Merge branch dev into user/fred13kim/brake_adc

.envrc

@@ -23,37 +23,42 @@ msg_info()
 use flake
 
 
+if [ ! -f "$DIRENV_INSTALLED_IDF_TOOLS" ]; then
+	msg_info 'installing idf-tools since they seem to be missing'
+
+	invoke deps.idf.install
+fi
+
+
+if [ ! -f "$DIRENV_INSTALLED_SCONS_ESP_IDF_ENVIRONMENT" ]; then
+	msg_info 'generating scons esp-idf environment since is seems to be missing'
+
+	invoke deps.idf.scons-env-gen
+fi
+
+
 if [ ! -d "$VIRTUAL_ENV" ]; then
 	msg_info "creating \`$VIRTUAL_ENV\` because it doesn't seem to exist"
 
-	python -m venv "$VIRTUAL_ENV"
+	invoke deps.python.venv
 fi
 
-if [ -n "${FISH_VERISON-}" ]; then
-	. "$VIRTUAL_ENV/bin/activate.fish"
-else
-	. "$VIRTUAL_ENV/bin/activate"
-fi
+. "$VIRTUAL_ENV/bin/activate"
 
-if [ ! -f "$VIRTUAL_ENV/.requirements-installed" ]; then
+if [ ! -f "$DIRENV_INSTALLED_PYTHON_REQUIREMENTS" ]; then
 	msg_info 'installing python requirements since they seem to be missing'
 
-	pip install -r 'requirements.txt'
-	pip install -r 'requirements-local.txt'
-
-	touch "$VIRTUAL_ENV/.requirements-installed"
+	invoke deps.python.install-requirements
 fi
 
 
 PATH_add "$CARGO_HOME/bin"
 watch_file './tools/cargo-install-gen.py'
 
-if [ ! -f "$CARGO_HOME/.crates-installed" ]; then
+if [ ! -f "$DIRENV_INSTALLED_CRATES" ]; then
 	msg_info 'installing rust crates since they seem to be missing'
 
-	eval $(./tools/cargo-install-gen.py --config 'crates.toml')
-
-	touch "$CARGO_HOME/.crates-installed"
+	invoke deps.cargo.install
 fi
 
 

.github/actions/checkout/action.yml

@@ -6,13 +6,6 @@ runs:
   using: composite
 
   steps:
-    - uses: actions/cache@v3.3.2
-      with:
-        key: dependencies
-        path: |
-          .cargo
-          .venv
-
     - uses: DeterminateSystems/nix-installer-action@v6
 
     - uses: DeterminateSystems/magic-nix-cache-action@v2

.gitignore

@@ -1,6 +1,8 @@
 *.egg-info
 .cargo
 .direnv
+.esp-idf
+.espressif
 .platformio
 .ruff_cache
 .sconsign.dblite

.gitmodules

@@ -1,12 +1,15 @@
 [submodule "can/cantools"]
 	path = common/cantools
 	url = ../cantools-autonomylab.git
-[submodule "dbw/node_fw/lib/ember"]
-	path = dbw/node_fw/lib/ember
+[submodule "dbw/ember_bl/lib/ember"]
+	path = dbw/ember_bl/lib/ember
 	url = ../ember.git
 [submodule "dbw/node_fw/ccmn_defs"]
 	path = dbw/node_fw/ccmn_defs
 	url = ../ccmn_defs.git
-[submodule "dbw/ember_bl/lib/ember"]
-	path = dbw/ember_bl/lib/ember
-	url = git@github.com:cooperunion/ember.git
+[submodule "dbw/node_fw/lib/ember"]
+	path = dbw/node_fw/lib/ember
+	url = ../ember.git
+[submodule "lib/esp-idf"]
+	path = lib/esp-idf
+	url = ../../espressif/esp-idf.git

.pre-commit-config.yaml

@@ -17,7 +17,7 @@ repos:
       - id: trailing-whitespace
 
   - repo: https://github.com/psf/black-pre-commit-mirror
-    rev: 23.10.0
+    rev: 24.1.1
     hooks:
       - id: black
 
