From 16eee7e1549ece516c1bec10d12801acdd01b9e2 Mon Sep 17 00:00:00 2001
From: ChanceCtrl <StaticElite05@gmail.com>
Date: Wed, 21 Feb 2024 21:39:21 +0000
Subject: [PATCH 01/17] Cleaning and abstraction

Added some helper bash guys to use a virtual can for broadcast testing, as well as fitting all of the canbus stuffs into the IO handeler folder, as well as adding some stuff for serial support
---
 .gitignore                                    |   1 +
 downv.sh                                      |  13 +++
 py_data_acq/broadcast-test.py                 |  42 -------
 py_data_acq/can-broadcast-test.py             |  57 +++++++++
 .../py_data_acq/io_handler/can_handle.py      |  74 ++++++++++++
 .../py_data_acq/io_handler/serial_handle.py   |   0
 py_data_acq/runner.py                         | 109 +++++-------------
 py_data_acq/serial-broadcast-test.py          |   9 ++
 py_data_acq/setup.py                          |  10 +-
 upv.sh                                        |  19 +++
 10 files changed, 210 insertions(+), 124 deletions(-)
 create mode 100755 downv.sh
 delete mode 100644 py_data_acq/broadcast-test.py
 create mode 100644 py_data_acq/can-broadcast-test.py
 create mode 100644 py_data_acq/py_data_acq/io_handler/serial_handle.py
 create mode 100644 py_data_acq/serial-broadcast-test.py
 create mode 100755 upv.sh

diff --git a/.gitignore b/.gitignore
index 7ea06c9..cc2f777 100644
--- a/.gitignore
+++ b/.gitignore
@@ -4,3 +4,4 @@ __pycache__/
 result
 result/
 .env
+hytech.proto
diff --git a/downv.sh b/downv.sh
new file mode 100755
index 0000000..036c82f
--- /dev/null
+++ b/downv.sh
@@ -0,0 +1,13 @@
+#!/bin/bash
+
+# Check if vcan0 is already down
+if ! ip link show up | grep -q vcan0; then
+    echo "vcan0 is already down."
+else
+    echo "Bringing down vcan0..."
+
+    # Bring down can0 interface
+    sudo ip link set down vcan0
+
+    echo "vcan0 has been brought down."
+fi
diff --git a/py_data_acq/broadcast-test.py b/py_data_acq/broadcast-test.py
deleted file mode 100644
index f40fb8e..0000000
--- a/py_data_acq/broadcast-test.py
+++ /dev/null
@@ -1,42 +0,0 @@
-#!/usr/bin/env python
-import socket
-import time
-import can
-from can.interfaces.udp_multicast import UdpMulticastBus
-import cantools
-from pprint import pprint
-import os
-
-from hytech_np_proto_py import hytech_pb2
-
-# Define the IP and port for the UDP socket
-# bus1 = can.interface.Bus('can0', bustype='virtual')
-bus1 = can.Bus(channel="can0", interface='socketcan')
-def main():
-    path_to_dbc = os.environ.get('DBC_PATH')
-    full_path = os.path.join(path_to_dbc, "hytech.dbc") 
-    # Serialize the message to bytes
-    db = cantools.database.load_file(full_path)
- 
-    msg = db.get_message_by_name("MC1_TORQUE_COMMAND")
-    rpm = db.get_message_by_name("MC4_SETPOINTS_COMMAND")
-    data = msg.encode({'torque_command': 100})
-    
-    msg = can.Message(arbitration_id=msg.frame_id, is_extended_id=False, data=data)
-    
-    rpm_set = 100
-    while(1):
-        try:
-            rpm_set= rpm_set+1
-            bus1.send(msg)
-            rpm_data = rpm.encode({'negative_torque_limit': 1, 'positive_torque_limit': 1, 'speed_setpoint_rpm': rpm_set, 'remove_error': 1, 'driver_enable': 1, 'hv_enable': 1, 'inverter_enable': 1})
-            rpm_msg = can.Message(arbitration_id=rpm.frame_id, is_extended_id=False, data=rpm_data)
-            bus1.send(rpm_msg)
-
-            print("Message sent on {}".format(bus1.channel_info))
-        except can.CanError:
-            print("Message NOT sent!  Please verify can0 is working first")
-        time.sleep(0.1)
-
-if __name__ == "__main__":
-    main()
diff --git a/py_data_acq/can-broadcast-test.py b/py_data_acq/can-broadcast-test.py
new file mode 100644
index 0000000..5731968
--- /dev/null
+++ b/py_data_acq/can-broadcast-test.py
@@ -0,0 +1,57 @@
+#!/usr/bin/env python
+import time
+import can
+import cantools
+import os
+
+# Define the IP and port for the UDP socket
+bus1 = can.Bus(channel="vcan0", interface="socketcan")
+
+
+def main():
+    path_to_dbc = os.environ.get("DBC_PATH")
+    full_path = os.path.join(path_to_dbc, "hytech.dbc")
+    db = cantools.database.load_file(full_path)
+
+    # Setup fake messages
+    msg = db.get_message_by_name("MC1_TORQUE_COMMAND")
+    rpm = db.get_message_by_name("MC4_SETPOINTS_COMMAND")
+
+    # Serialize the message to bytes
+    data = msg.encode({"torque_command": 100})
+    msg = can.Message(arbitration_id=msg.frame_id, is_extended_id=False, data=data)
+
+    rpm_set = 100
+    while 1:
+        try:
+            # Iterate example vals
+            rpm_set = rpm_set + 1
+
+            # Send the guy
+            bus1.send(msg)
+
+            # Serialize the message to bytes
+            rpm_data = rpm.encode(
+                {
+                    "negative_torque_limit": 1,
+                    "positive_torque_limit": 1,
+                    "speed_setpoint_rpm": rpm_set,
+                    "remove_error": 1,
+                    "driver_enable": 1,
+                    "hv_enable": 1,
+                    "inverter_enable": 1,
+                }
+            )
+            rpm_msg = can.Message(
+                arbitration_id=rpm.frame_id, is_extended_id=False, data=rpm_data
+            )
+            bus1.send(rpm_msg)
+
+            print("Message sent on {}".format(bus1.channel_info))
+        except can.CanError:
+            print("Message NOT sent!  Please verify can0 is working first")
+        time.sleep(0.1)
+
+
+if __name__ == "__main__":
+    main()
diff --git a/py_data_acq/py_data_acq/io_handler/can_handle.py b/py_data_acq/py_data_acq/io_handler/can_handle.py
index e69de29..4ea89a1 100644
--- a/py_data_acq/py_data_acq/io_handler/can_handle.py
+++ b/py_data_acq/py_data_acq/io_handler/can_handle.py
@@ -0,0 +1,74 @@
+import os
+import can
+import asyncio
+import cantools
+from can.interfaces.udp_multicast import UdpMulticastBus
+
+can_methods = {
+    "debug": [UdpMulticastBus.DEFAULT_GROUP_IPv6, "udp_multicast"],
+    "local_can_usb_KV": [0, "kvaser"],
+    "local_debug": ["vcan0", "socketcan"],
+}
+
+
+def find_can_interface():
+    """Find a CAN interface by checking /sys/class/net/."""
+    for interface in os.listdir("/sys/class/net/"):
+        if interface.startswith("can"):
+            return interface
+    return None
+
+
+def init_can():
+    can_interface = find_can_interface()
+
+    if can_interface:
+        print(f"Found CAN interface: {can_interface}")
+        try:
+            # Attempt to initialize the CAN bus
+            bus = can.interface.Bus(channel=can_interface, bustype="socketcan")
+            print(f"Successfully initialized CAN bus on {can_interface}")
+            # Interface exists and bus is initialized, but this doesn't ensure the interface is 'up'
+        except can.CanError as e:
+            print(f"Failed to initialize CAN bus on {can_interface}: {e}")
+            print("defaulting to using virtual can interface vcan0")
+            bus = can.Bus(
+                interface="socketcan", channel="vcan0", receive_own_messages=True
+            )
+    else:
+        print("defaulting to using virtual can interface vcan0")
+        bus = can.Bus(interface="socketcan", channel="vcan0", receive_own_messages=True)
+
+    return bus
+
+
+async def can_receiver(
+    can_msg_decoder: cantools.db.Database, message_classes, queue, q2
+):
+    # Get bus
+    can_bus = init_can()
+
+    loop = asyncio.get_event_loop()
+    reader = can.AsyncBufferedReader()
+    notifier = can.Notifier(can_bus, [reader], loop=loop)
+
+    while True:
+        # Wait for the next message from the buffer
+        msg = await reader.get_message()
+        try:
+            decoded_msg = can_msg_decoder.decode_message(
+                msg.arbitration_id, msg.data, decode_containers=True
+            )
+            msg = can_msg_decoder.get_message_by_frame_id(msg.arbitration_id)
+            msg = pb_helpers.pack_protobuf_msg(
+                decoded_msg, msg.name.lower(), message_classes
+            )
+            data = QueueData(msg.DESCRIPTOR.name, msg)
+            # await asyncio.sleep(1)
+            await queue.put(data)
+            await q2.put(data)
+        except:
+            pass
+
+    # Don't forget to stop the notifier to clean up resources.
+    notifier.stop()
diff --git a/py_data_acq/py_data_acq/io_handler/serial_handle.py b/py_data_acq/py_data_acq/io_handler/serial_handle.py
new file mode 100644
index 0000000..e69de29
diff --git a/py_data_acq/runner.py b/py_data_acq/runner.py
index 69539aa..8e1e51f 100644
--- a/py_data_acq/runner.py
+++ b/py_data_acq/runner.py
@@ -3,15 +3,13 @@
 
 from py_data_acq.foxglove_live.foxglove_ws import HTProtobufFoxgloveServer
 from py_data_acq.mcap_writer.writer import HTPBMcapWriter
-from py_data_acq.common.common_types import QueueData
 import py_data_acq.common.protobuf_helpers as pb_helpers
 from py_data_acq.web_server.mcap_server import MCAPServer
-from hytech_np_proto_py import hytech_pb2
-import concurrent.futures
+from py_data_acq.io_handler.can_handle import can_receiver, init_can
+
+# from py_data_acq.io_handler.serial_handle import
 import sys
 import os
-import can
-from can.interfaces.udp_multicast import UdpMulticastBus
 import cantools
 import logging
 
@@ -22,116 +20,67 @@
 #      - protobuf binary schema file location and file name
 #      - config to inform io handler (say for different CAN baudrates)
 
-can_methods = {
-    "debug": [UdpMulticastBus.DEFAULT_GROUP_IPv6, 'udp_multicast'],
-    "local_can_usb_KV": [0, 'kvaser'],
-    "local_debug": ["vcan0", 'socketcan']
-}
-def find_can_interface():
-    """Find a CAN interface by checking /sys/class/net/."""
-    for interface in os.listdir('/sys/class/net/'):
-        if interface.startswith('can'):
-            return interface
-    return None
-
-async def continuous_can_receiver(can_msg_decoder: cantools.db.Database, message_classes, queue, q2, can_bus):
-    loop = asyncio.get_event_loop()
-    reader = can.AsyncBufferedReader()
-    notifier = can.Notifier(can_bus, [reader], loop=loop)
-
-    while True:
-        # Wait for the next message from the buffer
-        msg = await reader.get_message()
-        try:
-
-            decoded_msg = can_msg_decoder.decode_message(msg.arbitration_id, msg.data, decode_containers=True)
-            msg = can_msg_decoder.get_message_by_frame_id(msg.arbitration_id)
-            msg = pb_helpers.pack_protobuf_msg(decoded_msg, msg.name.lower(), message_classes)
-            data = QueueData(msg.DESCRIPTOR.name, msg)
-            # await asyncio.sleep(1)
-            await queue.put(data)
-            await q2.put(data)
-        except:
-            pass
-
-    # Don't forget to stop the notifier to clean up resources.
-    notifier.stop()
-
 
 async def write_data_to_mcap(queue, mcap_writer):
     async with mcap_writer as mcw:
         while True:
             await mcw.write_data(queue)
 
