From 499ad00590c0d6d10c5c323fba5273156c2e1250 Mon Sep 17 00:00:00 2001
From: ilithebutterfly <iliana.decarufel@gmail.com>
Date: Mon, 22 Apr 2024 12:49:26 -0400
Subject: [PATCH] Fixed dependencies

---
 .devcontainer/Dockerfile         |  3 ---
 src/rove_control_board/api/api.h | 11 ++++++++++-
 src/rove_control_board/setup.py  | 26 ++++++++++++++++++--------
 3 files changed, 28 insertions(+), 12 deletions(-)

diff --git a/.devcontainer/Dockerfile b/.devcontainer/Dockerfile
index 56c9b25..c22c8d2 100644
--- a/.devcontainer/Dockerfile
+++ b/.devcontainer/Dockerfile
@@ -28,9 +28,6 @@ COPY ./ /workspace/$USERNAME/
 # Change user
 USER $USERNAME
 
-# Install control board dependencies
-RUN pip install capra_micro_comm_py@git+https://github.com/clubcapra/capra_micro_comm_py.git@master python-can@git+https://github.com/IliTheButterfly/python-can.git@main --no-input
-
 # Rosdep update
 RUN rosdep update
 RUN rosdep install --from-paths src --ignore-src --rosdistro humble -y
diff --git a/src/rove_control_board/api/api.h b/src/rove_control_board/api/api.h
index 0b29565..0d4928c 100644
--- a/src/rove_control_board/api/api.h
+++ b/src/rove_control_board/api/api.h
@@ -120,6 +120,12 @@ struct Bounds
 static_assert(sizeof(Bounds) == 8);
 
 // --- COMMANDS ---
+Int ping(Int);
+static_assert((sizeof(Int)+1) == 5);
+
+ULong hashCheck(Void);
+static_assert((sizeof(Void)+1) == 2);
+
 Bool_ setServoPosition(Vector2D);
 static_assert((sizeof(Vector2D)+1) == 9);
 
@@ -181,6 +187,8 @@ Report getReport(Void);
 static_assert((sizeof(Void)+1) == 2);
 
 static BaseFunction_ptr commands[] = {
+    new Function<Int, Int>(&ping),
+    new Function<ULong, Void>(&hashCheck),
     new Function<Bool_, Vector2D>(&setServoPosition),
     new Function<Vector2D, Void>(&getServoPosition),
     new Function<Bool_, Void>(&setServoPositionZero),
@@ -202,6 +210,7 @@ static BaseFunction_ptr commands[] = {
     new Function<Bool_, Void>(&getLEDStrobe),
     new Function<Report, Void>(&getReport),
 };
-#define COMMANDS_COUNT 20
+#define COMMANDS_COUNT 22
 #define MAX_DECODED_SIZE 17
 #define MAX_ENCODED_SIZE 25
+#define API_HASH 9203740187175752639UL
\ No newline at end of file
diff --git a/src/rove_control_board/setup.py b/src/rove_control_board/setup.py
index 8709bbb..9c0a49c 100644
--- a/src/rove_control_board/setup.py
+++ b/src/rove_control_board/setup.py
@@ -14,10 +14,10 @@
             ['resource/' + package_name]),
         ('share/' + package_name, ['package.xml']),
     ],
-    install_requires=[
+    install_requires=[ # ROS2 does not follow the python setup procedure. Dependencies added here won't be installed
         'setuptools',
-        'capra_micro_comm_py@git+https://github.com/clubcapra/capra_micro_comm_py.git@master', # THIS ISN'T WORKING...
-        'python-can'
+        'capra_micro_comm_py@git+https://github.com/clubcapra/capra_micro_comm_py.git@master', 
+        'python-can@git+https://github.com/IliTheButterfly/python-can.git@main',
         ],
     # requires=['capra_micro_comm_py@git+https://github.com/clubcapra/capra_micro_comm_py.git@master'],
     zip_safe=True,
@@ -37,12 +37,22 @@
 # This works but I hate it and I want it to burn and die...
 # i dont like it
 # - Iliana
-# try:
-#     import capra_micro_comm_py
-# except ImportError:
-#     pip.main(['install', 'capra_micro_comm_py@git+https://github.com/clubcapra/capra_micro_comm_py.git@master', '--no-input', '--quiet'])
+try:
+    import capra_micro_comm_py
+except ImportError:
+    try:
+        import can
+        pip.main(['uninstall', 'python-can', '--no-input', '-y', '--quiet'])
+    except ImportError:
+        pass
+    pip.main(['install', 'capra_micro_comm_py@git+https://github.com/clubcapra/capra_micro_comm_py.git@master', 'python-can@git+https://github.com/IliTheButterfly/python-can.git@main', '--no-input', '--quiet'])
 
-# FYI, to remove this package, run `pip uninstall capra_micro_comm_py`
+try:
+    import can
+except ImportError:
+    pip.main(['install', 'python-can@git+https://github.com/IliTheButterfly/python-can.git@main', '--no-input', '--quiet'])
+
+# FYI, to remove this package, run `pip uninstall capra_micro_comm_py python-can`
 
 
 # Generate the micro comm api for the control board