Update choreo trajectory version check

pathplannerlib-python/pathplannerlib/path.py

@@ -520,13 +520,18 @@ def _loadChoreoTrajectoryIntoCache(trajectory_name: str) -> None:
         with open(filePath, 'r') as f:
             fJson = json.loads(f.read())
 
-            version = str(fJson['version'])
-            versions = version.split('.')
+            version = 0
+
+            try:
+                version = int(fJson['version'])
+            except ValueError:
+                # Assume version 0
+                pass
 
-            if len(versions) < 2 or versions[0] != 'v2025' or versions[1] != '0':
+            if version > 1:
                 raise RuntimeError("Incompatible file version for '" + trajectory_name
-                                   + ".traj'. Actual: '" + version
-                                   + "' Expected: 'v2025.0.X'")
+                                   + ".traj'. Actual: '" + str(version)
+                                   + "' Expected: <= 1")
 
             trajJson = fJson['trajectory']
 

pathplannerlib/src/main/java/com/pathplanner/lib/path/PathPlannerPath.java

@@ -349,11 +349,16 @@ private static void loadChoreoTrajectoryIntoCache(String trajectoryName)
       String fileContent = fileContentBuilder.toString();
       JSONObject json = (JSONObject) new JSONParser().parse(fileContent);
 
-      String version = json.get("version").toString();
-      String[] versions = version.split("\\.");
+      int version = 0;
+
+      try {
+        version = ((Number) json.get("version")).intValue();
+      } catch (Exception ignored) {
+        // Assume version 0
+      }
 
-      if (versions.length < 2 || !versions[0].equals("v2025") || !versions[1].equals("0")) {
-        throw new FileVersionException(version, "v2025.0.X", trajectoryName + ".traj");
+      if (version > 1) {
+        throw new FileVersionException(Integer.toString(version), "<= 1", trajectoryName + ".traj");
       }
 
       JSONObject trajJson = (JSONObject) json.get("trajectory");

pathplannerlib/src/main/native/cpp/pathplanner/lib/path/PathPlannerPath.cpp

@@ -155,16 +155,16 @@ void PathPlannerPath::loadChoreoTrajectoryIntoCache(
 
 	wpi::json json = wpi::json::parse(fileBuffer.value()->GetCharBuffer());
 
-	std::string version = "1.0";
-	if (json.at("version").is_string()) {
-		version = json.at("version").get<std::string>();
+	int version = 0;
+	if (json.at("version").is_number_integer()) {
+		version = json.at("version").get<int>();
 	}
 
-	if (version != "v2025.0.0") {
+	if (version > 1) {
 		throw std::runtime_error(
 				"Incompatible file version for '" + trajectoryName
-						+ ".traj'. Actual: '" + version
-						+ "' Expected: 'v2025.0.0'");
+						+ ".traj'. Actual: '" + std::to_string(version)
+						+ "' Expected: <= 1");
 	}
 
 	auto trajJson = json.at("trajectory");