+
 async def fxglv_websocket_consume_data(queue, foxglove_server):
     async with foxglove_server as fz:
         while True:
             await fz.send_msgs_from_queue(queue)
 
-async def run(logger):
-    
-    # for example, we will have CAN as our only input as of right now but we may need to add in 
-    # a sensor that inputs over UART or ethernet
-
-    can_interface = find_can_interface()
-    
-    if can_interface:
-        print(f"Found CAN interface: {can_interface}")
-        try:
-            # Attempt to initialize the CAN bus
-            bus = can.interface.Bus(channel=can_interface, bustype='socketcan')
-            print(f"Successfully initialized CAN bus on {can_interface}")
-            # Interface exists and bus is initialized, but this doesn't ensure the interface is 'up'
-        except can.CanError as e:
-            print(f"Failed to initialize CAN bus on {can_interface}: {e}")
-    else:
-
-        print("defaulting to using virtual can interface vcan0")
-        bus = can.Bus(interface='socketcan', channel='vcan0', receive_own_messages=True)
 
+async def run(logger):
+    # Init some bois
     queue = asyncio.Queue()
     queue2 = asyncio.Queue()
     path_to_bin = ""
     path_to_dbc = ""
-    
+
+    # Get paths
     if len(sys.argv) > 2:
         path_to_bin = sys.argv[1]
         path_to_dbc = sys.argv[2]
     else:
-        path_to_bin = os.environ.get('BIN_PATH')
-        path_to_dbc = os.environ.get('DBC_PATH')
-
-    full_path = os.path.join(path_to_bin, "hytech.bin")
-    full_path_to_dbc = os.path.join(path_to_dbc, "hytech.dbc")
-    db = cantools.db.load_file(full_path_to_dbc)
+        path_to_bin = os.environ.get("BIN_PATH")
+        path_to_dbc = os.environ.get("DBC_PATH")
 
+    # Load everything
+    fp_proto = os.path.join(path_to_bin, "hytech.bin")
+    fp_dbc = os.path.join(path_to_dbc, "hytech.dbc")
+    db = cantools.db.load_file(fp_dbc)
 
+    # Start foxglove websocket and send message list
     list_of_msg_names, msg_pb_classes = pb_helpers.get_msg_names_and_classes()
-    fx_s = HTProtobufFoxgloveServer("0.0.0.0", 8765, "asdf", full_path, list_of_msg_names)
+    fx_s = HTProtobufFoxgloveServer(
+        "0.0.0.0", 8765, "asdf", fp_proto, list_of_msg_names
+    )
+
+    # Set output path of mcap files, and if on nixos save to a predefined path
     path_to_mcap = "."
-    if(os.path.exists('/etc/nixos')):
+    if os.path.exists("/etc/nixos"):
         logger.info("detected running on nixos")
         path_to_mcap = "/home/nixos/recordings"
-    
     mcap_writer = HTPBMcapWriter(path_to_mcap, list_of_msg_names, True)
     mcap_server = MCAPServer(mcap_writer=mcap_writer, path=path_to_mcap)
-    receiver_task = asyncio.create_task(continuous_can_receiver(db, msg_pb_classes, queue, queue2, bus))           
+
+    # Setup receiver_task to listen to CAN
+    receiver_task = asyncio.create_task(can_receiver(db, msg_pb_classes, queue, queue2))
+
+    # Setup other guys to respective asyncio tasks
     fx_task = asyncio.create_task(fxglv_websocket_consume_data(queue, fx_s))
     mcap_task = asyncio.create_task(write_data_to_mcap(queue2, mcap_writer))
     srv_task = asyncio.create_task(mcap_server.start_server())
     logger.info("created tasks")
-    # in the mcap task I actually have to deserialize the any protobuf msg into the message ID and
-    # the encoded message for the message id. I will need to handle the same association of message id
-    # and schema in the foxglove websocket server. 
-    
+
     await asyncio.gather(receiver_task, fx_task, mcap_task, srv_task)
-    # await asyncio.gather(receiver_task, fx_task, mcap_task)
 
-    # await asyncio.gather(receiver_task, mcap_task, srv_task)
-    # await asyncio.gather(receiver_task)
 
 if __name__ == "__main__":
     logging.basicConfig()
-    logger = logging.getLogger('data_writer_service')
+    logger = logging.getLogger("data_writer_service")
     logger.setLevel(logging.INFO)
-    asyncio.run(run(logger))
\ No newline at end of file
+    asyncio.run(run(logger))
diff --git a/py_data_acq/serial-broadcast-test.py b/py_data_acq/serial-broadcast-test.py
new file mode 100644
index 0000000..3be62ee
--- /dev/null
+++ b/py_data_acq/serial-broadcast-test.py
@@ -0,0 +1,9 @@
+#!/usr/bin/env python
+
+
+def main():
+    print("lol not real")
+
+
+if __name__ == "__main__":
+    main()
diff --git a/py_data_acq/setup.py b/py_data_acq/setup.py
index 0918035..e666066 100644
--- a/py_data_acq/setup.py
+++ b/py_data_acq/setup.py
@@ -5,5 +5,11 @@
     name="py_data_acq",
     version="1.0",
     packages=find_packages(),
-    scripts=['runner.py', 'broadcast-test.py', 'data_acq_service.py', 'server_runner.py']
-)
\ No newline at end of file
+    scripts=[
+        "runner.py",
+        "can-broadcast-test.py",
+        "serial-broadcast-test.py",
+        "data_acq_service.py",
+        "server_runner.py",
+    ],
+)
diff --git a/upv.sh b/upv.sh
new file mode 100755
index 0000000..4161992
--- /dev/null
+++ b/upv.sh
@@ -0,0 +1,19 @@
+#!/bin/bash
+
+# Check if can0 is up
+if ! ip link show up | grep -q can0; then
+    echo "Bringing up vcan0..."
+
+    # Load CAN related modules
+    sudo modprobe vcan
+
+    # Setup the faux can
+    sudo ip link add dev vcan0 type vcan
+
+    # Bring up can0 interface
+    sudo ip link set up vcan0
+
+    echo "vcan0 setup complete."
+else
+    echo "vcan0 is already up."
+fi

From 01004e43292ee1897424cc269a93bc22a23f4fbc Mon Sep 17 00:00:00 2001
From: ChanceCtrl <StaticElite05@gmail.com>
Date: Fri, 23 Feb 2024 15:15:28 +0000
Subject: [PATCH 02/17] Almost working serial reader

Still currently fighting bugs, but outside of that I slightly updated the readme for the enduser and added the pyserial-asyncio package to the nix stuffs
---
 README.md                                     | 11 ++++-
 default.nix                                   |  1 +
 py_data_acq/can-broadcast-test.py             |  2 +-
 .../py_data_acq/io_handler/can_handle.py      | 13 ++---
 .../py_data_acq/io_handler/serial_handle.py   | 42 ++++++++++++++++
 py_data_acq/runner.py                         | 17 +++++--
 py_data_acq/serial-broadcast-test.py          | 49 ++++++++++++++++++-
 7 files changed, 121 insertions(+), 14 deletions(-)

diff --git a/README.md b/README.md
index b9cad68..5f5a451 100644
--- a/README.md
+++ b/README.md
@@ -1,4 +1,11 @@
-usage: 
+# Base person usage:
+1. Download foxglove studio at https://github.com/foxglove/studio/releases 
+2. Connect to the Pi's network 
+3. Open foxglove studio 
+4. Open a connection to the Pi's IP on port 8765 
+5. Look at data
+
+# dev usage: 
 
 to get into a dev environment locally (on linux):
 1. install nix:
@@ -117,4 +124,4 @@ flowchart TD
 
 
 kvaser u100 pinout:
-![Alt text](image.png)
\ No newline at end of file
+![Alt text](image.png)
diff --git a/default.nix b/default.nix
index 0dd5e4d..09f159d 100644
--- a/default.nix
+++ b/default.nix
@@ -18,6 +18,7 @@ python311Packages.buildPythonApplication {
     python311Packages.websockets
     python311Packages.pprintpp
     python311Packages.can
+    python311Packages.pyserial-asyncio
     asyncudp_pkg
     python311Packages.lz4
     python311Packages.zstandard
diff --git a/py_data_acq/can-broadcast-test.py b/py_data_acq/can-broadcast-test.py
index 5731968..049dcd7 100644
--- a/py_data_acq/can-broadcast-test.py
+++ b/py_data_acq/can-broadcast-test.py
@@ -4,7 +4,7 @@
 import cantools
 import os
 
-# Define the IP and port for the UDP socket
+# Define the bus to yap on
 bus1 = can.Bus(channel="vcan0", interface="socketcan")
 
 
diff --git a/py_data_acq/py_data_acq/io_handler/can_handle.py b/py_data_acq/py_data_acq/io_handler/can_handle.py
index 4ea89a1..6ec3ac1 100644
--- a/py_data_acq/py_data_acq/io_handler/can_handle.py
+++ b/py_data_acq/py_data_acq/io_handler/can_handle.py
@@ -2,6 +2,8 @@
 import can
 import asyncio
 import cantools
+from ..common import protobuf_helpers
+from ..common.common_types import QueueData
 from can.interfaces.udp_multicast import UdpMulticastBus
 
 can_methods = {
@@ -26,7 +28,7 @@ def init_can():
         print(f"Found CAN interface: {can_interface}")
         try:
             # Attempt to initialize the CAN bus
-            bus = can.interface.Bus(channel=can_interface, bustype="socketcan")
+            bus = can.Bus(channel=can_interface, bustype="socketcan")
             print(f"Successfully initialized CAN bus on {can_interface}")
             # Interface exists and bus is initialized, but this doesn't ensure the interface is 'up'
         except can.CanError as e:
@@ -42,12 +44,11 @@ def init_can():
     return bus
 
 
-async def can_receiver(
-    can_msg_decoder: cantools.db.Database, message_classes, queue, q2
-):
+async def can_receiver(can_msg_decoder: cantools.db.Database, message_classes, q1, q2):
     # Get bus
     can_bus = init_can()
 
