added lance control, changed citadel to use uint8 instead of byte, removed astra_msgs submodule and added it as a nix package

flake.lock

@@ -10,17 +10,17 @@
         ]
       },
       "locked": {
-        "lastModified": 1770693861,
+        "lastModified": 1771573274,
-        "narHash": "sha256-8NBtSsKVYtd+NYt51tJ1EteC0nOTemDUBoRXbDoQAuA=",
+        "narHash": "sha256-YlUVTWtCxXzobbcHTCrMMzwLSrzQwo5Yz57gYS8ie04=",
         "owner": "SHC-ASTRA",
         "repo": "astra_msgs",
-        "rev": "60bbb53085b09fbdb7e848b1dd168d526d9af281",
+        "rev": "8acbd807907ca6bd045aab8e50e7af995fc9a211",
         "type": "github"
       },
       "original": {
         "owner": "SHC-ASTRA",
-        "ref": "60bbb53085b09fbdb7e848b1dd168d526d9af281",
         "repo": "astra_msgs",
+        "rev": "8acbd807907ca6bd045aab8e50e7af995fc9a211",
         "type": "github"
       }
     },
@@ -66,11 +66,11 @@
         "nixpkgs": "nixpkgs"
       },
       "locked": {
-        "lastModified": 1770408708,
+        "lastModified": 1770622967,
-        "narHash": "sha256-E7ZQRgGrsiuswgXnG7337ZR5s4SdZlheZjxKOQdVoH8=",
+        "narHash": "sha256-1LYjTugPSCa/5NkP6/dcZLH5TQYj3R8mAZ/9dgd7jDM=",
         "owner": "lopsided98",
         "repo": "nix-ros-overlay",
-        "rev": "e78ba91032c7f8bdd823fbf43937cbf0f4f09747",
+        "rev": "d1b9f17eba909116356436d46b5192d299c6b49a",
         "type": "github"
       },
       "original": {
@@ -86,11 +86,11 @@
         "nixpkgs": "nixpkgs_2"
       },
       "locked": {
-        "lastModified": 1770108954,
+        "lastModified": 1771404745,
-        "narHash": "sha256-VBj6bd4LPPSfsZJPa/UPPA92dOs6tmQo0XZKqfz/3W4=",
+        "narHash": "sha256-UVP3TsQJ4PezyQG3B1SsgsTxz32XBVzplJ/cgq7v/uk=",
         "owner": "lopsided98",
         "repo": "nix-ros-overlay",
-        "rev": "3d05d46451b376e128a1553e78b8870c75d7753a",
+        "rev": "7cdf7b44ff186869baedbb3b82e5b409bb3e8dd9",
         "type": "github"
       },
       "original": {

flake.nix

@@ -3,18 +3,13 @@
 
   inputs = {
     nix-ros-overlay.url = "github:lopsided98/nix-ros-overlay/develop";
-    nixpkgs.follows = "nix-ros-overlay/nixpkgs"; # IMPORTANT!!!
+    nixpkgs.follows = "nix-ros-overlay/nixpkgs";
-    # specify astra_msgs commit hash to the one we support
+    astra-msgs.url =
-    astra-msgs.url = "github:SHC-ASTRA/astra_msgs?ref=60bbb53085b09fbdb7e848b1dd168d526d9af281";
+      "github:SHC-ASTRA/astra_msgs/8acbd807907ca6bd045aab8e50e7af995fc9a211";
   };
 
   outputs =
-    {
+    { self, nix-ros-overlay, nixpkgs, astra-msgs }:
-      self,
-      nix-ros-overlay,
-      nixpkgs,
-      astra-msgs,
-    }:
     nix-ros-overlay.inputs.flake-utils.lib.eachDefaultSystem (
       system:
       let
@@ -22,24 +17,27 @@
           inherit system;
           overlays = [ nix-ros-overlay.overlays.default ];
         };
+
+        astra_msgs_pkgs = astra-msgs.packages.${system};
+        rosDistro = "humble";
       in
       {
         devShells.default = pkgs.mkShell {
           name = "ASTRA Anchor";
+
           packages = with pkgs; [
-            astra-msgs.packages.${system}.astra-msgs
             colcon
-            (python313.withPackages (
+            astra_msgs_pkgs.astra-msgs
-              p: with p; [
+
-                pyserial
+            (pkgs.rosPackages.${rosDistro}.python3.withPackages (p: with p; [
-                pygame
+              pyserial
-                scipy
+              pygame
-                crccheck
+              scipy
-                black
+              crccheck
-              ]
+              black
-            ))
+            ]))
-            (
+
-              with rosPackages.humble;
+            (with rosPackages.${rosDistro};
               buildEnv {
                 paths = [
                   ros-core
@@ -66,7 +64,7 @@
                   moveit-msgs
                   moveit-ros-planning
                   moveit-ros-planning-interface
-		  moveit-ros-visualization
+                  moveit-ros-visualization
                   moveit-configs-utils
                   moveit-ros-move-group
                   moveit-servo
@@ -77,13 +75,16 @@
                   ompl
                   joy
                   ros2-controllers
-		  chomp-motion-planner
+                  chomp-motion-planner
                 ];
-              }
+              })
-            )
           ];
+
+          env = {
+            ASTRAMSGS = "${astra-msgs.outPath}";
+          };
+
           shellHook = ''
-            # Display stuff
             export DISPLAY=''${DISPLAY:-:0}
             export QT_X11_NO_MITSHM=1
           '';
@@ -93,6 +94,7 @@
 
