Merge branch 'dev' into user/Vaibhav-Hariani/lane-follower

.envrc

@@ -3,7 +3,10 @@ strict_env
 direnv_version '2.32.3'
 
 
+watch_file './pyproject.toml'
+watch_file './rust-toolchain.toml'
 watch_file './site_scons/env.py'
+
 eval $(./site_scons/env.py --export)
 
 
@@ -37,14 +40,6 @@ if [ ! -f "$DIRENV_INSTALLED_SCONS_ESP_IDF_ENVIRONMENT" ]; then
 fi
 
 
-if [ ! -d "$VIRTUAL_ENV" ]; then
-	msg_info "creating \`$VIRTUAL_ENV\` because it doesn't seem to exist"
-
-	invoke deps.python.venv
-fi
-
-. "$VIRTUAL_ENV/bin/activate"
-
 if [ ! -f "$DIRENV_INSTALLED_PYTHON_REQUIREMENTS" ]; then
 	msg_info 'installing python requirements since they seem to be missing'
 

.pre-commit-config.yaml

@@ -3,7 +3,7 @@
 
 repos:
   - repo: https://github.com/pre-commit/pre-commit-hooks
-    rev: v4.5.0
+    rev: 2c9f875913ee60ca25ce70243dc24d5b6415598c  # frozen: v4.6.0
     hooks:
       - id: check-added-large-files
       - id: check-json
@@ -17,12 +17,12 @@ repos:
       - id: trailing-whitespace
 
   - repo: https://github.com/psf/black-pre-commit-mirror
-    rev: 24.3.0
+    rev: f7aa1f9a50202a2cd7cef269f8d83f5ac91b2915  # frozen: 24.8.0
     hooks:
       - id: black
 
   - repo: https://github.com/cmhughes/latexindent.pl.git
-    rev: V3.23.6
+    rev: 78d452f8fc359d828e2c8a4cac0d2c6fc92d2967  # frozen: V3.24.4
     hooks:
       - id: latexindent
         args:
@@ -32,41 +32,36 @@ repos:
           - --silent
 
   - repo: https://github.com/pre-commit/mirrors-clang-format
-    rev: v18.1.1
+    rev: 7d85583be209cb547946c82fbe51f4bc5dd1d017  # frozen: v18.1.8
     hooks:
       - id: clang-format
         types_or:
           - c
 
   - repo: https://github.com/executablebooks/mdformat
-    rev: 0.7.17
+    rev: 08fba30538869a440b5059de90af03e3502e35fb  # frozen: 0.7.17
     hooks:
       - id: mdformat
         exclude: LICENSE\.md
         additional_dependencies:
           - mdformat-gfm
 
-  - repo: https://github.com/nix-community/nixpkgs-fmt
-    rev: v1.3.0
-    hooks:
-      - id: nixpkgs-fmt
-
   - repo: https://github.com/astral-sh/ruff-pre-commit
-    rev: v0.3.5
+    rev: 03d82ba032f800c7cbbef301ec1e1e25c0ac91b0  # frozen: v0.6.4
     hooks:
       - id: ruff
 
   - repo: https://github.com/pappasam/toml-sort
-    rev: v0.23.1
+    rev: b9b6210da457c38122995e434b314f4c4a4a923e  # frozen: v0.23.1
     hooks:
       - id: toml-sort-fix
 
   - repo: https://github.com/lyz-code/yamlfix/
-    rev: 1.16.0
+    rev: 8072181c0f2eab9f2dd8db2eb3b9556d7cd0bd74  # frozen: 1.17.0
     hooks:
       - id: yamlfix
 
   - repo: https://github.com/adrienverge/yamllint
-    rev: v1.35.1
+    rev: 81e9f98ffd059efe8aa9c1b1a42e5cce61b640c6  # frozen: v1.35.1
     hooks:
       - id: yamllint

SConstruct.py

@@ -37,6 +37,7 @@
     ENV={
         **uenv.ENV,
         'PATH': os.environ['PATH'],
+        'PYTHONPATH': os.environ.get('PYTHONPATH'),
         'TERM': os.environ.get('TERM'),
     },
     ESPBAUD=GetOption('esp_baud'),

flake.nix

@@ -2,55 +2,42 @@
   description = "Autonomy Lab's monorepo";
 
   inputs = {
-    nixpkgs.url = "github:nixos/nixpkgs/nixpkgs-unstable";
     flake-utils.url = "github:numtide/flake-utils";
+    nixpkgs.url = "github:nixos/nixpkgs/nixpkgs-unstable";
+    pyproject-nix = {
+      url = "github:nix-community/pyproject.nix";
+      inputs.nixpkgs.follows = "nixpkgs";
+    };
     rust-overlay = {
       url = "github:oxalica/rust-overlay";
-      inputs = {
-        nixpkgs.follows = "nixpkgs";
-        flake-utils.follows = "flake-utils";
-      };
+      inputs.nixpkgs.follows = "nixpkgs";
     };
   };
 
-  outputs = { self, nixpkgs, flake-utils, rust-overlay }:
-    flake-utils.lib.eachDefaultSystem (system:
+  outputs =
+    inputs:
+
+    inputs.flake-utils.lib.eachDefaultSystem (
+      system:
+
       let
-        pkgs = import nixpkgs {
+        pkgs = import inputs.nixpkgs {
           inherit system;
-          overlays = [ (import rust-overlay) ];
+          overlays = [ (import inputs.rust-overlay) ];
         };
 
-        llvm = pkgs.llvmPackages_17;
-
-        python = pkgs.python312;
-        pythonPackages = pkgs.python312Packages;
-
-        rust-version = pkgs.rust-bin.fromRustupToolchainFile ./rust-toolchain.toml;
-        rust = rust-version.override { };
-
       in
       {
         devShells.default = pkgs.mkShell {
-          packages = [
-            llvm.clang-unwrapped
-            pkgs.act
-            pkgs.cmake
-            pkgs.mdbook
-            pkgs.ninja
-            pkgs.nixpkgs-fmt
-            pkgs.texliveFull
-            pkgs.zlib
-            python
-            pythonPackages.invoke
-            rust
-          ];
+          packages = import ./nix/packages {
+            inherit (inputs) pyproject-nix;
+            inherit pkgs;
+          };
 
-          shellHook = ''
-            export LD_LIBRARY_PATH="''${LD_LIBRARY_PATH:-}"
-            export LD_LIBRARY_PATH="${pkgs.zlib}/lib:''$LD_LIBRARY_PATH"
-          '';
+          venvDir = "./.venv";
         };
+
+        formatter = pkgs.nixfmt-rfc-style;
       }
     );
 }