Moving bazel API to v2, remaking v1

requirements.in

@@ -1,2 +1,6 @@
+asyncio
 fastapi
-uvicorn[standard]
+jinja2
+opencv-python
+uvicorn[standard]
+websockets

requirements_lock.txt

@@ -14,6 +14,12 @@ anyio==4.3.0 \
     # via
     #   starlette
     #   watchfiles
+asyncio==3.4.3 \
+    --hash=sha256:83360ff8bc97980e4ff25c964c7bd3923d333d177aa4f7fb736b019f26c7cb41 \
+    --hash=sha256:b62c9157d36187eca799c378e572c969f0da87cd5fc42ca372d92cdb06e7e1de \
+    --hash=sha256:c46a87b48213d7464f22d9a497b9eef8c1928b68320a2fa94240f969f6fec08c \
+    --hash=sha256:c4d18b22701821de07bd6aea8b53d21449ec0ec5680645e5317062ea21817d2d
+    # via -r requirements.in
 click==8.1.7 \
     --hash=sha256:ae74fb96c20a0277a1d615f1e4d73c8414f5a98db8b799a7931d1582f3390c28 \
     --hash=sha256:ca9853ad459e787e2192211578cc907e7594e294c7ccc834310722b41b9ca6de
@@ -68,6 +74,119 @@ idna==3.6 \
     --hash=sha256:9ecdbbd083b06798ae1e86adcbfe8ab1479cf864e4ee30fe4e46a003d12491ca \
     --hash=sha256:c05567e9c24a6b9faaa835c4821bad0590fbb9d5779e7caa6e1cc4978e7eb24f
     # via anyio
+jinja2==3.1.3 \
+    --hash=sha256:7d6d50dd97d52cbc355597bd845fabfbac3f551e1f99619e39a35ce8c370b5fa \
+    --hash=sha256:ac8bd6544d4bb2c9792bf3a159e80bba8fda7f07e81bc3aed565432d5925ba90
+    # via -r requirements.in
+markupsafe==2.1.5 \
+    --hash=sha256:00e046b6dd71aa03a41079792f8473dc494d564611a8f89bbbd7cb93295ebdcf \
+    --hash=sha256:075202fa5b72c86ad32dc7d0b56024ebdbcf2048c0ba09f1cde31bfdd57bcfff \
+    --hash=sha256:0e397ac966fdf721b2c528cf028494e86172b4feba51d65f81ffd65c63798f3f \
+    --hash=sha256:17b950fccb810b3293638215058e432159d2b71005c74371d784862b7e4683f3 \
+    --hash=sha256:1f3fbcb7ef1f16e48246f704ab79d79da8a46891e2da03f8783a5b6fa41a9532 \
+    --hash=sha256:2174c595a0d73a3080ca3257b40096db99799265e1c27cc5a610743acd86d62f \
+    --hash=sha256:2b7c57a4dfc4f16f7142221afe5ba4e093e09e728ca65c51f5620c9aaeb9a617 \
+    --hash=sha256:2d2d793e36e230fd32babe143b04cec8a8b3eb8a3122d2aceb4a371e6b09b8df \
+    --hash=sha256:30b600cf0a7ac9234b2638fbc0fb6158ba5bdcdf46aeb631ead21248b9affbc4 \
+    --hash=sha256:397081c1a0bfb5124355710fe79478cdbeb39626492b15d399526ae53422b906 \
+    --hash=sha256:3a57fdd7ce31c7ff06cdfbf31dafa96cc533c21e443d57f5b1ecc6cdc668ec7f \
+    --hash=sha256:3c6b973f22eb18a789b1460b4b91bf04ae3f0c4234a0a6aa6b0a92f6f7b951d4 \
+    --hash=sha256:3e53af139f8579a6d5f7b76549125f0d94d7e630761a2111bc431fd820e163b8 \
+    --hash=sha256:4096e9de5c6fdf43fb4f04c26fb114f61ef0bf2e5604b6ee3019d51b69e8c371 \
+    --hash=sha256:4275d846e41ecefa46e2015117a9f491e57a71ddd59bbead77e904dc02b1bed2 \
+    --hash=sha256:4c31f53cdae6ecfa91a77820e8b151dba54ab528ba65dfd235c80b086d68a465 \