   nixConfig = {
     extra-substituters = [ "https://ros.cachix.org" ];
-    extra-trusted-public-keys = [ "ros.cachix.org-1:dSyZxI8geDCJrwgvCOHDoAfOm5sV1wCPjBkKL+38Rvo=" ];
+    extra-trusted-public-keys =
+      [ "ros.cachix.org-1:dSyZxI8geDCJrwgvCOHDoAfOm5sV1wCPjBkKL+38Rvo=" ];
   };
 }

src/bio_pkg/bio_pkg/bio_node.py

@@ -5,7 +5,7 @@ import time
 
 import rclpy
 from astra_msgs.action import BioVacuum
-from astra_msgs.msg import BioControl, BioDistributor, VicCAN
+from astra_msgs.msg import BioControl, BioDistributor, FaerieControl, ScytheControl, VicCAN
 from astra_msgs.srv import BioTestTube
 from rclpy.action import ActionServer
 from rclpy.node import Node
@@ -49,6 +49,20 @@ class SerialRelay(Node):
             10,
         )
 
+        self.anchor_sub = self.create_subscription(
+            FaerieControl, 
+            "/bio/control/faerie", 
+            self.faerie_callback,
+            10
+        )
+
+        self.anchor_sub = self.create_subscription(
+            ScytheControl, 
+            "/bio/control/scythe", 
+            self.scythe_callback, 
+            10
+        )
+
         # Services
         self.test_tube_service = self.create_service(
             BioTestTube, "/bio/control/test_tube", self.test_tube_callback
@@ -102,6 +116,7 @@ class SerialRelay(Node):
 
     def distributor_callback(self, msg: BioDistributor):
         distributor_arr = msg.distributor_id
+        # if (any in distributor > 
         vic_cmd = VicCAN(
             header=Header(stamp=self.get_clock().now().to_msg()),
             mcu_name="citadel",
@@ -114,6 +129,43 @@ class SerialRelay(Node):
             ],
         )
         self.anchor_tovic_pub_.publish(vic_cmd)
+    
+    def faerie_callback(self, msg: FaerieControl):
+        if msg.vibration_motor:
+            vic_cmd = VicCAN(
+                header=Header(stamp=self.get_clock().now().to_msg()),
+                mcu_name="faerie",
+                command_id=37,
+                data=[float(msg.vibration_motor)]
+            )
+            self.anchor_tovic_pub_.publish(vic_cmd)
+        else:
+            vic_cmd = VicCAN(
+                header=Header(stamp=self.get_clock().now().to_msg()),
+                mcu_name="faerie",
+                command_id=42,
+                data=[float(msg.move_faerie)],
+            )
+            self.anchor_tovic_pub_.publish(vic_cmd)
+
+    def scythe_callback(self, msg: ScytheControl):
+        if msg.scythe_reset:
+            vic_cmd = VicCAN(
+                header=Header(stamp=self.get_clock().now().to_msg()),
+                mcu_name="faerie",
+                command_id=29,
+                data=[],
+            )
+            self.anchor_tovic_pub_.publish(vic_cmd)
+        else:
+            vic_cmd = VicCAN(
+                header=Header(stamp=self.get_clock().now().to_msg()),
+                mcu_name="faerie",
+                command_id=24,
+                data=[float(msg.move_scythe)],
+            )
+            self.anchor_tovic_pub_.publish(vic_cmd)
+
 
     def test_tube_callback(self, request, response):
         tubes_cmd = VicCAN(
@@ -121,7 +173,7 @@ class SerialRelay(Node):
             mcu_name="citadel",
             command_id=40,
             data=[
-                float(int.from_bytes(request.tube_id)),
+                float(int(request.tube_id)),
                 float(request.milliliters),
             ],
         )
@@ -129,8 +181,8 @@ class SerialRelay(Node):
         return response
 
     def execute_vacuum(self, goal_handle):
-        valve_id = int.from_bytes(goal_handle.request.valve_id)
+        valve_id = int(goal_handle.request.valve_id)
-        duty = int.from_bytes(goal_handle.request.fan_duty_cycle_percent)
+        duty = int(goal_handle.request.fan_duty_cycle_percent)
         total = goal_handle.request.fan_time_ms
 
         # open valve