V2.0

.github/workflows/ci.yml

@@ -55,51 +55,176 @@ jobs:
           cmake -B build .
           make -C build -j"$(nproc)" vision_processor geometry_benchmark blob_benchmark
 
-  python:
-    name: Python (wrapper_backend)
+  gui-go:
+    name: Go (gui)
     runs-on: ubuntu-latest
     steps:
+      # gui/internal/{vision,gamecontroller} are generated, not committed (see
+      # gui/buf.gen.yaml) -- the proto/ submodule and a `buf generate` (via
+      # `make .proto`, local plugins, no network needed) are needed before
+      # anything here builds.
       - uses: actions/checkout@v4
         with:
           submodules: recursive
 
       - uses: DeterminateSystems/nix-installer-action@main
       - uses: DeterminateSystems/magic-nix-cache-action@main
 
-      # Importing wrapper_backend runs protoc against the submodule and
-      # generates wrapper_backend/proto/, which mypy needs on its path even
-      # though it excludes the generated files themselves.
-      - name: Lint and type check
+      # The socket tests send real multicast over loopback, which Ubuntu
+      # ships with multicast off. They fail rather than skip under CI, so a
+      # missing step here can't hide as a skip.
+      - name: Enable loopback multicast
+        run: sudo scripts/lo-multicast.sh on
+
+      - name: Format, vet, build, test
         run: |
           nix develop --command bash -c '
-            uv sync --locked
-            uv run python -c "import wrapper_backend"
-            uv run ruff check wrapper_backend/
-            uv run ruff format --check wrapper_backend/
-            uv run mypy
+            cd gui
+            make fmt-check
+            make vet
+            make build
+            make go-test
+            make generate-check
           '
 
-  frontend:
-    name: Frontend (wrapper-frontend)
-    runs-on: ubuntu-latest
-    defaults:
-      run:
-        working-directory: wrapper-frontend
+  gui-apt:
+    name: Go and frontend (gui, Ubuntu 24.04, no nix)
+    # The non-nix counterpart of gui-go and frontend: the same make targets,
+    # with every tool from its own pin instead of the flake. Formatting and
+    # generated-file checks stay in the nix jobs; this job only shows the GUI
+    # builds and passes its tests with these tool versions.
+    runs-on: ubuntu-24.04
+    env:
+      # As in the flake: a go.mod newer than the installed Go fails here
+      # instead of quietly downloading a toolchain.
+      GOTOOLCHAIN: local
     steps:
+      # The package version counts commits, which needs the history.
       - uses: actions/checkout@v4
+        with:
+          submodules: recursive
+          fetch-depth: 0
+
+      - uses: actions/setup-go@v5
+        with:
+          go-version-file: gui/go.mod
+          cache-dependency-path: gui/go.sum
 
       - uses: actions/setup-node@v4
         with:
-          node-version: 22
+          node-version-file: gui/frontend/.nvmrc
           cache: npm
-          cache-dependency-path: wrapper-frontend/package-lock.json
+          cache-dependency-path: gui/frontend/package-lock.json
 
-      - run: npm ci
+      # Ubuntu doesn't package buf. Keep the version in step with the flake's
+      # (nix develop -c buf --version) and gui/DEVELOPMENT.md.
+      - name: Install buf
+        run: go install github.com/bufbuild/buf/cmd/buf@v1.72.0
 
-      - run: npm run lint
+      - name: Enable loopback multicast
+        run: sudo scripts/lo-multicast.sh on
 
-      - run: npm run format:check
+      - name: Build and test
+        working-directory: gui
+        run: |
+          make build
+          make go-test
+          make frontend-test
+
+      # nfpm is a Go tool, so the packages build the same way without nix.
+      - name: Packages
+        working-directory: gui
+        run: make deb
 
-      - run: npm run check
+  gui-release:
+    name: Release build (gui)
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          submodules: recursive
 
