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CONTRIBUTING.md

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Running the application in a development environment

  • Clone the repository, there aren't any submodules (you know how, just an example here)

    git clone https://github.com/OpenCyphal-Garage/yukon.git

  • Only on GNU/Linux: Change to the cloned directory, make a venv and install the requirements

    python -m venv venv
source venv/bin/activate
pip install -r requirements.txt -r dev-requirements.txt

You will need to install python-is-python3.

  • On Debian systems you will also require sudo apt install clang clang-format build-essential python3-venv python3-dev python3-tk python3-pip.

  • Only on Arch Linux: additional step when using systems where Tk is missing by default

    sudo pacman -S tk

  • Only on Windows: Make a venv and install the requirements

    python -m venv venv
venv\Scripts\activate.bat
pip install -r requirements.txt -r dev-requirements.txt

  • On every OS: Install yakut and use it to create the .compiled folder for compiled dsdl

    pip install yakut
yakut compile -O.compiled https://github.com/OpenCyphal/public_regulated_data_types/archive/refs/heads/master.zip

  • Only on GNU/Linux: Run the application

    IS_DEBUG=1 PYTHONPATH=.:.compiled python3 yukon/__main__.py

  • Only on Windows: Run the application

    set PYTHONPATH=.;.compiled
set IS_DEBUG=1
python yukon/__main__.py

  • On every OS: Build the application for your current OS and obtain ElectronJS (to run in ElectronJS) Without this step you will have to run Yukon in a browser.

    python build_exe.py

On GNU/Linux you may have to precede this step by installing binutils. sudo apt install binutils.

  • On GNU/Linux: For ElectronJS Don't forget to run chmod +x .electron/electron to give the electron executable run permissions

  • On every OS: Build the DSDL namespace for demos

This step will create demos that you can run and use to test Yukon if you have no Cyphal capable devices available to connect to your computer.

yakut compile -O.compiled demos/sirius_cyber_corp

  • On every OS: Put the DSDL files that you need inside one of the lookup directories, this can be configured in settings of Yukon but it's /home/username/.cyphal by default

  • On every OS: How to run the application from vscode, using the buttons

CREATE a .env file in the root of the project with the following content (; separator on Windows):

PYTHONPATH=C:\Users\silver\Documents\zubax\yukon\.compiled;C:\Users\silver\Documents\zubax\yukon
IS_BROWSER_BASED=1
IS_DEBUG=1

It's IMPORTANT to use absolute paths in the PYTHONPATH here.

There is an IMPORTANT difference in the first line of the previous snippet: on Windows use ; as the separator, on GNU/Linux use : as the separator.

It is also IMPORTANT that the PYTHONPATH contains the path to the .compiled folder and the path to the root directory of the repository. It doesn't matter which order that paths are placed in.

  • Prepare the sirius_cyber_corp namespace for using demos and tests 
    yakut compile -O.compiled demos/sirius_cyber_corp

Contributing

  1. Fork the repository
  2. Make your changess
  3. Make a pull request
  4. Wait for a review
  5. Make changes if needed
  6. Merge the pull request

When trying to make sense of the codebase, start from the yukon/services/api.py module. This handles all the requests that the frontend of Yukon makes to the backend and all the other services that the backend calls from there. The cyphal_workers subpackage in services contains a bunch of workers that are used by the backend to delegate work to the thread that the Cyphal node is running on. This at least used to be the way it was handled, new code is encouraged to just call self.state.cyphal_worker_asyncio_loop.call_soon_threadsafe(subscribe_task) (see reference in code) to schedule a task on the same thread that the Cyphal node is running on.

Code style

  • Use black for formatting
  • Run nox -s mypy to check for type errors
  • Run nox -s pylint to check for linting errors