@@ -35,16 +35,21 @@ repos:
       - id: nixpkgs-fmt
 
   - repo: https://github.com/astral-sh/ruff-pre-commit
-    rev: v0.1.1
+    rev: v0.2.1
     hooks:
       - id: ruff
 
+  - repo: https://github.com/pappasam/toml-sort
+    rev: v0.23.1
+    hooks:
+      - id: toml-sort-fix
+
   - repo: https://github.com/lyz-code/yamlfix/
-    rev: 1.13.0
+    rev: 1.16.0
     hooks:
       - id: yamlfix
 
   - repo: https://github.com/adrienverge/yamllint
-    rev: v1.32.0
+    rev: v1.34.0
     hooks:
       - id: yamllint

SConstruct.py

@@ -0,0 +1,67 @@
+# ruff: noqa: F821
+
+import os
+
+import env as uenv
+
+EnsureSConsVersion(4, 5, 2)
+EnsurePythonVersion(3, 11)
+
+
+build = 'build'
+
+
+env = Environment(
+    ENV={
+        **uenv.ENV,
+        'PATH': os.environ['PATH'],
+        'TERM': os.environ.get('TERM'),
+    },
+    tools=[
+        'default',
+        'Component',
+        'EspIdf',
+        'Phony',
+    ],
+)
+env.AppendUnique(
+    CCFLAGS=[
+        '-Wall',
+        '-Wextra',
+        '-Wpedantic',
+        '-g',
+        '-std=gnu17',
+    ]
+)
+
+esp32s3 = uenv.idf(env, 'esp32s3')
+
+envs = {
+    'env': env,
+    'esp32s3': esp32s3,
+}
+
+Export('env')
+Export('envs')
+
+
+can = env.SConscript(
+    'can/SConscript.py',
+    variant_dir=f'{build}/can',
+    duplicate=False,
+)
+components = env.SConscript(
+    'components/SConscript.py',
+    variant_dir=f'{build}/components',
+    duplicate=False,
+)
+ember_bl = env.SConscript(
+    'dbw/ember_bl/SConscript.py',
+    variant_dir=f'{build}/dbw/ember_bl',
+    duplicate=False,
+)
+node_fw = env.SConscript(
+    'dbw/node_fw/SConscript.py',
+    variant_dir=f'{build}/dbw/node_fw',
+    duplicate=False,
+)

bin/fwpio

@@ -1,3 +1,5 @@
 #!/bin/sh
 
-exec scons --directory="$REPO_ROOT" -DQs node_fw "--pioflags=$*"
+cd "$REPO_ROOT/dbw/node_fw" || exit 1
+
+exec pio "$@"

book.toml

@@ -1,13 +1,16 @@
 [book]
-title       = 'Autonomy Lab Documentation'
+title = 'Autonomy Lab Documentation'
 description = 'The official documentation of Autonomy Lab at The Cooper Union for the Advancement of Science and Art'
-language    = 'en'
-src         = 'docs'
+language = 'en'
+src = 'docs'
 
 [build]
 build-dir = 'build/docs'
 
 [output.html]
-mathjax-support    = true
-no-section-label   = true
+mathjax-support = true
+no-section-label = true
 git-repository-url = 'https://github.com/CooperUnion/selfdrive'
+
+[output.html.fold]
+enable = true

can/SConscript.py

@@ -0,0 +1,23 @@
+# ruff: noqa: F821
+
+Import('env')
+
+
+dbc = env.File('can.dbc')
+network = env.File('can.yml')
+
+dbc_emmitter = env.Command(
+    'create-dbc.py',
+    network,
+    [
+        'opencan-cli compose $SOURCE --dump-python > $TARGET',
+        # what a crime
+        f'sed -i -e s%opencan\\.dbc%{dbc.path}%g $TARGET',
+    ],
+)
+
+dbc = env.Command('can.dbc', dbc_emmitter, 'python $SOURCE')
+env.Alias('dbc', dbc)
+
+
+Return('dbc')

components/SConscript.py

@@ -0,0 +1,13 @@
+# ruff: noqa: F821
+
+Import('env')
+
+
+components = []
+
+components += env.SConscript(
+    'jk/SConscript.py',
+)
+
+
+Return('components')