Put frontend on the car

.gitignore

@@ -6,4 +6,12 @@ result/
 .env
 .idea/
 *.mat
-*.log
+*.log
+.DS_Store
+*.mat
+py_data_acq/.DS_Store
+*.DS_Store
+.idea/
+**/.idea/
+py_data_acq/py_data_acq.egg-info/*
+py_data_acq/py_data_acq.egg-info/

README.md

@@ -25,6 +25,14 @@ usage notes:
 
 by default, it uses a fixed version of the hytech CAN library and it must be manually updated. downstream usage of this can update this too via specifying it in the flake input as well if need be.
 
+### for kevin's new frontend
+
+1. in one devshell (call `nix develop`):
+
+```npm run start --prefix $FRONT```
+
+2. in a second devshell:
+```runner.py```
 
 ### TODO:
 - [x] write test script for creating a cantools constructed hytech CAN msg and sends it over a virtual CAN line

dbc_proto_gen_script.nix

@@ -5,7 +5,8 @@ python311Packages.buildPythonApplication {
   version = "1.0.0";
 
 
-  propagatedBuildInputs = [ python311Packages.cantools python311Packages.protobuf python311Packages.requests ];
+  propagatedBuildInputs = [ (python311Packages.cantools.overridePythonAttrs (_: { doCheck = false; }))
+                            python311Packages.protobuf python311Packages.requests ];
 
   src = ./py_dbc_proto_gen;
 }

default.nix

@@ -6,16 +6,18 @@
 , asyncudp_pkg
 , hytech_np_proto_py
 , proto_gen_pkg
+, py_foxglove_protobuf_schemas
+, vn_protos_np_proto_py
 }:
 
 python311Packages.buildPythonApplication {
   pname = "py_data_acq";
   version = "1.0.1";
 
   propagatedBuildInputs = [
-    python311Packages.cantools
-    python311Packages.systemd
-
+    (python311Packages.cantools.overridePythonAttrs (_: { doCheck = false; }))
+    #python311Packages.cantools
+    #python311Packages.systemd   #commented out cuz linux only
     python311Packages.websockets
     python311Packages.pprintpp
     python311Packages.can
@@ -28,6 +30,11 @@ python311Packages.buildPythonApplication {
     py_mcap_pkg
     hytech_np_proto_py
     proto_gen_pkg
+    py_foxglove_protobuf_schemas
+    vn_protos_np_proto_py
+    python311Packages.flask
+    python311Packages.flask-cors
+    python311Packages.hypercorn
   ];
 
   src = ./py_data_acq;

fix_mcaps.py

@@ -0,0 +1,36 @@
+import sys
+from mcap.writer import Writer
+from mcap.reader import make_reader
+
+def fix_mcap_file(input_file_path, output_file_path):
+    with open(input_file_path, "rb") as input_file:
+        reader = make_reader(input_file)
+
+        with open(output_file_path, "wb") as output_file:
+            writer = Writer(output_file)
+
+            # Iterate through all schemas and channels in the original file
+            for schema in reader.schemas.values():
+                writer.register_schema(schema.name, schema.encoding, schema.data)
+
+            for channel in reader.channels.values():
+                writer.register_channel(channel.id, channel.topic, channel.message_encoding, channel.schema_id)
+
+            # Reading and writing all messages
+            for message in reader.read_messages():
+                writer.add_message(
+                    log_time=message.log_time,
+                    publish_time=message.publish_time,
+                    channel_id=message.channel_id,
+                    data=message.data
+                )
+
+            print(f"Processed and copied messages to {output_file_path}")
+
+if __name__ == "__main__":
+    if len(sys.argv) != 2:
+        print("Usage: python script.py <path_to_input_mcap>")
+    else:
+        input_file_path = sys.argv[1]
+        output_file_path = sys.argv[1] + "_fixed"
+        fix_mcap_file(input_file_path, output_file_path)

flake.nix

@@ -10,7 +10,7 @@
     mcap.url = "github:RCMast3r/py_mcap_nix";
     foxglove-websocket.url = "github:RCMast3r/py_foxglove_webserver_nix";
     asyncudp.url = "github:RCMast3r/asyncudp_nix";
-    ht_can_pkg_flake.url = "github:hytech-racing/ht_can/40";
+    ht_can_pkg_flake.url = "github:hytech-racing/ht_can/41";
     nix-proto = { url = "github:notalltim/nix-proto"; };
   };
 
@@ -34,7 +34,9 @@
         py_dbc_proto_gen_pkg = pkgs.py_dbc_proto_gen_pkg;
         proto_gen_pkg = pkgs.proto_gen_pkg;
         hytech_np = pkgs.hytech_np;
+        vn_protos_np = pkgs.vn_protos_np;
         hytech_np_proto_py = pkgs.hytech_np_proto_py;
+        vn_protos_np_proto_py = pkgs.vn_protos_np_proto_py;
         default = pkgs.py_data_acq_pkg;
       };
 
@@ -47,30 +49,54 @@
       proto_gen_overlay = final: prev: {
         proto_gen_pkg = final.callPackage ./dbc_proto_bin_gen.nix { };
       };
+      py_foxglove_protobuf_schemas_overlay = final: prev: {
+        py_foxglove_protobuf_schemas = final.callPackage ./py_foxglove_protobuf_schemas.nix { };
+      };
 