+    --hash=sha256:4f11aa001c540f62c6166c7726f71f7573b52c68c31f014c25cc7901deea0b52 \
+    --hash=sha256:5049256f536511ee3f7e1b3f87d1d1209d327e818e6ae1365e8653d7e3abb6a6 \
+    --hash=sha256:58c98fee265677f63a4385256a6d7683ab1832f3ddd1e66fe948d5880c21a169 \
+    --hash=sha256:598e3276b64aff0e7b3451b72e94fa3c238d452e7ddcd893c3ab324717456bad \
+    --hash=sha256:5b7b716f97b52c5a14bffdf688f971b2d5ef4029127f1ad7a513973cfd818df2 \
+    --hash=sha256:5dedb4db619ba5a2787a94d877bc8ffc0566f92a01c0ef214865e54ecc9ee5e0 \
+    --hash=sha256:619bc166c4f2de5caa5a633b8b7326fbe98e0ccbfacabd87268a2b15ff73a029 \
+    --hash=sha256:629ddd2ca402ae6dbedfceeba9c46d5f7b2a61d9749597d4307f943ef198fc1f \
+    --hash=sha256:656f7526c69fac7f600bd1f400991cc282b417d17539a1b228617081106feb4a \
+    --hash=sha256:6ec585f69cec0aa07d945b20805be741395e28ac1627333b1c5b0105962ffced \
+    --hash=sha256:72b6be590cc35924b02c78ef34b467da4ba07e4e0f0454a2c5907f473fc50ce5 \
+    --hash=sha256:7502934a33b54030eaf1194c21c692a534196063db72176b0c4028e140f8f32c \
+    --hash=sha256:7a68b554d356a91cce1236aa7682dc01df0edba8d043fd1ce607c49dd3c1edcf \
+    --hash=sha256:7b2e5a267c855eea6b4283940daa6e88a285f5f2a67f2220203786dfa59b37e9 \
+    --hash=sha256:823b65d8706e32ad2df51ed89496147a42a2a6e01c13cfb6ffb8b1e92bc910bb \
+    --hash=sha256:8590b4ae07a35970728874632fed7bd57b26b0102df2d2b233b6d9d82f6c62ad \
+    --hash=sha256:8dd717634f5a044f860435c1d8c16a270ddf0ef8588d4887037c5028b859b0c3 \
+    --hash=sha256:8dec4936e9c3100156f8a2dc89c4b88d5c435175ff03413b443469c7c8c5f4d1 \
+    --hash=sha256:97cafb1f3cbcd3fd2b6fbfb99ae11cdb14deea0736fc2b0952ee177f2b813a46 \
+    --hash=sha256:a17a92de5231666cfbe003f0e4b9b3a7ae3afb1ec2845aadc2bacc93ff85febc \
+    --hash=sha256:a549b9c31bec33820e885335b451286e2969a2d9e24879f83fe904a5ce59d70a \
+    --hash=sha256:ac07bad82163452a6884fe8fa0963fb98c2346ba78d779ec06bd7a6262132aee \
+    --hash=sha256:ae2ad8ae6ebee9d2d94b17fb62763125f3f374c25618198f40cbb8b525411900 \
+    --hash=sha256:b91c037585eba9095565a3556f611e3cbfaa42ca1e865f7b8015fe5c7336d5a5 \
+    --hash=sha256:bc1667f8b83f48511b94671e0e441401371dfd0f0a795c7daa4a3cd1dde55bea \
+    --hash=sha256:bec0a414d016ac1a18862a519e54b2fd0fc8bbfd6890376898a6c0891dd82e9f \
+    --hash=sha256:bf50cd79a75d181c9181df03572cdce0fbb75cc353bc350712073108cba98de5 \
+    --hash=sha256:bff1b4290a66b490a2f4719358c0cdcd9bafb6b8f061e45c7a2460866bf50c2e \
+    --hash=sha256:c061bb86a71b42465156a3ee7bd58c8c2ceacdbeb95d05a99893e08b8467359a \
+    --hash=sha256:c8b29db45f8fe46ad280a7294f5c3ec36dbac9491f2d1c17345be8e69cc5928f \
+    --hash=sha256:ce409136744f6521e39fd8e2a24c53fa18ad67aa5bc7c2cf83645cce5b5c4e50 \
+    --hash=sha256:d050b3361367a06d752db6ead6e7edeb0009be66bc3bae0ee9d97fb326badc2a \