-      - run: npm run build
+      - uses: DeterminateSystems/nix-installer-action@main
+      - uses: DeterminateSystems/magic-nix-cache-action@main
+
+      # A first run publishes nothing, so this can't disturb anything.
+      - name: Build it and run it as a new user would
+        run: nix develop --command bash -c 'cd gui && make release-check'
+
+  gui-deb:
+    name: Debian packages (gui)
+    # The runner is a real Ubuntu 24.04 machine with systemd, so this installs
+    # the package and checks the service itself, not just the files.
+    runs-on: ubuntu-24.04
+    steps:
+      # The package version counts commits, which needs the history.
+      - uses: actions/checkout@v4
+        with:
+          submodules: recursive
+          fetch-depth: 0
+
+      - uses: DeterminateSystems/nix-installer-action@main
+      - uses: DeterminateSystems/magic-nix-cache-action@main
+
+      - name: Build
+        run: nix develop --command bash -c 'cd gui && make deb'
+
+      - name: Lintian
+        run: |
+          sudo apt-get update -qq
+          sudo apt-get install -y -qq lintian
+          lintian --fail-on error,warning gui/bin/deb/*.deb
+
+      - name: Install and check the service
+        run: sudo gui/scripts/deb-check.sh gui/bin/deb/*_amd64.deb "$(git -C gui describe --tags --always --dirty)"
+
+  frontend:
+    name: Frontend (gui/frontend)
+    runs-on: ubuntu-latest
+    steps:
+      # frontend/src/proto is generated, not committed (see gui/buf.gen.yaml)
+      # -- this job now needs the proto/ submodule and buf/go (hence nix,
+      # same as gui-go) to produce it before npm can build against it.
+      - uses: actions/checkout@v4
+        with:
+          submodules: recursive
+
+      - uses: DeterminateSystems/nix-installer-action@main
+      - uses: DeterminateSystems/magic-nix-cache-action@main
+
+      - name: Lint, check, build
+        run: |
+          nix develop --command bash -c '
+            cd gui
+            make frontend-test
+            make frontend
+          '
+
+  gui-e2e:
+    name: End-to-end (gui)
+    runs-on: ubuntu-latest
+    steps:
+      # Same prerequisites as gui-go: generated protobuf and the frontend
+      # build, both via nix. The browser is the runner's own Google Chrome
+      # (Playwright's "chrome" channel), so nothing is downloaded for it.
+      - uses: actions/checkout@v4
+        with:
+          submodules: recursive
+
+      - uses: DeterminateSystems/nix-installer-action@main
+      - uses: DeterminateSystems/magic-nix-cache-action@main
+
+      - name: Smoke tests
+        run: |
+          nix develop --command bash -c '
+            cd gui
+            make e2e
+          '
+
+      - name: Upload traces
+        if: failure()
+        uses: actions/upload-artifact@v4
+        with:
+          name: playwright-traces
+          path: gui/frontend/test-results/
+          retention-days: 7

.github/workflows/release.yml

@@ -0,0 +1,44 @@
+name: Release
+
+# Pushing a v* tag publishes that version of the GUI host: the static binary,
+# its tarball, the .deb packages and SHA256SUMS, as a GitHub Release.
+on:
+  push:
+    tags: ["v*"]
+
+permissions:
+  contents: write
+
+jobs:
+  gui:
+    name: Release (gui)
+    runs-on: ubuntu-24.04
+    steps:
+      # The version comes from git describe, which needs the tags.
+      - uses: actions/checkout@v4
+        with:
+          submodules: recursive
+          fetch-depth: 0
+
+      - uses: DeterminateSystems/nix-installer-action@main
+      - uses: DeterminateSystems/magic-nix-cache-action@main
+
+      - name: Build and check
+        run: nix develop --command bash -c 'cd gui && make release-check VERSION="$GITHUB_REF_NAME"'
+
+      - name: Packages
+        run: |
+          nix develop --command bash -c 'cd gui && make deb VERSION="$GITHUB_REF_NAME"'
+          sudo apt-get update -qq
+          sudo apt-get install -y -qq lintian
+          lintian --fail-on error,warning gui/bin/deb/*.deb
+          sudo gui/scripts/deb-check.sh gui/bin/deb/*_amd64.deb "$GITHUB_REF_NAME"
+          cp gui/bin/deb/*.deb gui/bin/release/
+          cd gui/bin/release && sha256sum *.tar.gz *-bin *.deb > SHA256SUMS
+
+      - name: Publish
+        env:
+          GH_TOKEN: ${{ github.token }}
+        run: |
+          gh release create "$GITHUB_REF_NAME" --generate-notes \
+            gui/bin/release/*.tar.gz gui/bin/release/*-bin gui/bin/release/*.deb gui/bin/release/SHA256SUMS