+    # Set some asyncio vars
     loop = asyncio.get_event_loop()
     reader = can.AsyncBufferedReader()
     notifier = can.Notifier(can_bus, [reader], loop=loop)
@@ -60,12 +61,12 @@ async def can_receiver(
                 msg.arbitration_id, msg.data, decode_containers=True
             )
             msg = can_msg_decoder.get_message_by_frame_id(msg.arbitration_id)
-            msg = pb_helpers.pack_protobuf_msg(
+            msg = protobuf_helpers.pack_protobuf_msg(
                 decoded_msg, msg.name.lower(), message_classes
             )
             data = QueueData(msg.DESCRIPTOR.name, msg)
             # await asyncio.sleep(1)
-            await queue.put(data)
+            await q1.put(data)
             await q2.put(data)
         except:
             pass
diff --git a/py_data_acq/py_data_acq/io_handler/serial_handle.py b/py_data_acq/py_data_acq/io_handler/serial_handle.py
index e69de29..5ce1325 100644
--- a/py_data_acq/py_data_acq/io_handler/serial_handle.py
+++ b/py_data_acq/py_data_acq/io_handler/serial_handle.py
@@ -0,0 +1,42 @@
+import serial_asyncio
+import cantools
+from ..common import protobuf_helpers
+from ..common.common_types import QueueData
+
+
+async def serial_reciever(can_db: cantools.db.Database, message_classes, q1, q2):
+    # Start asyncio on the port
+    reader, writer = await serial_asyncio.open_serial_connection(
+        url="/dev/ttyUSB0", baudrate=230400
+    )
+
+    while True:
+        # Wait for the next message from the buffer, then break it into parts using the byte value for ","
+        nl_byte = await reader.readline()
+        vals = nl_byte.split(b",")
+        print(vals)
+        # This is fine
+        print(vals[0])
+        # BUG: This crashes everything, even with the rest of this commented out...
+        print(vals[1])
+
+        try:
+            # Get message data for foxglove
+            msg = can_db.get_message_by_frame_id(int.from_bytes(vals[0]))
+
+            # Break down message
+            decoded_msg = can_db.decode_message(
+                int.from_bytes(vals[0]), vals[1], decode_containers=True
+            )
+
+            # Package as protobuf guy
+            msg = protobuf_helpers.pack_protobuf_msg(
+                decoded_msg, msg.name.lower(), message_classes
+            )
+            data = QueueData(msg.DESCRIPTOR.name, msg)
+
+            # Throw data into queues and start again
+            await q1.put(data)
+            await q2.put(data)
+        except:
+            pass
diff --git a/py_data_acq/runner.py b/py_data_acq/runner.py
index 8e1e51f..1d7f457 100644
--- a/py_data_acq/runner.py
+++ b/py_data_acq/runner.py
@@ -5,7 +5,8 @@
 from py_data_acq.mcap_writer.writer import HTPBMcapWriter
 import py_data_acq.common.protobuf_helpers as pb_helpers
 from py_data_acq.web_server.mcap_server import MCAPServer
-from py_data_acq.io_handler.can_handle import can_receiver, init_can
+from py_data_acq.io_handler.can_handle import can_receiver
+from py_data_acq.io_handler.serial_handle import serial_reciever
 
 # from py_data_acq.io_handler.serial_handle import
 import sys
@@ -35,7 +36,7 @@ async def fxglv_websocket_consume_data(queue, foxglove_server):
 
 async def run(logger):
     # Init some bois
-    queue = asyncio.Queue()
+    queue1 = asyncio.Queue()
     queue2 = asyncio.Queue()
     path_to_bin = ""
     path_to_dbc = ""
@@ -68,10 +69,18 @@ async def run(logger):
     mcap_server = MCAPServer(mcap_writer=mcap_writer, path=path_to_mcap)
 
     # Setup receiver_task to listen to CAN
-    receiver_task = asyncio.create_task(can_receiver(db, msg_pb_classes, queue, queue2))
+    # receiver_task = asyncio.create_task(
+    #     can_receiver(db, msg_pb_classes, queue1, queue2)
+    # )
+
+    # BUG: This shit breaks and crashes everything, fix it
+    # And another for serial
+    receiver_task = asyncio.create_task(
+        serial_reciever(db, msg_pb_classes, queue1, queue2)
+    )
 
     # Setup other guys to respective asyncio tasks
-    fx_task = asyncio.create_task(fxglv_websocket_consume_data(queue, fx_s))
+    fx_task = asyncio.create_task(fxglv_websocket_consume_data(queue1, fx_s))
     mcap_task = asyncio.create_task(write_data_to_mcap(queue2, mcap_writer))
     srv_task = asyncio.create_task(mcap_server.start_server())
     logger.info("created tasks")
diff --git a/py_data_acq/serial-broadcast-test.py b/py_data_acq/serial-broadcast-test.py
index 3be62ee..9d5a67c 100644
--- a/py_data_acq/serial-broadcast-test.py
+++ b/py_data_acq/serial-broadcast-test.py
@@ -1,8 +1,55 @@
 #!/usr/bin/env python
+import time
+import cantools
+import os
+import serial, pty
 
 
+# TODO: Make this real (currently does not actually send data(?))
 def main():
-    print("lol not real")
+    # Open fake serial port
+    snd, rev = pty.openpty()
+    p_name = os.ttyname(snd)
+    print("Opening on {}".format(p_name))
+    ser = serial.Serial(p_name)
+
+    print("Opened for on {}".format(ser))
+
+    # Load DBC
+    path_to_dbc = os.environ.get("DBC_PATH")
+    full_path = os.path.join(path_to_dbc, "hytech.dbc")
+    db = cantools.database.load_file(full_path)
+
+    # Setup fake messages
+    msg = db.get_message_by_name("MC1_TORQUE_COMMAND")
+    rpm = db.get_message_by_name("MC4_SETPOINTS_COMMAND")
+
+    # Serialize the message to bytes
+    data = msg.encode({"torque_command": 100})
+    rpm_set = 100
+
+    while 1:
+        # Iterate example vals
+        rpm_set = rpm_set + 1
+
+        # Send the guy
+        ser.write(bytearray(msg.frame_id) + b"," + data)
+
+        # make new message with new data
+        rpm_data = rpm.encode(
+            {
+                "negative_torque_limit": 1,
+                "positive_torque_limit": 1,
+                "speed_setpoint_rpm": rpm_set,
+                "remove_error": 1,
+                "driver_enable": 1,
+                "hv_enable": 1,
+                "inverter_enable": 1,
+            }
+        )
+        ser.write(bytearray(rpm.frame_id) + b"," + rpm_data)
+
+        time.sleep(0.1)
 
 
 if __name__ == "__main__":

From ff2c8324debaa3be87017e4c4ce438279c39af76 Mon Sep 17 00:00:00 2001
From: ChanceCtrl <StaticElite05@gmail.com>
Date: Sun, 25 Feb 2024 03:06:38 +0000
Subject: [PATCH 03/17] Actually it was working

Took a depressignly long time to figure out it did in fact work... N e ways I also updated the flake to take in KSU's DBC file for testing on monday, should work on adding udev rule and this package to the ksu-nixos guy here soon
---
 .gitignore                                    |  1 +
 dbc_proto_bin_gen.nix                         |  8 +--
 flake.lock                                    | 58 +++++++++----------
 flake.nix                                     | 16 ++---
 py_data_acq/can-broadcast-test.py             | 38 ++++++------
 .../py_data_acq/io_handler/serial_handle.py   |  6 +-
 py_data_acq/runner.py                         |  5 +-
 py_dbc_proto_gen/dbc_to_proto.py              | 49 ++++++++--------
 8 files changed, 88 insertions(+), 93 deletions(-)

diff --git a/.gitignore b/.gitignore
index cc2f777..779b256 100644
--- a/.gitignore
+++ b/.gitignore
@@ -5,3 +5,4 @@ result
 result/
 .env
 hytech.proto
+dbc_to.proto
diff --git a/dbc_proto_bin_gen.nix b/dbc_proto_bin_gen.nix
index dc5bed4..264bc1d 100644
--- a/dbc_proto_bin_gen.nix
+++ b/dbc_proto_bin_gen.nix
@@ -1,16 +1,16 @@
-{pkgs, py_dbc_proto_gen_pkg, ht_can_pkg, protobuf}:
+{pkgs, py_dbc_proto_gen_pkg, can_pkg, protobuf}:
 
 pkgs.stdenv.mkDerivation rec {
   name = "ht-proto-gen";
   
   src = builtins.filterSource (path: type: false) ./.;
   
-  buildInputs = [ py_dbc_proto_gen_pkg ht_can_pkg protobuf ]; # Python as a build dependency
+  buildInputs = [ py_dbc_proto_gen_pkg can_pkg protobuf ]; # Python as a build dependency
   
   # Define the build phase to execute the scripts
   buildPhase = ''
     # Run the Python script
-    dbc_to_proto.py ${ht_can_pkg}
+    dbc_to_proto.py ${can_pkg}
     protoc --include_imports --descriptor_set_out=hytech.bin hytech.proto
   '';
 
@@ -22,4 +22,4 @@ pkgs.stdenv.mkDerivation rec {
     cp hytech.proto $out/proto
     cp hytech.bin $out/bin
   '';
-}
\ No newline at end of file
+}
diff --git a/flake.lock b/flake.lock
index cea78ad..c8c99d0 100644
--- a/flake.lock
+++ b/flake.lock
@@ -19,41 +19,41 @@
         "type": "github"
       }
     },
-    "foxglove-websocket": {
+    "can_pkg_flake": {
       "inputs": {
         "nixpkgs": "nixpkgs_2",
         "utils": "utils_2"
       },
       "locked": {
-        "lastModified": 1703087404,
-        "narHash": "sha256-PJB1pXZUrt8Za4PxXyIZtRffq5FuDS4do8lQPpY4iMY=",
-        "owner": "RCMast3r",
-        "repo": "py_foxglove_webserver_nix",
-        "rev": "bbab26c716248fad51447b4ab8f4b84b75e3677a",
+        "lastModified": 1708796918,
+        "narHash": "sha256-cR0Rudt+T5xYWuLPRtC6p2K+c83sN6p6DNo9CecTql8=",
+        "owner": "KSU-MS",
+        "repo": "Nix_CAN",
+        "rev": "94499eaa5f9a447ad559c6fbbb7163ce15c3af31",
         "type": "github"
       },
       "original": {
-        "owner": "RCMast3r",
-        "repo": "py_foxglove_webserver_nix",
+        "owner": "KSU-MS",
+        "repo": "Nix_CAN",
         "type": "github"
       }
     },
-    "ht_can_pkg_flake": {
+    "foxglove-websocket": {
       "inputs": {
         "nixpkgs": "nixpkgs_3",
         "utils": "utils_3"
       },
       "locked": {
-        "lastModified": 1708295505,
-        "narHash": "sha256-djxRSAyr+9N3AO7uP4lYg1wW/X8a85D3XADFM3Rreeo=",
-        "owner": "hytech-racing",
-        "repo": "ht_can",
-        "rev": "a52db761d58f1caa163c44ca197ec19777a6b2f5",
+        "lastModified": 1703087404,
+        "narHash": "sha256-PJB1pXZUrt8Za4PxXyIZtRffq5FuDS4do8lQPpY4iMY=",
+        "owner": "RCMast3r",
+        "repo": "py_foxglove_webserver_nix",
+        "rev": "bbab26c716248fad51447b4ab8f4b84b75e3677a",
         "type": "github"
       },
       "original": {
-        "owner": "hytech-racing",
-        "repo": "ht_can",
+        "owner": "RCMast3r",
+        "repo": "py_foxglove_webserver_nix",
         "type": "github"
       }
     },
@@ -163,11 +163,11 @@
     },
     "nixpkgs_2": {
       "locked": {
-        "lastModified": 1702921762,
-        "narHash": "sha256-O/rP7gulApQAB47u6szEd8Pn8Biw0d84j5iuP2tcxzY=",
+        "lastModified": 1707650010,
+        "narHash": "sha256-dOhphIA4MGrH4ElNCy/OlwmN24MsnEqFjRR6+RY7jZw=",
         "owner": "NixOS",
         "repo": "nixpkgs",
-        "rev": "d02ffbbe834b5599fc5f134e644e49397eb07188",
+        "rev": "809cca784b9f72a5ad4b991e0e7bcf8890f9c3a6",
         "type": "github"
       },
       "original": {
@@ -179,11 +179,11 @@
     },
     "nixpkgs_3": {
       "locked": {
-        "lastModified": 1707650010,
-        "narHash": "sha256-dOhphIA4MGrH4ElNCy/OlwmN24MsnEqFjRR6+RY7jZw=",
+        "lastModified": 1702921762,
+        "narHash": "sha256-O/rP7gulApQAB47u6szEd8Pn8Biw0d84j5iuP2tcxzY=",
         "owner": "NixOS",
         "repo": "nixpkgs",
-        "rev": "809cca784b9f72a5ad4b991e0e7bcf8890f9c3a6",
+        "rev": "d02ffbbe834b5599fc5f134e644e49397eb07188",
         "type": "github"
       },
       "original": {
@@ -260,8 +260,8 @@
     "root": {
       "inputs": {
         "asyncudp": "asyncudp",
+        "can_pkg_flake": "can_pkg_flake",
         "foxglove-websocket": "foxglove-websocket",
-        "ht_can_pkg_flake": "ht_can_pkg_flake",
         "mcap": "mcap",
         "mcap-protobuf": "mcap-protobuf",
         "nix-proto": "nix-proto",
@@ -382,11 +382,11 @@
         "systems": "systems_2"
       },
       "locked": {
-        "lastModified": 1701680307,
-        "narHash": "sha256-kAuep2h5ajznlPMD9rnQyffWG8EM/C73lejGofXvdM8=",
+        "lastModified": 1705309234,
+        "narHash": "sha256-uNRRNRKmJyCRC/8y1RqBkqWBLM034y4qN7EprSdmgyA=",
         "owner": "numtide",
         "repo": "flake-utils",
-        "rev": "4022d587cbbfd70fe950c1e2083a02621806a725",
+        "rev": "1ef2e671c3b0c19053962c07dbda38332dcebf26",
         "type": "github"
       },
       "original": {
@@ -400,11 +400,11 @@
         "systems": "systems_3"
       },
       "locked": {
-        "lastModified": 1705309234,
-        "narHash": "sha256-uNRRNRKmJyCRC/8y1RqBkqWBLM034y4qN7EprSdmgyA=",
+        "lastModified": 1701680307,
+        "narHash": "sha256-kAuep2h5ajznlPMD9rnQyffWG8EM/C73lejGofXvdM8=",
         "owner": "numtide",
         "repo": "flake-utils",
-        "rev": "1ef2e671c3b0c19053962c07dbda38332dcebf26",
+        "rev": "4022d587cbbfd70fe950c1e2083a02621806a725",
         "type": "github"
       },
       "original": {
diff --git a/flake.nix b/flake.nix
index 45c4d4b..57030c5 100644
--- a/flake.nix
+++ b/flake.nix
@@ -9,12 +9,12 @@
     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";
-    nix-proto = { url = "github:notalltim/nix-proto"; };
+    can_pkg_flake.url = "github:KSU-MS/Nix_CAN";
+    nix-proto.url = "github:notalltim/nix-proto";
   };
 