+    --hash=sha256:d283d37a890ba4c1ae73ffadf8046435c76e7bc2247bbb63c00bd1a709c6544b \
+    --hash=sha256:d9fad5155d72433c921b782e58892377c44bd6252b5af2f67f16b194987338a4 \
+    --hash=sha256:daa4ee5a243f0f20d528d939d06670a298dd39b1ad5f8a72a4275124a7819eff \
+    --hash=sha256:db0b55e0f3cc0be60c1f19efdde9a637c32740486004f20d1cff53c3c0ece4d2 \
+    --hash=sha256:e61659ba32cf2cf1481e575d0462554625196a1f2fc06a1c777d3f48e8865d46 \
+    --hash=sha256:ea3d8a3d18833cf4304cd2fc9cbb1efe188ca9b5efef2bdac7adc20594a0e46b \
+    --hash=sha256:ec6a563cff360b50eed26f13adc43e61bc0c04d94b8be985e6fb24b81f6dcfdf \
+    --hash=sha256:f5dfb42c4604dddc8e4305050aa6deb084540643ed5804d7455b5df8fe16f5e5 \
+    --hash=sha256:fa173ec60341d6bb97a89f5ea19c85c5643c1e7dedebc22f5181eb73573142c5 \
+    --hash=sha256:fa9db3f79de01457b03d4f01b34cf91bc0048eb2c3846ff26f66687c2f6d16ab \
+    --hash=sha256:fce659a462a1be54d2ffcacea5e3ba2d74daa74f30f5f143fe0c58636e355fdd \
+    --hash=sha256:ffee1f21e5ef0d712f9033568f8344d5da8cc2869dbd08d87c84656e6a2d2f68
+    # via jinja2
+numpy==1.26.4 \
+    --hash=sha256:03a8c78d01d9781b28a6989f6fa1bb2c4f2d51201cf99d3dd875df6fbd96b23b \
+    --hash=sha256:08beddf13648eb95f8d867350f6a018a4be2e5ad54c8d8caed89ebca558b2818 \
+    --hash=sha256:1af303d6b2210eb850fcf03064d364652b7120803a0b872f5211f5234b399f20 \
+    --hash=sha256:1dda2e7b4ec9dd512f84935c5f126c8bd8b9f2fc001e9f54af255e8c5f16b0e0 \
+    --hash=sha256:2a02aba9ed12e4ac4eb3ea9421c420301a0c6460d9830d74a9df87efa4912010 \
+    --hash=sha256:2e4ee3380d6de9c9ec04745830fd9e2eccb3e6cf790d39d7b98ffd19b0dd754a \
+    --hash=sha256:3373d5d70a5fe74a2c1bb6d2cfd9609ecf686d47a2d7b1d37a8f3b6bf6003aea \
+    --hash=sha256:47711010ad8555514b434df65f7d7b076bb8261df1ca9bb78f53d3b2db02e95c \
+    --hash=sha256:4c66707fabe114439db9068ee468c26bbdf909cac0fb58686a42a24de1760c71 \
+    --hash=sha256:50193e430acfc1346175fcbdaa28ffec49947a06918b7b92130744e81e640110 \
+    --hash=sha256:52b8b60467cd7dd1e9ed082188b4e6bb35aa5cdd01777621a1658910745b90be \
+    --hash=sha256:60dedbb91afcbfdc9bc0b1f3f402804070deed7392c23eb7a7f07fa857868e8a \
+    --hash=sha256:62b8e4b1e28009ef2846b4c7852046736bab361f7aeadeb6a5b89ebec3c7055a \
+    --hash=sha256:666dbfb6ec68962c033a450943ded891bed2d54e6755e35e5835d63f4f6931d5 \
+    --hash=sha256:675d61ffbfa78604709862923189bad94014bef562cc35cf61d3a07bba02a7ed \
+    --hash=sha256:679b0076f67ecc0138fd2ede3a8fd196dddc2ad3254069bcb9faf9a79b1cebcd \
+    --hash=sha256:7349ab0fa0c429c82442a27a9673fc802ffdb7c7775fad780226cb234965e53c \
+    --hash=sha256:7ab55401287bfec946ced39700c053796e7cc0e3acbef09993a9ad2adba6ca6e \
+    --hash=sha256:7e50d0a0cc3189f9cb0aeb3a6a6af18c16f59f004b866cd2be1c14b36134a4a0 \