.gitignore

@@ -3,7 +3,17 @@
 /src/cl_kernels.S
 /src/proto
 /python/proto
-/wrapper_backend/proto
+/gui/internal/vision
+/gui/internal/gamecontroller
+/gui/frontend/src/proto
+# Built by gui/Makefile: the API spec and the doc comments it's built with,
+# the frontend's types generated from it, and the fetched docs viewer.
+/gui/internal/api/comments_gen.go
+/gui/openapi.json
+/gui/frontend/src/lib/generated
+/gui/internal/api/viewer
+# Copied in by gui/Makefile for -readme (the .yml copies are ignored below).
+/gui/internal/defaults/data/README.md
 __pycache__
 
 # Cam viewer
@@ -12,11 +22,33 @@ __pycache__
 # Debug and test image directories
 /img
 /test-data
+*.log
+
+# Config files are local: only the read-only references in config/ are
+# tracked (see config/README.md). Copy one to the repo root and edit the copy;
+# git ignores it wherever it lives, so `git add -A` can't sweep in a venue's
+# config or calibration.
+*.yml
+# The GUI's backup of a config.yml it imported and now regenerates.
+*.yml.orig
+!/config/**/*.yml
+# Not configs: test fixtures, CI, and vision_processor's default robot height
+# table, which it reads from the working directory.
+!**/testdata/**/*.yml
+!/.gitlab-ci.yml
+!/.github/**/*.yml
+!/robot-heights.yml
 
 #Output binaries
 vision_processor
 blob_benchmark
 geometry_benchmark
+/gui/bin
+/gui/ssl-vision-processor-gui
+
+# Makefile sentinels for the frontend build and protobuf codegen
+/gui/.frontend
+/gui/.proto
 
 #CMake files
 /build
@@ -33,3 +65,6 @@ CMakeCache.txt
 /.cache
 /build*
 /.zed
+
+# AI Files
+.mcp.json

.pre-commit-config.yaml

@@ -1,30 +1,15 @@
 repos:
-  - repo: https://github.com/astral-sh/ruff-pre-commit
-    rev: v0.15.12
-    hooks:
-      - id: ruff
-        args: [--fix]
-        files: ^wrapper_backend/
-      - id: ruff-format
-        files: ^wrapper_backend/
   - repo: local
     hooks:
-      - id: mypy
-        name: mypy
-        entry: uv run mypy
-        language: system
-        types: [python]
-        files: ^wrapper_backend/
-        pass_filenames: false
       - id: eslint
         name: eslint
-        entry: npm --prefix wrapper-frontend run lint
+        entry: npm --prefix gui/frontend run lint
         language: system
-        files: ^wrapper-frontend/
+        files: ^gui/frontend/
         pass_filenames: false
       - id: prettier
         name: prettier
-        entry: npm --prefix wrapper-frontend run format:check
+        entry: npm --prefix gui/frontend run format:check
         language: system
-        files: ^wrapper-frontend/
+        files: ^gui/frontend/
         pass_filenames: false

.vscode/extensions.json

@@ -0,0 +1,13 @@
+{
+  "recommendations": [
+    "golang.go",
+    "svelte.svelte-vscode",
+    "esbenp.prettier-vscode",
+    "ms-vscode.cpptools",
+    "ms-vscode.cmake-tools",
+    "ms-python.python",
+    "charliermarsh.ruff",
+    "jnoortheen.nix-ide",
+    "bufbuild.vscode-buf"
+  ]
+}

.vscode/settings.json

@@ -0,0 +1,22 @@
+{
+  "[go]": {
+    "editor.defaultFormatter": "golang.go",
+    "editor.formatOnSave": true,
+    "editor.codeActionsOnSave": {
+      "source.organizeImports": "explicit"
+    }
+  },
+  "[svelte]": {
+    "editor.defaultFormatter": "svelte.svelte-vscode",
+    "editor.formatOnSave": true
+  },
+  "[typescript]": {
+    "editor.defaultFormatter": "esbenp.prettier-vscode",
+    "editor.formatOnSave": true
+  },
+  "[javascript]": {
+    "editor.defaultFormatter": "esbenp.prettier-vscode",
+    "editor.formatOnSave": true
+  },
+  "go.vetOnSave": "package"
+}