   outputs = { self, nixpkgs, utils, mcap-protobuf, mcap, foxglove-websocket
-    , asyncudp, nix-proto, ht_can_pkg_flake, ... }@inputs:
+    , asyncudp, nix-proto, can_pkg_flake, ... }@inputs:
     let
       makePackageSet = pkgs: {
         py_data_acq_pkg = pkgs.py_data_acq_pkg;
@@ -48,7 +48,7 @@
         py_dbc_proto_gen_overlay
         py_data_acq_overlay
         proto_gen_overlay
-        ht_can_pkg_flake.overlays.default
+        can_pkg_flake.overlays.default
         mcap-protobuf.overlays.default
         mcap.overlays.default
         asyncudp.overlays.default
@@ -90,7 +90,7 @@
           py_data_acq_pkg
           py_dbc_proto_gen_pkg
           proto_gen_pkg
-          ht_can_pkg
+          can_pkg
           cmake
           can-utils
         ];
@@ -100,7 +100,7 @@
         in ''
           path=${x86_pkgs.proto_gen_pkg}
           bin_path=$path"/bin"
-          dbc_path=${x86_pkgs.ht_can_pkg}
+          dbc_path=${x86_pkgs.can_pkg}
           export BIN_PATH=$bin_path
           export DBC_PATH=$dbc_path
 
@@ -115,14 +115,14 @@
           # Development Tools
           py_dbc_proto_gen_pkg
           proto_gen_pkg
-          ht_can_pkg
+          can_pkg
           protobuf
         ];
         shellHook =
         ''
           path=${x86_pkgs.proto_gen_pkg}
           bin_path=$path"/bin"
-          dbc_path=${x86_pkgs.ht_can_pkg}
+          dbc_path=${x86_pkgs.can_pkg}
           export BIN_PATH=$bin_path
           export DBC_PATH=$dbc_path
         '';
diff --git a/py_data_acq/can-broadcast-test.py b/py_data_acq/can-broadcast-test.py
index 049dcd7..8fc87cb 100644
--- a/py_data_acq/can-broadcast-test.py
+++ b/py_data_acq/can-broadcast-test.py
@@ -1,25 +1,26 @@
 #!/usr/bin/env python
 import time
 import can
-import cantools
+import math
 import os
+from cantools import database
 
 # Define the bus to yap on
 bus1 = can.Bus(channel="vcan0", interface="socketcan")
 
 
+def generate_sine_wave(amplitude, frequency, phase_shift, time_variable):
+    return amplitude * math.sin(2 * math.pi * frequency * time_variable + phase_shift)
+
+
 def main():
+    # Load DBC into
     path_to_dbc = os.environ.get("DBC_PATH")
-    full_path = os.path.join(path_to_dbc, "hytech.dbc")
-    db = cantools.database.load_file(full_path)
+    full_path = os.path.join(path_to_dbc, "car.dbc")
+    db = database.load_file(full_path)
 
-    # Setup fake messages
-    msg = db.get_message_by_name("MC1_TORQUE_COMMAND")
-    rpm = db.get_message_by_name("MC4_SETPOINTS_COMMAND")
-
-    # Serialize the message to bytes
-    data = msg.encode({"torque_command": 100})
-    msg = can.Message(arbitration_id=msg.frame_id, is_extended_id=False, data=data)
+    # Setup fake message
+    rpm = db.get_message_by_name("M165_Motor_Position_Info")
 
     rpm_set = 100
     while 1:
@@ -27,19 +28,14 @@ def main():
             # Iterate example vals
             rpm_set = rpm_set + 1
 
-            # Send the guy
-            bus1.send(msg)
-
             # Serialize the message to bytes
+            rpm_set = generate_sine_wave(3000, 1, 90, time.time()) + 3000
             rpm_data = rpm.encode(
                 {
-                    "negative_torque_limit": 1,
-                    "positive_torque_limit": 1,
-                    "speed_setpoint_rpm": rpm_set,
-                    "remove_error": 1,
-                    "driver_enable": 1,
-                    "hv_enable": 1,
-                    "inverter_enable": 1,
+                    "D4_Delta_Resolver_Filtered": int(1),
+                    "D3_Electrical_Output_Frequency": int(1),
+                    "D2_Motor_Speed": rpm_set,
+                    "D1_Motor_Angle_Electrical": int(1),
                 }
             )
             rpm_msg = can.Message(
@@ -47,7 +43,7 @@ def main():
             )
             bus1.send(rpm_msg)
 
-            print("Message sent on {}".format(bus1.channel_info))
+            # print("Message sent on {}".format(bus1.channel_info))
         except can.CanError:
             print("Message NOT sent!  Please verify can0 is working first")
         time.sleep(0.1)
diff --git a/py_data_acq/py_data_acq/io_handler/serial_handle.py b/py_data_acq/py_data_acq/io_handler/serial_handle.py
index 5ce1325..a36414c 100644
--- a/py_data_acq/py_data_acq/io_handler/serial_handle.py
+++ b/py_data_acq/py_data_acq/io_handler/serial_handle.py
@@ -14,11 +14,6 @@ async def serial_reciever(can_db: cantools.db.Database, message_classes, q1, q2)
         # Wait for the next message from the buffer, then break it into parts using the byte value for ","
         nl_byte = await reader.readline()
         vals = nl_byte.split(b",")
-        print(vals)
-        # This is fine
-        print(vals[0])
-        # BUG: This crashes everything, even with the rest of this commented out...
-        print(vals[1])
 
         try:
             # Get message data for foxglove
@@ -39,4 +34,5 @@ async def serial_reciever(can_db: cantools.db.Database, message_classes, q1, q2)
             await q1.put(data)
             await q2.put(data)
         except:
+            print("Fail")
             pass
diff --git a/py_data_acq/runner.py b/py_data_acq/runner.py
index 1d7f457..19516d7 100644
--- a/py_data_acq/runner.py
+++ b/py_data_acq/runner.py
@@ -51,7 +51,7 @@ async def run(logger):
 
     # Load everything
     fp_proto = os.path.join(path_to_bin, "hytech.bin")
-    fp_dbc = os.path.join(path_to_dbc, "hytech.dbc")
+    fp_dbc = os.path.join(path_to_dbc, "car.dbc")
     db = cantools.db.load_file(fp_dbc)
 
     # Start foxglove websocket and send message list
@@ -73,8 +73,7 @@ async def run(logger):
     #     can_receiver(db, msg_pb_classes, queue1, queue2)
     # )
 
-    # BUG: This shit breaks and crashes everything, fix it
-    # And another for serial
+    # Setup receiver_task to listen to SERIAL
     receiver_task = asyncio.create_task(
         serial_reciever(db, msg_pb_classes, queue1, queue2)
     )
diff --git a/py_dbc_proto_gen/dbc_to_proto.py b/py_dbc_proto_gen/dbc_to_proto.py
index f2284e4..b612cac 100644
--- a/py_dbc_proto_gen/dbc_to_proto.py
+++ b/py_dbc_proto_gen/dbc_to_proto.py
@@ -1,40 +1,36 @@
 #!/usr/bin/env python
 import cantools
-from cantools.database import *
-import pkg_resources
+from cantools.database import can, conversion
 import sys
+import os
 
 
-class HyTechCANmsg:
-    def __init__(self):
-        self.can_id_name = ""
-        self.can_id_hex = 0x0
-        self.sender_name = ""
-        self.packing_type = ""
-        self.signals = [can.signal.Signal]
-# 
 def create_field_name(name: str) -> str:
     replaced_text = name.replace(" ", "_")
     replaced_text = replaced_text.replace("(", "")
     replaced_text = replaced_text.replace(")", "")
     return replaced_text
 
+
 def append_proto_message_from_CAN_message(file, can_msg: can.message.Message):
     # if the msg has a conversion, we know that the value with be a float
-    file_lines = []
     msgname = can_msg.name
     # type and then name
     file.write("message " + msgname.lower() + " {\n")
     line_index = 0
     for sig in can_msg.signals:
         line_index += 1
-        
-        if sig.is_float or ((sig.scale is not None) and (sig.scale != 1.0)) or (
-            type(sig.conversion)
-            is not type(conversion.IdentityConversion(is_float=False))
-            and not type(
-                conversion.NamedSignalConversion(
-                    choices={}, scale=0, offset=0, is_float=False
+
+        if (
+            sig.is_float
+            or ((sig.scale is not None) and (sig.scale != 1.0))
+            or (
+                type(sig.conversion)
+                is not type(conversion.IdentityConversion(is_float=False))
+                and not type(
+                    conversion.NamedSignalConversion(
+                        choices={}, scale=0, offset=0, is_float=False
+                    )
                 )
             )
         ):
@@ -45,7 +41,7 @@ def append_proto_message_from_CAN_message(file, can_msg: can.message.Message):
                 + str(line_index)
                 + ";"
             )
-        elif sig.choices is not None and sig.length is not 1:
+        elif sig.choices is not None and sig.length != 1:
             line = (
                 "    string "
                 + create_field_name(sig.name)
@@ -71,20 +67,27 @@ def append_proto_message_from_CAN_message(file, can_msg: can.message.Message):
             )
         else:
             print("ERROR")
+            line = (
+                "     null "
+                + create_field_name(sig.name)
+                + " = "
+                + str(line_index)
+                + ";"
+            )
         file.write(line + "\n")
     file.write("}\n\n")
     return file
 