+    --hash=sha256:95a7476c59002f2f6c590b9b7b998306fba6a5aa646b1e22ddfeaf8f78c3a29c \
+    --hash=sha256:96ff0b2ad353d8f990b63294c8986f1ec3cb19d749234014f4e7eb0112ceba5a \
+    --hash=sha256:9fad7dcb1aac3c7f0584a5a8133e3a43eeb2fe127f47e3632d43d677c66c102b \
+    --hash=sha256:9ff0f4f29c51e2803569d7a51c2304de5554655a60c5d776e35b4a41413830d0 \
+    --hash=sha256:a354325ee03388678242a4d7ebcd08b5c727033fcff3b2f536aea978e15ee9e6 \
+    --hash=sha256:a4abb4f9001ad2858e7ac189089c42178fcce737e4169dc61321660f1a96c7d2 \
+    --hash=sha256:ab47dbe5cc8210f55aa58e4805fe224dac469cde56b9f731a4c098b91917159a \
+    --hash=sha256:afedb719a9dcfc7eaf2287b839d8198e06dcd4cb5d276a3df279231138e83d30 \
+    --hash=sha256:b3ce300f3644fb06443ee2222c2201dd3a89ea6040541412b8fa189341847218 \
+    --hash=sha256:b97fe8060236edf3662adfc2c633f56a08ae30560c56310562cb4f95500022d5 \
+    --hash=sha256:bfe25acf8b437eb2a8b2d49d443800a5f18508cd811fea3181723922a8a82b07 \
+    --hash=sha256:cd25bcecc4974d09257ffcd1f098ee778f7834c3ad767fe5db785be9a4aa9cb2 \
+    --hash=sha256:d209d8969599b27ad20994c8e41936ee0964e6da07478d6c35016bc386b66ad4 \
+    --hash=sha256:d5241e0a80d808d70546c697135da2c613f30e28251ff8307eb72ba696945764 \
+    --hash=sha256:edd8b5fe47dab091176d21bb6de568acdd906d1887a4584a15a9a96a1dca06ef \
+    --hash=sha256:f870204a840a60da0b12273ef34f7051e98c3b5961b61b0c2c1be6dfd64fbcd3 \
+    --hash=sha256:ffa75af20b44f8dba823498024771d5ac50620e6915abac414251bd971b4529f
+    # via opencv-python
+opencv-python==4.9.0.80 \
+    --hash=sha256:1a9f0e6267de3a1a1db0c54213d022c7c8b5b9ca4b580e80bdc58516c922c9e1 \
+    --hash=sha256:3f16f08e02b2a2da44259c7cc712e779eff1dd8b55fdb0323e8cab09548086c0 \
+    --hash=sha256:71dfb9555ccccdd77305fc3dcca5897fbf0cf28b297c51ee55e079c065d812a3 \
+    --hash=sha256:7b34a52e9da36dda8c151c6394aed602e4b17fa041df0b9f5b93ae10b0fcca2a \
+    --hash=sha256:7e5f7aa4486651a6ebfa8ed4b594b65bd2d2f41beeb4241a3e4b1b85acbbbadb \
+    --hash=sha256:dcf000c36dd1651118a2462257e3a9e76db789a78432e1f303c7bac54f63ef6c \
+    --hash=sha256:e4088cab82b66a3b37ffc452976b14a3c599269c247895ae9ceb4066d8188a57
+    # via -r requirements.in
 pydantic==2.6.4 \
     --hash=sha256:b1704e0847db01817624a6b86766967f552dd9dbf3afba4004409f908dcc84e6 \
     --hash=sha256:cc46fce86607580867bdc3361ad462bab9c222ef042d3da86f2fb333e1d916c5
@@ -412,4 +531,6 @@ websockets==12.0 \
     --hash=sha256:f764ba54e33daf20e167915edc443b6f88956f37fb606449b4a5b10ba42235a5 \
     --hash=sha256:fc4e7fa5414512b481a2483775a8e8be7803a35b30ca805afa4998a84f9fd9e8 \
     --hash=sha256:ffefa1374cd508d633646d51a8e9277763a9b78ae71324183693959cf94635a7
-    # via uvicorn
+    # via
+    #   -r requirements.in
+    #   uvicorn

