remove .envrc sourcing of install

.envrc

@@ -1,2 +1 @@
 use flake
-[[ -d install ]] && source install/setup.$(echo $0 | grep -oE '[^/]+$')

flake.lock

@@ -60,7 +60,8 @@
         "nixpkgs": [
           "nix-ros-overlay",
           "nixpkgs"
-        ]
+        ],
+        "treefmt-nix": "treefmt-nix"
       }
     },
     "systems": {
@@ -77,6 +78,26 @@
         "repo": "default",
         "type": "github"
       }
+    },
+    "treefmt-nix": {
+      "inputs": {
+        "nixpkgs": [
+          "nixpkgs"
+        ]
+      },
+      "locked": {
+        "lastModified": 1773297127,
+        "narHash": "sha256-6E/yhXP7Oy/NbXtf1ktzmU8SdVqJQ09HC/48ebEGBpk=",
+        "owner": "numtide",
+        "repo": "treefmt-nix",
+        "rev": "71b125cd05fbfd78cab3e070b73544abe24c5016",
+        "type": "github"
+      },
+      "original": {
+        "owner": "numtide",
+        "repo": "treefmt-nix",
+        "type": "github"
+      }
     }
   },
   "root": "root",

flake.nix

@@ -4,6 +4,11 @@
   inputs = {
     nix-ros-overlay.url = "github:lopsided98/nix-ros-overlay/develop";
     nixpkgs.follows = "nix-ros-overlay/nixpkgs"; # IMPORTANT!!!
+
+    treefmt-nix = {
+      url = "github:numtide/treefmt-nix";
+      inputs.nixpkgs.follows = "nixpkgs";
+    };
   };
 
   outputs =
@@ -11,7 +16,8 @@
       self,
       nix-ros-overlay,
       nixpkgs,
-    }:
+      ...
+    }@inputs:
     nix-ros-overlay.inputs.flake-utils.lib.eachDefaultSystem (
       system:
       let
@@ -28,7 +34,7 @@
             (python313.withPackages (
               p: with p; [
                 pyserial
-		python-can
+                python-can
                 pygame
                 scipy
                 crccheck
@@ -62,7 +68,7 @@
                   moveit-msgs
                   moveit-ros-planning
                   moveit-ros-planning-interface
-		  moveit-ros-visualization
+                  moveit-ros-visualization
                   moveit-configs-utils
                   moveit-ros-move-group
                   moveit-servo
@@ -73,7 +79,7 @@
                   ompl
                   joy
                   ros2-controllers
-		  chomp-motion-planner
+                  chomp-motion-planner
                 ];
               }
             )
@@ -84,6 +90,8 @@
             export QT_X11_NO_MITSHM=1
           '';
         };
+
+        formatter = (inputs.treefmt-nix.lib.evalModule pkgs ./treefmt.nix).config.build.wrapper;
       }
     );
 

src/anchor_pkg/anchor_pkg/connector.py

@@ -318,7 +318,9 @@ class CANConnector(Connector):
         }
 
         if mcu_name not in mcu_key_map:
-            self.logger.error(f"unknown VicCAN mcu_name '{msg.mcu_name}' for CAN frame; dropping message")
+            self.logger.error(
+                f"unknown VicCAN mcu_name '{msg.mcu_name}' for CAN frame; dropping message"
+            )
             return
 
         mcu_key = mcu_key_map[mcu_name] & 0b111
@@ -352,7 +354,9 @@ class CANConnector(Connector):
             )
             command &= 0x3F
 
-        arbitration_id = ((mcu_key & 0b111) << 8) | ((data_type_key & 0b11) << 6) | (command & 0x3F)
+        arbitration_id = (
+            ((mcu_key & 0b111) << 8) | ((data_type_key & 0b11) << 6) | (command & 0x3F)
+        )
 
         # Map VicCAN.data (floats) to up to 8 CAN data bytes.
         raw_bytes: list[int] = []

src/anchor_pkg/anchor_pkg/convert.py

@@ -1,6 +1,7 @@
 from astra_msgs.msg import VicCAN
 from rclpy.impl.rcutils_logger import RcutilsLogger
 
+
 def string_to_viccan(msg: str, mcu_name: str, logger: RcutilsLogger):
     """
     Converts the serial string VicCAN format to a ROS2 VicCAN message.
@@ -27,9 +28,7 @@ def string_to_viccan(msg: str, mcu_name: str, logger: RcutilsLogger):
         logger.debug(f"got non-CAN data from {mcu_name}: {msg}")
         return None
     elif len(parts) < 3:
-        logger.debug(
-            f"got garbage (not enough parts) CAN data from {mcu_name}: {msg}"
-        )
+        logger.debug(f"got garbage (not enough parts) CAN data from {mcu_name}: {msg}")
         return None
     elif len(parts) > 7:
         logger.debug(f"got garbage (too many parts) CAN data from {mcu_name}: {msg}")

treefmt.nix

@@ -0,0 +1,8 @@
+{ pkgs, ... }:
+{
+  projectRootFile = "flake.nix";
+  programs = {
+    nixfmt.enable = true;
+    black.enable = true;
+  };
+}