+
 # load dbc file from the package location
 
-if(len (sys.argv) > 1):
+if len(sys.argv) > 1:
     path_to_dbc = sys.argv[1]
 else:
-    path_to_dbc = os.environ.get('DBC_PATH')
-full_path = os.path.join(path_to_dbc, "hytech.dbc")
+    path_to_dbc = os.environ.get("DBC_PATH")
+full_path = os.path.join(path_to_dbc, "car.dbc")
 db = cantools.database.load_file(full_path)
 with open("hytech.proto", "w+") as proto_file:
     proto_file.write('syntax = "proto3";\n\n')
     for msg in db.messages:
         proto_file = append_proto_message_from_CAN_message(proto_file, msg)
-

From 39d1add99c5b635a82c006e640c0f7527716d055 Mon Sep 17 00:00:00 2001
From: ChanceCtrl <StaticElite05@gmail.com>
Date: Sun, 25 Feb 2024 21:08:06 +0000
Subject: [PATCH 04/17] updated port

now it looks for /dev/xboi and that gets defined by a udev rule found in the ksu-nixos repo, so baller
---
 py_data_acq/py_data_acq/io_handler/serial_handle.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/py_data_acq/py_data_acq/io_handler/serial_handle.py b/py_data_acq/py_data_acq/io_handler/serial_handle.py
index a36414c..e0dbbfa 100644
--- a/py_data_acq/py_data_acq/io_handler/serial_handle.py
+++ b/py_data_acq/py_data_acq/io_handler/serial_handle.py
@@ -7,7 +7,7 @@
 async def serial_reciever(can_db: cantools.db.Database, message_classes, q1, q2):
     # Start asyncio on the port
     reader, writer = await serial_asyncio.open_serial_connection(
-        url="/dev/ttyUSB0", baudrate=230400
+        url="/dev/xboi", baudrate=230400
     )
 
     while True:

From 811e33277a9bb99fe273c8b176158740c6b2a1d5 Mon Sep 17 00:00:00 2001
From: ChanceCtrl <StaticElite05@gmail.com>
Date: Sun, 25 Feb 2024 21:52:54 +0000
Subject: [PATCH 05/17] added env var

Now runner.py looks for the D_SOURCE env var to tell what data source its looking for
---
 py_data_acq/runner.py | 19 ++++++++++---------
 1 file changed, 10 insertions(+), 9 deletions(-)

diff --git a/py_data_acq/runner.py b/py_data_acq/runner.py
index 19516d7..e2888be 100644
--- a/py_data_acq/runner.py
+++ b/py_data_acq/runner.py
@@ -68,15 +68,16 @@ async def run(logger):
     mcap_writer = HTPBMcapWriter(path_to_mcap, list_of_msg_names, True)
     mcap_server = MCAPServer(mcap_writer=mcap_writer, path=path_to_mcap)
 
-    # Setup receiver_task to listen to CAN
-    # receiver_task = asyncio.create_task(
-    #     can_receiver(db, msg_pb_classes, queue1, queue2)
-    # )
-
-    # Setup receiver_task to listen to SERIAL
-    receiver_task = asyncio.create_task(
-        serial_reciever(db, msg_pb_classes, queue1, queue2)
-    )
+    # Get data source
+    match os.environ.get("D_SOURCE"):
+        case "SERIAL":
+            receiver_task = asyncio.create_task(
+                serial_reciever(db, msg_pb_classes, queue1, queue2)
+            )
+        case _:
+            receiver_task = asyncio.create_task(
+                can_receiver(db, msg_pb_classes, queue1, queue2)
+            )
 
     # Setup other guys to respective asyncio tasks
     fx_task = asyncio.create_task(fxglv_websocket_consume_data(queue1, fx_s))

From 67396d21fc9dbc7b0272602ca57ece9b92c4ffa1 Mon Sep 17 00:00:00 2001
From: mathbrook <mathos.brook@gmail.com>
Date: Mon, 8 Apr 2024 22:22:58 -0400
Subject: [PATCH 06/17] only the serial handler mods

---
 .../py_data_acq/io_handler/serial_handle.py   | 26 ++++++++++++-------
 1 file changed, 16 insertions(+), 10 deletions(-)

diff --git a/py_data_acq/py_data_acq/io_handler/serial_handle.py b/py_data_acq/py_data_acq/io_handler/serial_handle.py
index e0dbbfa..be88522 100644
--- a/py_data_acq/py_data_acq/io_handler/serial_handle.py
+++ b/py_data_acq/py_data_acq/io_handler/serial_handle.py
@@ -14,14 +14,16 @@ async def serial_reciever(can_db: cantools.db.Database, message_classes, q1, q2)
         # Wait for the next message from the buffer, then break it into parts using the byte value for ","
         nl_byte = await reader.readline()
         vals = nl_byte.split(b",")
-
+        print(f"Raw Line: {nl_byte}")
+        print(f"Comma delimited: {vals}")
+        # try:
+        # Get message data for foxglove
+        frameid = int.from_bytes(vals[0],byteorder='little')
         try:
-            # Get message data for foxglove
-            msg = can_db.get_message_by_frame_id(int.from_bytes(vals[0]))
-
+            msg = can_db.get_message_by_frame_id(frameid)
             # Break down message
             decoded_msg = can_db.decode_message(
-                int.from_bytes(vals[0]), vals[1], decode_containers=True
+                frameid, vals[1], decode_containers=True
             )
 
             # Package as protobuf guy
@@ -29,10 +31,14 @@ async def serial_reciever(can_db: cantools.db.Database, message_classes, q1, q2)
                 decoded_msg, msg.name.lower(), message_classes
             )
             data = QueueData(msg.DESCRIPTOR.name, msg)
-
-            # Throw data into queues and start again
+        # Throw data into queues and start again
             await q1.put(data)
             await q2.put(data)
-        except:
-            print("Fail")
-            pass
+            # except:
+            #     print("Fail")
+            #     pass
+        except (KeyError,TypeError,ValueError) as e:
+            print(f"Error with id {frameid}, error : {e}")
+            continue
+
+

From 4ad1658a9f1c21658fe1f7101ea5f1cced8062d5 Mon Sep 17 00:00:00 2001
From: mathbrook <mathos.brook@gmail.com>
Date: Mon, 8 Apr 2024 22:27:28 -0400
Subject: [PATCH 07/17] correct baudrate

---
 py_data_acq/py_data_acq/io_handler/serial_handle.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/py_data_acq/py_data_acq/io_handler/serial_handle.py b/py_data_acq/py_data_acq/io_handler/serial_handle.py
index be88522..a38ae4b 100644
--- a/py_data_acq/py_data_acq/io_handler/serial_handle.py
+++ b/py_data_acq/py_data_acq/io_handler/serial_handle.py
@@ -7,7 +7,7 @@
 async def serial_reciever(can_db: cantools.db.Database, message_classes, q1, q2):
     # Start asyncio on the port
     reader, writer = await serial_asyncio.open_serial_connection(
-        url="/dev/xboi", baudrate=230400
+        url="/dev/xboi", baudrate=115200
     )
 
     while True:

From 543b939cd305be207659d2232f291e5a6c1e3df4 Mon Sep 17 00:00:00 2001
From: ChanceCtrl <StaticElite05@gmail.com>
Date: Tue, 9 Apr 2024 00:40:32 +0000
Subject: [PATCH 08/17] try guy

throwing everything into try block to prevent the serial handler from
killing the server
---
 .../py_data_acq/io_handler/serial_handle.py   | 20 +++++++------------
 1 file changed, 7 insertions(+), 13 deletions(-)

diff --git a/py_data_acq/py_data_acq/io_handler/serial_handle.py b/py_data_acq/py_data_acq/io_handler/serial_handle.py
index a38ae4b..bdf3c0a 100644
--- a/py_data_acq/py_data_acq/io_handler/serial_handle.py
+++ b/py_data_acq/py_data_acq/io_handler/serial_handle.py
@@ -11,15 +11,11 @@ async def serial_reciever(can_db: cantools.db.Database, message_classes, q1, q2)
     )
 
     while True:
-        # Wait for the next message from the buffer, then break it into parts using the byte value for ","
-        nl_byte = await reader.readline()
-        vals = nl_byte.split(b",")
-        print(f"Raw Line: {nl_byte}")
-        print(f"Comma delimited: {vals}")
-        # try:
-        # Get message data for foxglove
-        frameid = int.from_bytes(vals[0],byteorder='little')
         try:
+            # Wait for the next message from the buffer, then break it into parts using the byte value for ","
+            nl_byte = await reader.readline()
+            vals = nl_byte.split(b",")
+            frameid = int.from_bytes(vals[0], byteorder="little")
             msg = can_db.get_message_by_frame_id(frameid)
             # Break down message
             decoded_msg = can_db.decode_message(
@@ -31,14 +27,12 @@ async def serial_reciever(can_db: cantools.db.Database, message_classes, q1, q2)
                 decoded_msg, msg.name.lower(), message_classes
             )
             data = QueueData(msg.DESCRIPTOR.name, msg)
-        # Throw data into queues and start again
+            # Throw data into queues and start again
             await q1.put(data)
             await q2.put(data)
             # except:
             #     print("Fail")
             #     pass
-        except (KeyError,TypeError,ValueError) as e:
-            print(f"Error with id {frameid}, error : {e}")
+        except (KeyError, TypeError, ValueError) as e:
+            print(f"Error decoding frame, error : {e}")
             continue
-
-

From cb480ab3a5c33f1ed7f3d6427008f417ae6fa899 Mon Sep 17 00:00:00 2001
From: ChanceCtrl <StaticElite05@gmail.com>
Date: Tue, 9 Apr 2024 02:27:55 +0000
Subject: [PATCH 09/17] adding errors

lol
---
 py_data_acq/py_data_acq/io_handler/serial_handle.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/py_data_acq/py_data_acq/io_handler/serial_handle.py b/py_data_acq/py_data_acq/io_handler/serial_handle.py
index bdf3c0a..059ea03 100644
--- a/py_data_acq/py_data_acq/io_handler/serial_handle.py
+++ b/py_data_acq/py_data_acq/io_handler/serial_handle.py
@@ -33,6 +33,6 @@ async def serial_reciever(can_db: cantools.db.Database, message_classes, q1, q2)
             # except:
             #     print("Fail")
             #     pass
-        except (KeyError, TypeError, ValueError) as e:
+        except (KeyError, TypeError, ValueError, IndexError) as e:
             print(f"Error decoding frame, error : {e}")
             continue

From 1622a8403abde90e577fe390a503ba829fbcb4e0 Mon Sep 17 00:00:00 2001
From: ChanceCtrl <StaticElite05@gmail.com>
Date: Wed, 10 Apr 2024 00:45:14 +0000
Subject: [PATCH 10/17] update lock