-      nix_protos_overlays = nix-proto.generateOverlays' {
-        hytech_np = { proto_gen_pkg }:
-          nix-proto.mkProtoDerivation {
-            name = "hytech_np";
-            buildInputs = [ proto_gen_pkg ];
-            src = proto_gen_pkg.out + "/proto";
-            version = "1.0.0";
-          };
+      frontend_overlay = final: prev: {
+        frontend_pkg = final.callPackage ./frontend.nix { };
       };
+
+
+
+      nix_protos_overlays = nix-proto.generateOverlays'
+        {
+          hytech_np = { proto_gen_pkg }:
+            nix-proto.mkProtoDerivation {
+              name = "hytech_np";
+              buildInputs = [ proto_gen_pkg ];
+              src = proto_gen_pkg.out + "/proto";
+              version = "1.0.0";
+            };
+          vn_protos_np = { hytech_np }:
+            nix-proto.mkProtoDerivation {
+              name = "vn_protos_np";
+              src = nix-proto.lib.srcFromNamespace {
+                root = ./proto;
+                namespace = "vectornav_proto";
+              };
+              version = "1.0.0";
+              protoDeps = [ hytech_np ];
+            };
+        };
       my_overlays = [
         (self: super: {
-            cantools = super.cantools.overridePythonAttrs (old: rec {
-              version = "39.4.5";
-              src = old.fetchPypi {
-                pname = "cantools";
-                inherit version;
-                # hash = "sha256-JQn+rtpy/OA2deLszSKEuxyttqBzcAil50H+JDHUdCE=";
-              };
-            });
-          })
+          cantools = super.cantools.overridePythonAttrs (old: rec {
+            version = "39.4.5";
+            src = old.fetchPypi {
+              pname = "cantools";
+              inherit version;
+              # hash = "sha256-JQn+rtpy/OA2deLszSKEuxyttqBzcAil50H+JDHUdCE=";
+            };
+          });
+        })
+
         py_dbc_proto_gen_overlay
         py_data_acq_overlay
         proto_gen_overlay
+        py_foxglove_protobuf_schemas_overlay
+
+        frontend_overlay
         ht_can_pkg_flake.overlays.default
         mcap-protobuf.overlays.default
         mcap.overlays.default
@@ -80,6 +106,9 @@
       pkgs = import nixpkgs {
         overlays = my_overlays;
         inherit system;
+        config = {
+          allowUnsupportedSystem = true;
+        };
       };
 
       shared_shell = pkgs.mkShell rec {
@@ -92,7 +121,9 @@
           ht_can_pkg
           cmake
           can-utils
+          nodejs
           python311Packages.scipy
+          frontend_pkg.frontend
         ];
         # Setting up the environment variables you need during
         # development.
@@ -102,9 +133,10 @@
             path=${pkgs.proto_gen_pkg}
             bin_path=$path"/bin"
             dbc_path=${pkgs.ht_can_pkg}
+            frontend_path=${pkgs.frontend_pkg.frontend}
             export BIN_PATH=$bin_path
             export DBC_PATH=$dbc_path
-
+            export FRONT=$frontend_path
             echo -e "PYTHONPATH=$PYTHONPATH\nBIN_PATH=$bin_path\nDBC_PATH=$dbc_path\n" > .env
             export PS1="$(echo -e '\u${icon}') {\[$(tput sgr0)\]\[\033[38;5;228m\]\w\[$(tput sgr0)\]\[\033[38;5;15m\]} (${name}) \\$ \[$(tput sgr0)\]"
           '';
@@ -118,6 +150,7 @@
           py_dbc_proto_gen_pkg
           proto_gen_pkg
           ht_can_pkg
+          frontend_pkg
           protobuf
         ];
         shellHook =
@@ -139,11 +172,14 @@
       };
 
       packages = rec {
+        frontend_pkg = pkgs.frontend_pkg.frontend;
         default = pkgs.py_data_acq_pkg;
         py_dbc_proto_gen_pkg = pkgs.py_data_acq_pkg;
         proto_gen_pkg = pkgs.proto_gen_pkg;
         hytech_np = pkgs.hytech_np;
+        vn_protos_np = pkgs.vn_protos_np;
         hytech_np_proto_py = pkgs.hytech_np_proto_py;
+        vn_protos_np_proto_py = pkgs.vn_protos_np_proto_py;
       };
 
     });

frontend.nix

@@ -0,0 +1,45 @@
+{ pkgs, stdenv, system, callPackage, nodejs, nodePackages, writeShellScriptBin }:
+let
+  # Import & invoke the generated files from node2nix
+  generated = callPackage ./frontend/nix { inherit pkgs system nodejs; };
+
+  # node2nix wrapper to update nix files on npm changes
+  node2nix = writeShellScriptBin "node2nix" ''
+    ${nodePackages.node2nix}/bin/node2nix \
+      --development \
+      -l package-lock.json \
+      -c ./frontend/nix/default.nix \
+      -o ./frontend/nix/node-packages.nix \
+      -e ./frontend/nix/node-env.nix
+  '';
+
+in
+{
+  inherit (generated) nodeDependencies;
+  frontend = pkgs.stdenv.mkDerivation
+    {
+      name = "frontend";
+      version = "0.1.0";
+      src = ./frontend; #gitignore.lib.gitignoreSource ./.; # uses the gitignore in the repo to only copy files git would see
+      buildInputs = [ pkgs.nodejs ];
+      buildPhase = ''
+        export HOME=$TMP
+
+        ln -s ${generated.nodeDependencies}/lib/node_modules ./node_modules
+        export PATH="${generated.nodeDependencies}/bin:$PATH"
+
+        npm run build
+      '';
+      installPhase = ''
+        ls
+        mkdir -p $out/build
+        cp tailwind.config.js $out/
+        cp tsconfig.json $out/
+        cp -r public $out/
+        cp -r src $out/
+        cp -r build $out/
+        cp package.json $out/
+        ln -sf ${generated.nodeDependencies}/lib/node_modules $out/node_modules
+      '';
+    };
+}