out.push("}");
+  return out.join("\n");
+}

src/codegen/internals.ts

@@ -0,0 +1,65 @@
+import { DimensionName } from "../document/ExpressionStore";
+import { Expr, Variable } from "../document/2025/DocumentTypes";
+
+export interface UnitData {
+  type: string;
+  baseUnit: string;
+}
+
+export function unitDataFrom(
+  choreoDimensionName: DimensionName
+): UnitData | null {
+  switch (choreoDimensionName) {
+    case "LinAcc":
+      return {
+        type: "LinearAcceleration",
+        baseUnit: "MetersPerSecondPerSecond"
+      };
+    case "LinVel":
+      return { type: "LinearVelocity", baseUnit: "MetersPerSecond" };
+    case "Length":
+      return { type: "Distance", baseUnit: "Meters" };
+    case "Angle":
+      return { type: "Angle", baseUnit: "Radians" };
+    case "AngVel":
+      return { type: "AngularVelocity", baseUnit: "RadiansPerSecond" };
+    case "AngAcc":
+      return {
+        type: "AngularAcceleration",
+        baseUnit: "RadiansPerSecondPerSecond"
+      };
+    case "Time":
+      return { type: "Time", baseUnit: "Seconds" };
+    case "Mass":
+      return { type: "Mass", baseUnit: "Kilograms" };
+    case "Torque":
+      return { type: "Torque", baseUnit: "NewtonMeters" };
+    case "MoI":
+      return { type: "MomentOfInertia", baseUnit: "KilogramSquareMeters" };
+    default:
+      return null;
+  }
+}
+
+export function writeConst(
+  expr: Expr | number,
+  variableName: string,
+  dimension: DimensionName
+): string {
+  const unitData = unitDataFrom(dimension);
+  let val = typeof expr === "number" ? expr : expr.val;
+  val = round(val, dimension === "MoI" ? 5 : 3);
+  if (!dimension || !unitData) {
+    return `    public static final double ${variableName} = ${val};`;
+  }
+  return `    public static final ${unitData.type} ${variableName} = ${unitData.baseUnit}.of(${val});`;
+}
+
+export function writeVar(variable: Variable, name: string): string {
+  return writeConst(variable.var, name, variable.dimension);
+}
+
+export function round(val: number, digits: number) {
+  const roundingFactor = Math.pow(10, digits);
+  return Math.round(val * roundingFactor) / roundingFactor;
+}