---
 flake.lock | 36 ++++++++++++++++++------------------
 1 file changed, 18 insertions(+), 18 deletions(-)

diff --git a/flake.lock b/flake.lock
index c8c99d0..5e40584 100644
--- a/flake.lock
+++ b/flake.lock
@@ -25,11 +25,11 @@
         "utils": "utils_2"
       },
       "locked": {
-        "lastModified": 1708796918,
-        "narHash": "sha256-cR0Rudt+T5xYWuLPRtC6p2K+c83sN6p6DNo9CecTql8=",
+        "lastModified": 1712715991,
+        "narHash": "sha256-5eZWtJPBq/to3uVkmmhp6KcWcbaTMY4ihV8cFRJ7BfI=",
         "owner": "KSU-MS",
         "repo": "Nix_CAN",
-        "rev": "94499eaa5f9a447ad559c6fbbb7163ce15c3af31",
+        "rev": "f7b31f081ba3a8ddff0aa0eee0fbd207a9860a7b",
         "type": "github"
       },
       "original": {
@@ -44,11 +44,11 @@
         "utils": "utils_3"
       },
       "locked": {
-        "lastModified": 1703087404,
-        "narHash": "sha256-PJB1pXZUrt8Za4PxXyIZtRffq5FuDS4do8lQPpY4iMY=",
+        "lastModified": 1711401255,
+        "narHash": "sha256-V9VX0LOHqXKoBuIY6gIsiU1WDDGZTGmOQULQ0YUur8s=",
         "owner": "RCMast3r",
         "repo": "py_foxglove_webserver_nix",
-        "rev": "bbab26c716248fad51447b4ab8f4b84b75e3677a",
+        "rev": "61b43a707534b3ea41fed1ccc9369d893178a7f4",
         "type": "github"
       },
       "original": {
@@ -117,11 +117,11 @@
         "nixpkgs": "nixpkgs_6"
       },
       "locked": {
-        "lastModified": 1703652955,
-        "narHash": "sha256-9kCfd8qbkRwflWRuuhs8hJM/2b+ojmBTmULvCiCl0Hg=",
+        "lastModified": 1709706423,
+        "narHash": "sha256-uL/H0zh/Ckz1o5vWdd2DiKSu2QAPlYDNiOzpSymbPao=",
         "owner": "notalltim",
         "repo": "nix-proto",
-        "rev": "a067a064aee705e75f38163c869a6a77456278fe",
+        "rev": "2ccac0a3f70bb84a485db60f1a7ac7688c992d92",
         "type": "github"
       },
       "original": {
@@ -163,11 +163,11 @@
     },
     "nixpkgs_2": {
       "locked": {
-        "lastModified": 1707650010,
-        "narHash": "sha256-dOhphIA4MGrH4ElNCy/OlwmN24MsnEqFjRR6+RY7jZw=",
+        "lastModified": 1708294118,
+        "narHash": "sha256-evZzmLW7qoHXf76VCepvun1esZDxHfVRFUJtumD7L2M=",
         "owner": "NixOS",
         "repo": "nixpkgs",
-        "rev": "809cca784b9f72a5ad4b991e0e7bcf8890f9c3a6",
+        "rev": "e0da498ad77ac8909a980f07eff060862417ccf7",
         "type": "github"
       },
       "original": {
@@ -243,11 +243,11 @@
     },
     "nixpkgs_7": {
       "locked": {
-        "lastModified": 1702921762,
-        "narHash": "sha256-O/rP7gulApQAB47u6szEd8Pn8Biw0d84j5iuP2tcxzY=",
+        "lastModified": 1712588820,
+        "narHash": "sha256-y31s5idk3jMJMAVE4Ud9AdI7HT3CgTAeMTJ0StqKN7Y=",
         "owner": "NixOS",
         "repo": "nixpkgs",
-        "rev": "d02ffbbe834b5599fc5f134e644e49397eb07188",
+        "rev": "d272ca50d1f7424fbfcd1e6f1c9e01d92f6da167",
         "type": "github"
       },
       "original": {
@@ -454,11 +454,11 @@
         "systems": "systems_6"
       },
       "locked": {
-        "lastModified": 1701680307,
-        "narHash": "sha256-kAuep2h5ajznlPMD9rnQyffWG8EM/C73lejGofXvdM8=",
+        "lastModified": 1710146030,
+        "narHash": "sha256-SZ5L6eA7HJ/nmkzGG7/ISclqe6oZdOZTNoesiInkXPQ=",
         "owner": "numtide",
         "repo": "flake-utils",
-        "rev": "4022d587cbbfd70fe950c1e2083a02621806a725",
+        "rev": "b1d9ab70662946ef0850d488da1c9019f3a9752a",
         "type": "github"
       },
       "original": {

From fd7f65b49af9355a7e53cb0c21ad6367051dcdf2 Mon Sep 17 00:00:00 2001
From: ChanceCtrl <StaticElite05@gmail.com>
Date: Wed, 10 Apr 2024 03:23:20 +0000
Subject: [PATCH 11/17] fix cantools

---
 flake.nix | 63 +++++++++++++++++++++++++++++++++++++------------------
 1 file changed, 43 insertions(+), 20 deletions(-)

diff --git a/flake.nix b/flake.nix
index 57030c5..50fb34d 100644
--- a/flake.nix
+++ b/flake.nix
@@ -13,8 +13,18 @@
     nix-proto.url = "github:notalltim/nix-proto";
   };
 
-  outputs = { self, nixpkgs, utils, mcap-protobuf, mcap, foxglove-websocket
-    , asyncudp, nix-proto, can_pkg_flake, ... }@inputs:
+  outputs =
+    { self
+    , nixpkgs
+    , utils
+    , mcap-protobuf
+    , mcap
+    , foxglove-websocket
+    , asyncudp
+    , nix-proto
+    , can_pkg_flake
+    , ...
+    }@inputs:
     let
       makePackageSet = pkgs: {
         py_data_acq_pkg = pkgs.py_data_acq_pkg;
@@ -45,6 +55,16 @@
           };
       };
       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=";
+            };
+          });
+        })
         py_dbc_proto_gen_overlay
         py_data_acq_overlay
         proto_gen_overlay
@@ -76,7 +96,8 @@
         "aarch64-linux" = makePackageSet arm_pkgs;
         # Add more systems as needed
       };
-    in {
+    in
+    {
 
       overlays.default = nixpkgs.lib.composeManyExtensions my_overlays;
 
@@ -96,17 +117,19 @@
         ];
         # Setting up the environment variables you need during
         # development.
-        shellHook = let icon = "f121";
-        in ''
-          path=${x86_pkgs.proto_gen_pkg}
-          bin_path=$path"/bin"
-          dbc_path=${x86_pkgs.can_pkg}
-          export BIN_PATH=$bin_path
-          export DBC_PATH=$dbc_path
+        shellHook =
+          let icon = "f121";
+          in
+          ''
+            path=${x86_pkgs.proto_gen_pkg}
+            bin_path=$path"/bin"
+            dbc_path=${x86_pkgs.can_pkg}
+            export BIN_PATH=$bin_path
+            export DBC_PATH=$dbc_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\[$(tput sgr0)\]\[\033[38;5;15m\]} (${name}) \\$ \[$(tput sgr0)\]"
-        '';
+            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\[$(tput sgr0)\]\[\033[38;5;15m\]} (${name}) \\$ \[$(tput sgr0)\]"
+          '';
       };
       devShells.x86_64-linux.ci = x86_pkgs.mkShell rec {
         # Update the name to something that suites your project.
@@ -119,13 +142,13 @@
           protobuf
         ];
         shellHook =
-        ''
-          path=${x86_pkgs.proto_gen_pkg}
-          bin_path=$path"/bin"
-          dbc_path=${x86_pkgs.can_pkg}
-          export BIN_PATH=$bin_path
-          export DBC_PATH=$dbc_path
-        '';
+          ''
+            path=${x86_pkgs.proto_gen_pkg}
+            bin_path=$path"/bin"
+            dbc_path=${x86_pkgs.can_pkg}
+            export BIN_PATH=$bin_path
+            export DBC_PATH=$dbc_path
+          '';
 
       };
 

From d50fa750c65a4fe7fd9bc6b8ab491a525c87f774 Mon Sep 17 00:00:00 2001
From: ChanceCtrl <StaticElite05@gmail.com>
Date: Wed, 10 Apr 2024 22:44:14 +0000
Subject: [PATCH 12/17] Revert flake lock fuc

---
 flake.lock            | 34 +++++++++++------------
 flake.nix             | 63 ++++++++++++++-----------------------------
 py_data_acq/runner.py |  1 +
 3 files changed, 38 insertions(+), 60 deletions(-)

diff --git a/flake.lock b/flake.lock
index 5e40584..5209dcb 100644
--- a/flake.lock
+++ b/flake.lock
@@ -25,8 +25,8 @@
         "utils": "utils_2"
       },
       "locked": {
-        "lastModified": 1712715991,
-        "narHash": "sha256-5eZWtJPBq/to3uVkmmhp6KcWcbaTMY4ihV8cFRJ7BfI=",
+        "lastModified": 1708796918,
+        "narHash": "sha256-cR0Rudt+T5xYWuLPRtC6p2K+c83sN6p6DNo9CecTql8=",
         "owner": "KSU-MS",
         "repo": "Nix_CAN",
         "rev": "f7b31f081ba3a8ddff0aa0eee0fbd207a9860a7b",
@@ -44,11 +44,11 @@
         "utils": "utils_3"
       },
       "locked": {
-        "lastModified": 1711401255,
-        "narHash": "sha256-V9VX0LOHqXKoBuIY6gIsiU1WDDGZTGmOQULQ0YUur8s=",
+        "lastModified": 1703087404,
+        "narHash": "sha256-PJB1pXZUrt8Za4PxXyIZtRffq5FuDS4do8lQPpY4iMY=",
         "owner": "RCMast3r",
         "repo": "py_foxglove_webserver_nix",
-        "rev": "61b43a707534b3ea41fed1ccc9369d893178a7f4",
+        "rev": "bbab26c716248fad51447b4ab8f4b84b75e3677a",
         "type": "github"
       },
       "original": {
@@ -117,11 +117,11 @@
         "nixpkgs": "nixpkgs_6"
       },
       "locked": {
-        "lastModified": 1709706423,
-        "narHash": "sha256-uL/H0zh/Ckz1o5vWdd2DiKSu2QAPlYDNiOzpSymbPao=",
+        "lastModified": 1703652955,
+        "narHash": "sha256-9kCfd8qbkRwflWRuuhs8hJM/2b+ojmBTmULvCiCl0Hg=",
         "owner": "notalltim",
         "repo": "nix-proto",
-        "rev": "2ccac0a3f70bb84a485db60f1a7ac7688c992d92",
+        "rev": "a067a064aee705e75f38163c869a6a77456278fe",
         "type": "github"
       },
       "original": {
@@ -163,11 +163,11 @@
     },
     "nixpkgs_2": {
       "locked": {
-        "lastModified": 1708294118,
-        "narHash": "sha256-evZzmLW7qoHXf76VCepvun1esZDxHfVRFUJtumD7L2M=",
+        "lastModified": 1707650010,
+        "narHash": "sha256-dOhphIA4MGrH4ElNCy/OlwmN24MsnEqFjRR6+RY7jZw=",
         "owner": "NixOS",
         "repo": "nixpkgs",
-        "rev": "e0da498ad77ac8909a980f07eff060862417ccf7",
+        "rev": "809cca784b9f72a5ad4b991e0e7bcf8890f9c3a6",
         "type": "github"
       },
       "original": {
@@ -243,11 +243,11 @@
     },
     "nixpkgs_7": {
       "locked": {
-        "lastModified": 1712588820,
-        "narHash": "sha256-y31s5idk3jMJMAVE4Ud9AdI7HT3CgTAeMTJ0StqKN7Y=",
+        "lastModified": 1702921762,
+        "narHash": "sha256-O/rP7gulApQAB47u6szEd8Pn8Biw0d84j5iuP2tcxzY=",
         "owner": "NixOS",
         "repo": "nixpkgs",
-        "rev": "d272ca50d1f7424fbfcd1e6f1c9e01d92f6da167",
+        "rev": "d02ffbbe834b5599fc5f134e644e49397eb07188",
         "type": "github"
       },
       "original": {
@@ -454,11 +454,11 @@
         "systems": "systems_6"
       },
       "locked": {
-        "lastModified": 1710146030,
-        "narHash": "sha256-SZ5L6eA7HJ/nmkzGG7/ISclqe6oZdOZTNoesiInkXPQ=",
+        "lastModified": 1701680307,
+        "narHash": "sha256-kAuep2h5ajznlPMD9rnQyffWG8EM/C73lejGofXvdM8=",
         "owner": "numtide",
         "repo": "flake-utils",
-        "rev": "b1d9ab70662946ef0850d488da1c9019f3a9752a",
+        "rev": "4022d587cbbfd70fe950c1e2083a02621806a725",
         "type": "github"
       },
       "original": {
diff --git a/flake.nix b/flake.nix
index 50fb34d..57030c5 100644
--- a/flake.nix
+++ b/flake.nix
@@ -13,18 +13,8 @@
     nix-proto.url = "github:notalltim/nix-proto";
   };
 