src/api/v1/README.md

@@ -1,50 +1,40 @@
-# TrentonBot API
+# API v1
 
-This API allows for interfacing between the webapp and the vehicle code over ROS 2.
+This version of the API uses a local venv to install packages, and only runs locally.
 
-# Contributing
+## Creating a venv
 
-## Testing Code
-
-You can test this code locally by running the command:
+Use the following command to create your venv:
 
 ```
-bazel run //src/api/v1:main
+python3.11 -m venv venv
 ```
 
-This will start up the API using uvicorn, running on port 8000 unless the port is in use.
-
-If you want to use args with the app, you can run the following:
+From here, you can source your venv with the following commands.
+Windows, probably:
 
 ```
-bazel run //src/api/v1:main -- <ARGS>
+./venv/bin/Activate.ps1
 ```
 
-The extra `--` allows us to skip over the _bazel_ arguments, and start passing arguments directly to our process.
-
-**NOTE**: Right now, certain args such as `--reload` don't work with bazel, as built files are copied into a `bazel-out` directory instead of using the files directly in the repo. This means, when running with `--reload`, uvicorn watches the foles in the cached build directory and NOT the files that you'd be editing in the repo. Looking for a workaround in this.
-
-## Building a Docker Image Locally
-
-The docker image can be built and published locally using the command:
+Linux:
 
 ```
-bazel run //src/api/v1:tarball
+. venv/bin/activate
 ```
 
-This will publish the image to your local docker images based on the provided tag:
+## Installing needed packages
+
+You can install packages required for the application using the command:
 
 ```
-INFO: Running command line: bazel-bin/src/api/v1/tarball.sh
-f4ba9898d2a2: Loading layer  17.56kB/17.56kB
-The image trentonbot_api_v1:latest already exists, renaming the old one with ID sha256:ccb7026cdc6bcb8f6a46a86b8e363581f33e5168f5cab5cde88f77cd8e0539b5 to empty string
-Loaded image: trentonbot_api_v1:latest
+pip install -r requirements.txt
 ```
 
-In this case, if you want to run the image locally, you can used the loaded image above to run:
+## Saving pip requirements
+
+Run the following command to update the `requirements.txt` file, which is needed whenever you install a new package:
 
 ```
-docker run -p 8000:8000 trentonbot_api_v1:latest
+pip freeze > requirements.txt
 ```
-
-This will spin up the docker container locally, and allow you to test from it.

src/api/v1/requirements.txt

@@ -0,0 +1,22 @@
+annotated-types==0.6.0
+anyio==4.3.0
+click==8.1.7
+fastapi==0.110.0
+h11==0.14.0
+httptools==0.6.1
+idna==3.6
+Jinja2==3.1.3
+MarkupSafe==2.1.5
+numpy==1.26.4
+opencv-python==4.9.0.80
+pydantic==2.6.4
+pydantic_core==2.16.3
+python-dotenv==1.0.1
+PyYAML==6.0.1
+sniffio==1.3.1
+starlette==0.36.3
+typing_extensions==4.10.0
+uvicorn==0.29.0
+uvloop==0.19.0
+watchfiles==0.21.0
+websockets==12.0

src/api/v1/BUILD.bazel → src/api/v2/BUILD.bazel

@@ -8,6 +8,9 @@ py_library(
     srcs = ["api.py"],
     deps = [
         "@pypi//fastapi:pkg",
+        "@pypi//jinja2:pkg",
+        "@pypi//opencv_python:pkg",
+        "@pypi//websockets:pkg",
     ],
 )
 