-  outputs =
-    { self
-    , nixpkgs
-    , utils
-    , mcap-protobuf
-    , mcap
-    , foxglove-websocket
-    , asyncudp
-    , nix-proto
-    , can_pkg_flake
-    , ...
-    }@inputs:
+  outputs = { self, nixpkgs, utils, mcap-protobuf, mcap, foxglove-websocket
+    , asyncudp, nix-proto, can_pkg_flake, ... }@inputs:
     let
       makePackageSet = pkgs: {
         py_data_acq_pkg = pkgs.py_data_acq_pkg;
@@ -55,16 +45,6 @@
           };
       };
       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=";
-            };
-          });
-        })
         py_dbc_proto_gen_overlay
         py_data_acq_overlay
         proto_gen_overlay
@@ -96,8 +76,7 @@
         "aarch64-linux" = makePackageSet arm_pkgs;
         # Add more systems as needed
       };
-    in
-    {
+    in {
 
       overlays.default = nixpkgs.lib.composeManyExtensions my_overlays;
 
@@ -117,19 +96,17 @@
         ];
         # Setting up the environment variables you need during
         # development.
-        shellHook =
-          let icon = "f121";
-          in
-          ''
-            path=${x86_pkgs.proto_gen_pkg}
-            bin_path=$path"/bin"
-            dbc_path=${x86_pkgs.can_pkg}
-            export BIN_PATH=$bin_path
-            export DBC_PATH=$dbc_path
+        shellHook = let icon = "f121";
+        in ''
+          path=${x86_pkgs.proto_gen_pkg}
+          bin_path=$path"/bin"
+          dbc_path=${x86_pkgs.can_pkg}
+          export BIN_PATH=$bin_path
+          export DBC_PATH=$dbc_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\[$(tput sgr0)\]\[\033[38;5;15m\]} (${name}) \\$ \[$(tput sgr0)\]"
-          '';
+          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\[$(tput sgr0)\]\[\033[38;5;15m\]} (${name}) \\$ \[$(tput sgr0)\]"
+        '';
       };
       devShells.x86_64-linux.ci = x86_pkgs.mkShell rec {
         # Update the name to something that suites your project.
@@ -142,13 +119,13 @@
           protobuf
         ];
         shellHook =
-          ''
-            path=${x86_pkgs.proto_gen_pkg}
-            bin_path=$path"/bin"
-            dbc_path=${x86_pkgs.can_pkg}
-            export BIN_PATH=$bin_path
-            export DBC_PATH=$dbc_path
-          '';
+        ''
+          path=${x86_pkgs.proto_gen_pkg}
+          bin_path=$path"/bin"
+          dbc_path=${x86_pkgs.can_pkg}
+          export BIN_PATH=$bin_path
+          export DBC_PATH=$dbc_path
+        '';
 
       };
 
diff --git a/py_data_acq/runner.py b/py_data_acq/runner.py
index e2888be..e7a9b7e 100644
--- a/py_data_acq/runner.py
+++ b/py_data_acq/runner.py
@@ -69,6 +69,7 @@ async def run(logger):
     mcap_server = MCAPServer(mcap_writer=mcap_writer, path=path_to_mcap)
 
     # Get data source
+    os.environ["D_SOURCE"] = "SERIAL"
     match os.environ.get("D_SOURCE"):
         case "SERIAL":
             receiver_task = asyncio.create_task(

From a0ace387674e4ef1051fc1c85b9151bf9fa8ca1d Mon Sep 17 00:00:00 2001
From: ChanceCtrl <StaticElite05@gmail.com>
Date: Wed, 10 Apr 2024 23:17:38 +0000
Subject: [PATCH 13/17] update input to expect sync byte and fixed message
 length

---
 .../py_data_acq/io_handler/serial_handle.py   | 49 +++++++++++--------
 1 file changed, 29 insertions(+), 20 deletions(-)

diff --git a/py_data_acq/py_data_acq/io_handler/serial_handle.py b/py_data_acq/py_data_acq/io_handler/serial_handle.py
index 059ea03..af68ac4 100644
--- a/py_data_acq/py_data_acq/io_handler/serial_handle.py
+++ b/py_data_acq/py_data_acq/io_handler/serial_handle.py
@@ -4,6 +4,14 @@
 from ..common.common_types import QueueData
 
 
+def check_sync_byte(reader):
+    byte_guy = reader.read(1)
+    if byte_guy == 0xFA:
+        return True
+    else:
+        return False
+
+
 async def serial_reciever(can_db: cantools.db.Database, message_classes, q1, q2):
     # Start asyncio on the port
     reader, writer = await serial_asyncio.open_serial_connection(
@@ -12,27 +20,28 @@ async def serial_reciever(can_db: cantools.db.Database, message_classes, q1, q2)
 
     while True:
         try:
-            # Wait for the next message from the buffer, then break it into parts using the byte value for ","
-            nl_byte = await reader.readline()
-            vals = nl_byte.split(b",")
-            frameid = int.from_bytes(vals[0], byteorder="little")
-            msg = can_db.get_message_by_frame_id(frameid)
-            # Break down message
-            decoded_msg = can_db.decode_message(
-                frameid, vals[1], decode_containers=True
-            )
+            if check_sync_byte(reader):
+                # Wait for the next message from the buffer, then break it into parts using the byte value for ","
+                sync_msg = await reader.readexactly(12)
+                frameid = int.from_bytes(sync_msg[0:4], byteorder="little")
+                msg = can_db.get_message_by_frame_id(frameid)
+
+                # Break down message
+                decoded_msg = can_db.decode_message(
+                    frameid, sync_msg[4:12], decode_containers=True
+                )
 
-            # Package as protobuf guy
-            msg = protobuf_helpers.pack_protobuf_msg(
-                decoded_msg, msg.name.lower(), message_classes
-            )
-            data = QueueData(msg.DESCRIPTOR.name, msg)
-            # Throw data into queues and start again
-            await q1.put(data)
-            await q2.put(data)
-            # except:
-            #     print("Fail")
-            #     pass
+                # Package as protobuf guy
+                msg = protobuf_helpers.pack_protobuf_msg(
+                    decoded_msg, msg.name.lower(), message_classes
+                )
+                data = QueueData(msg.DESCRIPTOR.name, msg)
+                # Throw data into queues and start again
+                await q1.put(data)
+                await q2.put(data)
+                # except:
+                #     print("Fail")
+                #     pass
         except (KeyError, TypeError, ValueError, IndexError) as e:
             print(f"Error decoding frame, error : {e}")
             continue

From 281fb11cb6f7f9e00f921dbc450627159a79cd11 Mon Sep 17 00:00:00 2001
From: mathbrook <mathos.brook@gmail.com>
Date: Thu, 11 Apr 2024 00:12:01 -0400
Subject: [PATCH 14/17] joe delimiter

---
 .../py_data_acq/io_handler/serial_handle.py   | 44 +++++++++----------
 1 file changed, 22 insertions(+), 22 deletions(-)

diff --git a/py_data_acq/py_data_acq/io_handler/serial_handle.py b/py_data_acq/py_data_acq/io_handler/serial_handle.py
index af68ac4..ca15e8b 100644
--- a/py_data_acq/py_data_acq/io_handler/serial_handle.py
+++ b/py_data_acq/py_data_acq/io_handler/serial_handle.py
@@ -4,8 +4,8 @@
 from ..common.common_types import QueueData
 
 
-def check_sync_byte(reader):
-    byte_guy = reader.read(1)
+async def check_sync_byte(reader):
+    byte_guy = await reader.read(1)
     if byte_guy == 0xFA:
         return True
     else:
@@ -20,28 +20,28 @@ async def serial_reciever(can_db: cantools.db.Database, message_classes, q1, q2)
 
     while True:
         try:
-            if check_sync_byte(reader):
-                # Wait for the next message from the buffer, then break it into parts using the byte value for ","
-                sync_msg = await reader.readexactly(12)
-                frameid = int.from_bytes(sync_msg[0:4], byteorder="little")
-                msg = can_db.get_message_by_frame_id(frameid)
+            # if check_sync_byte(reader):
+            # Wait for the next message from the buffer, then break it into parts using the byte value for ","
+            sync_msg = await reader.readuntil(b'\n\xff\n')
+            frameid = int.from_bytes(sync_msg[0:2], byteorder="little")
+            msg = can_db.get_message_by_frame_id(frameid)
 
-                # Break down message
-                decoded_msg = can_db.decode_message(
-                    frameid, sync_msg[4:12], decode_containers=True
-                )
+            # Break down message
+            decoded_msg = can_db.decode_message(
+                frameid, sync_msg[2:-3], decode_containers=True
+            )
 
-                # Package as protobuf guy
-                msg = protobuf_helpers.pack_protobuf_msg(
-                    decoded_msg, msg.name.lower(), message_classes
-                )
-                data = QueueData(msg.DESCRIPTOR.name, msg)
-                # Throw data into queues and start again
-                await q1.put(data)
-                await q2.put(data)
-                # except:
-                #     print("Fail")
-                #     pass
+            # Package as protobuf guy
+            msg = protobuf_helpers.pack_protobuf_msg(
+                decoded_msg, msg.name.lower(), message_classes
+            )
+            data = QueueData(msg.DESCRIPTOR.name, msg)
+            # Throw data into queues and start again
+            await q1.put(data)
+            await q2.put(data)
+            # except:
+            #     print("Fail")
+            #     pass
         except (KeyError, TypeError, ValueError, IndexError) as e:
             print(f"Error decoding frame, error : {e}")
             continue

From 26aeab8b9ce159e445612cbcc0091cfd5353b67f Mon Sep 17 00:00:00 2001
From: ChanceCtrl <StaticElite05@gmail.com>
Date: Thu, 11 Apr 2024 00:16:53 +0000
Subject: [PATCH 15/17] joe lock

---
 flake.lock                                    | 34 +++++++++----------
 .../py_data_acq/io_handler/serial_handle.py   |  6 ++--
 2 files changed, 19 insertions(+), 21 deletions(-)

diff --git a/flake.lock b/flake.lock
index 5209dcb..5e40584 100644
--- a/flake.lock
+++ b/flake.lock
@@ -25,8 +25,8 @@
         "utils": "utils_2"
       },
       "locked": {
-        "lastModified": 1708796918,
-        "narHash": "sha256-cR0Rudt+T5xYWuLPRtC6p2K+c83sN6p6DNo9CecTql8=",
+        "lastModified": 1712715991,
+        "narHash": "sha256-5eZWtJPBq/to3uVkmmhp6KcWcbaTMY4ihV8cFRJ7BfI=",
         "owner": "KSU-MS",
         "repo": "Nix_CAN",
         "rev": "f7b31f081ba3a8ddff0aa0eee0fbd207a9860a7b",
@@ -44,11 +44,11 @@
         "utils": "utils_3"
       },
       "locked": {
-        "lastModified": 1703087404,
-        "narHash": "sha256-PJB1pXZUrt8Za4PxXyIZtRffq5FuDS4do8lQPpY4iMY=",
+        "lastModified": 1711401255,
+        "narHash": "sha256-V9VX0LOHqXKoBuIY6gIsiU1WDDGZTGmOQULQ0YUur8s=",
         "owner": "RCMast3r",
         "repo": "py_foxglove_webserver_nix",
-        "rev": "bbab26c716248fad51447b4ab8f4b84b75e3677a",
+        "rev": "61b43a707534b3ea41fed1ccc9369d893178a7f4",
         "type": "github"
       },
       "original": {
@@ -117,11 +117,11 @@
         "nixpkgs": "nixpkgs_6"
       },
       "locked": {
-        "lastModified": 1703652955,
-        "narHash": "sha256-9kCfd8qbkRwflWRuuhs8hJM/2b+ojmBTmULvCiCl0Hg=",
+        "lastModified": 1709706423,
+        "narHash": "sha256-uL/H0zh/Ckz1o5vWdd2DiKSu2QAPlYDNiOzpSymbPao=",
         "owner": "notalltim",
         "repo": "nix-proto",
-        "rev": "a067a064aee705e75f38163c869a6a77456278fe",
+        "rev": "2ccac0a3f70bb84a485db60f1a7ac7688c992d92",
         "type": "github"
       },
       "original": {
@@ -163,11 +163,11 @@
     },
     "nixpkgs_2": {
       "locked": {
-        "lastModified": 1707650010,
-        "narHash": "sha256-dOhphIA4MGrH4ElNCy/OlwmN24MsnEqFjRR6+RY7jZw=",
+        "lastModified": 1708294118,
+        "narHash": "sha256-evZzmLW7qoHXf76VCepvun1esZDxHfVRFUJtumD7L2M=",
         "owner": "NixOS",
         "repo": "nixpkgs",
-        "rev": "809cca784b9f72a5ad4b991e0e7bcf8890f9c3a6",
+        "rev": "e0da498ad77ac8909a980f07eff060862417ccf7",
         "type": "github"
       },
       "original": {
@@ -243,11 +243,11 @@
     },
     "nixpkgs_7": {
       "locked": {
-        "lastModified": 1702921762,
-        "narHash": "sha256-O/rP7gulApQAB47u6szEd8Pn8Biw0d84j5iuP2tcxzY=",
+        "lastModified": 1712588820,
+        "narHash": "sha256-y31s5idk3jMJMAVE4Ud9AdI7HT3CgTAeMTJ0StqKN7Y=",
         "owner": "NixOS",
         "repo": "nixpkgs",
-        "rev": "d02ffbbe834b5599fc5f134e644e49397eb07188",
+        "rev": "d272ca50d1f7424fbfcd1e6f1c9e01d92f6da167",
         "type": "github"
       },
       "original": {
@@ -454,11 +454,11 @@
         "systems": "systems_6"
       },
       "locked": {
-        "lastModified": 1701680307,
-        "narHash": "sha256-kAuep2h5ajznlPMD9rnQyffWG8EM/C73lejGofXvdM8=",
+        "lastModified": 1710146030,
+        "narHash": "sha256-SZ5L6eA7HJ/nmkzGG7/ISclqe6oZdOZTNoesiInkXPQ=",
         "owner": "numtide",
         "repo": "flake-utils",
-        "rev": "4022d587cbbfd70fe950c1e2083a02621806a725",
+        "rev": "b1d9ab70662946ef0850d488da1c9019f3a9752a",
         "type": "github"
       },
       "original": {
diff --git a/py_data_acq/py_data_acq/io_handler/serial_handle.py b/py_data_acq/py_data_acq/io_handler/serial_handle.py
index ca15e8b..293e76f 100644
--- a/py_data_acq/py_data_acq/io_handler/serial_handle.py
+++ b/py_data_acq/py_data_acq/io_handler/serial_handle.py
@@ -22,7 +22,7 @@ async def serial_reciever(can_db: cantools.db.Database, message_classes, q1, q2)
         try:
             # if check_sync_byte(reader):
             # Wait for the next message from the buffer, then break it into parts using the byte value for ","
-            sync_msg = await reader.readuntil(b'\n\xff\n')
+            sync_msg = await reader.readuntil(b"\n\xff\n")
             frameid = int.from_bytes(sync_msg[0:2], byteorder="little")
             msg = can_db.get_message_by_frame_id(frameid)
 
@@ -39,9 +39,7 @@ async def serial_reciever(can_db: cantools.db.Database, message_classes, q1, q2)
             # Throw data into queues and start again
             await q1.put(data)
             await q2.put(data)
-            # except:
-            #     print("Fail")
-            #     pass
+
         except (KeyError, TypeError, ValueError, IndexError) as e:
             print(f"Error decoding frame, error : {e}")
             continue

From c9e78f67577036b5a3e68078c1f67285ed1f0ad4 Mon Sep 17 00:00:00 2001
From: mathbrook <mathos.brook@gmail.com>
Date: Thu, 11 Apr 2024 02:33:49 -0400
Subject: [PATCH 16/17] modify protogen and force typecasting in protobuf
 helper

---
 .../py_data_acq/common/protobuf_helpers.py    | 14 ++++++++---
 .../py_data_acq/io_handler/serial_handle.py   | 10 ++++----
 py_dbc_proto_gen/dbc_to_proto.py              | 23 +++++++++++++++----
 3 files changed, 36 insertions(+), 11 deletions(-)

diff --git a/py_data_acq/py_data_acq/common/protobuf_helpers.py b/py_data_acq/py_data_acq/common/protobuf_helpers.py
index 6ebf5af..d6e4f29 100644
--- a/py_data_acq/py_data_acq/common/protobuf_helpers.py
+++ b/py_data_acq/py_data_acq/common/protobuf_helpers.py
@@ -24,8 +24,16 @@ def pack_protobuf_msg(cantools_dict: dict, msg_name: str, message_classes):
     if msg_name in message_classes:
         pb_msg = message_classes[msg_name]()
     for key in cantools_dict.keys():
-        if(type(cantools_dict[key]) is namedsignalvalue.NamedSignalValue):
-            setattr(pb_msg, key, cantools_dict[key].value)
-        else:
+        try:
             setattr(pb_msg, key, cantools_dict[key])
+        except TypeError as e:
+            print(f"Caught TypeError: {e}")
+            expected_type = type(getattr(pb_msg, key))
+
+            try:
+                converted_value = expected_type(cantools_dict[key])
+                setattr(pb_msg, key, converted_value)
+                print(f"Successfully set {key} to {converted_value}")
+            except ValueError:
+                print(f"Unable to convert {cantools_dict[key]} to {expected_type.__name__}")
     return pb_msg
diff --git a/py_data_acq/py_data_acq/io_handler/serial_handle.py b/py_data_acq/py_data_acq/io_handler/serial_handle.py
index 293e76f..49518a2 100644
--- a/py_data_acq/py_data_acq/io_handler/serial_handle.py
+++ b/py_data_acq/py_data_acq/io_handler/serial_handle.py
@@ -22,15 +22,15 @@ async def serial_reciever(can_db: cantools.db.Database, message_classes, q1, q2)
         try:
             # if check_sync_byte(reader):
             # Wait for the next message from the buffer, then break it into parts using the byte value for ","
-            sync_msg = await reader.readuntil(b"\n\xff\n")
+            decoded_msg = None
+            sync_msg = await reader.readuntil(b'\n\xff\n')
             frameid = int.from_bytes(sync_msg[0:2], byteorder="little")
             msg = can_db.get_message_by_frame_id(frameid)
-
+            payload = sync_msg[2:-3]
             # Break down message
             decoded_msg = can_db.decode_message(
-                frameid, sync_msg[2:-3], decode_containers=True
+                frameid, payload, decode_containers=True, decode_choices=True
             )
-
             # Package as protobuf guy
             msg = protobuf_helpers.pack_protobuf_msg(
                 decoded_msg, msg.name.lower(), message_classes
@@ -42,4 +42,6 @@ async def serial_reciever(can_db: cantools.db.Database, message_classes, q1, q2)
 
         except (KeyError, TypeError, ValueError, IndexError) as e:
             print(f"Error decoding frame, error : {e}")
+            if decoded_msg:
+                print(f"error msg: {decoded_msg}")
             continue
diff --git a/py_dbc_proto_gen/dbc_to_proto.py b/py_dbc_proto_gen/dbc_to_proto.py
index b612cac..d623a86 100644
--- a/py_dbc_proto_gen/dbc_to_proto.py
+++ b/py_dbc_proto_gen/dbc_to_proto.py
@@ -41,7 +41,7 @@ def append_proto_message_from_CAN_message(file, can_msg: can.message.Message):
                 + str(line_index)
                 + ";"
             )
-        elif sig.choices is not None and sig.length != 1:
+        elif sig.choices is not None:
             line = (
                 "    string "
                 + create_field_name(sig.name)
@@ -57,7 +57,7 @@ def append_proto_message_from_CAN_message(file, can_msg: can.message.Message):
                 + str(line_index)
                 + ";"
             )
-        elif sig.length > 1:
+        elif (sig.length > 1 and sig.length <=32):
             line = (
                 "    int32 "
                 + create_field_name(sig.name)
@@ -65,10 +65,25 @@ def append_proto_message_from_CAN_message(file, can_msg: can.message.Message):
                 + str(line_index)
                 + ";"
             )
+        elif (sig.length >= 32 and not sig.is_signed):
+            line = (
+                "    uint64 "
+                + create_field_name(sig.name)
+                + " = "
+                + str(line_index)
+                + ";"
+            )
+        elif (sig.length >= 32 and not sig.is_signed):
+            line = (
+                "    uint64 "
+                + create_field_name(sig.name)
+                + " = "
+                + str(line_index)
+                + ";"
+            )
         else:
-            print("ERROR")
             line = (
-                "     null "
+                "    int64 "
                 + create_field_name(sig.name)
                 + " = "
                 + str(line_index)

From 4fd94effefcff1dbb3744bb45f4f3fa82a0c3d62 Mon Sep 17 00:00:00 2001
From: ChanceCtrl <142356358+ChanceCtrl@users.noreply.github.com>
Date: Thu, 11 Apr 2024 06:51:29 +0000
Subject: [PATCH 17/17] Update serial_handle.py

---
 py_data_acq/py_data_acq/io_handler/serial_handle.py | 8 --------
 1 file changed, 8 deletions(-)

diff --git a/py_data_acq/py_data_acq/io_handler/serial_handle.py b/py_data_acq/py_data_acq/io_handler/serial_handle.py
index 49518a2..ecd7569 100644
--- a/py_data_acq/py_data_acq/io_handler/serial_handle.py
+++ b/py_data_acq/py_data_acq/io_handler/serial_handle.py
@@ -4,14 +4,6 @@
 from ..common.common_types import QueueData
 
 
-async def check_sync_byte(reader):
-    byte_guy = await reader.read(1)
-    if byte_guy == 0xFA:
-        return True
-    else:
-        return False
-
-
 async def serial_reciever(can_db: cantools.db.Database, message_classes, q1, q2):
     # Start asyncio on the port
     reader, writer = await serial_asyncio.open_serial_connection(