@@ -17,7 +20,7 @@ py_binary(
     name = "main",
     srcs = ["main.py"],
     args = [
-        "src.api.v1.api:app",
+        "src.api.v2.api:app",
         "--host",
         "0.0.0.0",
     ],
@@ -36,11 +39,11 @@ py_oci_image(
     base = "@py3.11",
     binary = ":main",
     cmd = [
-        "src.api.v1.api:app",
+        "src.api.v2.api:app",
         "--host",
         "0.0.0.0",
     ],
-    entrypoint = ["src/api/v1/main"],
+    entrypoint = ["src/api/v2/main"],
     exposed_ports = ["8000"],
 )
 
@@ -50,13 +53,13 @@ py_oci_image(
 oci_tarball(
     name = "tarball",
     image = ":image",
-    repo_tags = ["trentonbot_api_v1:latest"],
+    repo_tags = ["trentonbot_api_v2:latest"],
     visibility = ["//visibility:public"],
 )
 
 oci_push(
     name = "push",
     image = ":image",
     remote_tags = ["v0.0.1"],
-    repository = "trentonbot_api_v1",
+    repository = "trentonbot_api_v2",
 )

src/api/v2/README.md

@@ -0,0 +1,50 @@
+# TrentonBot API
+
+This API allows for interfacing between the webapp and the vehicle code over ROS 2.
+
+# Contributing
+
+## Testing Code
+
+You can test this code locally by running the command:
+
+```
+bazel run //src/api/v2:main
+```
+
+This will start up the API using uvicorn, running on port 8000 unless the port is in use.
+
+If you want to use args with the app, you can run the following:
+
+```
+bazel run //src/api/v2:main -- <ARGS>
+```
+
+The extra `--` allows us to skip over the _bazel_ arguments, and start passing arguments directly to our process.
+
+**NOTE**: Right now, certain args such as `--reload` don't work with bazel, as built files are copied into a `bazel-out` directory instead of using the files directly in the repo. This means, when running with `--reload`, uvicorn watches the foles in the cached build directory and NOT the files that you'd be editing in the repo. Looking for a workaround in this.
+
+## Building a Docker Image Locally
+
+The docker image can be built and published locally using the command:
+
+```
+bazel run //src/api/v2:tarball
+```
+
+This will publish the image to your local docker images based on the provided tag:
+
+```
+INFO: Running command line: bazel-bin/src/api/v2/tarball.sh
+f4ba9898d2a2: Loading layer  17.56kB/17.56kB
+The image trentonbot_api_v2:latest already exists, renaming the old one with ID sha256:ccb7026cdc6bcb8f6a46a86b8e363581f33e5168f5cab5cde88f77cd8e0539b5 to empty string
+Loaded image: trentonbot_api_v2:latest
+```
+
+In this case, if you want to run the image locally, you can used the loaded image above to run:
+
+```
+docker run -p 8000:8000 trentonbot_api_v2:latest
+```
+
+This will spin up the docker container locally, and allow you to test from it.

src/api/v2/api.py

@@ -0,0 +1,38 @@
+from typing import Union
+from fastapi import FastAPI, Request, WebSocket, WebSocketDisconnect
+from websockets.exceptions import ConnectionClosed
+from fastapi.templating import Jinja2Templates
+import asyncio
+import cv2
+
+app = FastAPI()
+camera = cv2.VideoCapture(0, cv2.CAP_DSHOW)
+templates = Jinja2Templates(directory="templates")
+
+
+@app.get("/")
+def read_root():
+    return {"Hello": "World"}
+
+
+@app.get("/items/{item_id}")
+def read_item(item_id: int, q: Union[str, None] = None):
+    return {"item_id": item_id, "q": q}
+
+
+# https://stackoverflow.com/a/70626324
+# Not actually sure if this works with bazel
+@app.websocket("/ws")
+async def get_stream(websocket: WebSocket):
+    await websocket.accept()
+    try:
+        while True:
+            success, frame = camera.read()
+            if not success:
+                break
+            else:
+                ret, buffer = cv2.imencode(".jpg", frame)
+                await websocket.send_bytes(buffer.tobytes())
+            await asyncio.sleep(0.03)
+    except (WebSocketDisconnect, ConnectionClosed):
+        print("Client disconnected")

src/api/v2/main.py

@@ -0,0 +1,5 @@
+import uvicorn
+import sys
+
+if __name__ == "__main__":
+    sys.exit(uvicorn.main())