some consistency stuff with comments and also remove timeout from serial reads

src/anchor_pkg/anchor_pkg/anchor_node.py

@@ -40,9 +40,9 @@ class Anchor(Node):
     * /anchor/to_vic/relay
         - Core, Arm, and Bio publish VicCAN messages to this topic to send to the MCU
     * /anchor/to_vic/relay_string
-        - Send raw strings to connectors. Does not work for CANConnector.
+        - Send raw strings to connectors. Does not work for CANConnector
     * /anchor/relay
-        - (Deprecated) Legacy method. Takes String, converts to VicCAN, then sends to connector.
+        - (Deprecated) Legacy topic. Takes String, converts to VicCAN, then sends to connector
     """
 
     connector: Connector
@@ -52,7 +52,7 @@ class Anchor(Node):
 
         logger = self.get_logger()
 
-        # ROS2 Parameter Setup
+        # ROS2 parameter setup
 
         self.declare_parameter(
             "connector",
@@ -87,7 +87,7 @@ class Anchor(Node):
             ),
         )
 
-        # Determine which connector to use. Options are Mock, Serial, and CAN
+        # determine which connector to use. options are Mock, Serial, and CAN
         connector_select = (
             self.get_parameter("connector").get_parameter_value().string_value
         )
@@ -127,9 +127,9 @@ class Anchor(Node):
                 )
                 exit(1)
 
-        # ROS2 Topic Setup
+        # ROS2 topic setup
 
-        # Publishers
+        # publishers
         self.fromvic_debug_pub_ = self.create_publisher(  # only used by serial
             String,
             "/anchor/from_vic/debug",
@@ -150,14 +150,14 @@ class Anchor(Node):
             "/anchor/from_vic/bio",
             20,
         )
-        # Debug publisher for outgoing messages
+        # debug publisher for outgoing messages
         self.tovic_debug_pub_ = self.create_publisher(
             String,
             "/anchor/to_vic/debug",
             20,
         )
 
-        # Subscribers
+        # subscribers
         self.tovic_sub_ = self.create_subscription(
             VicCAN,
             "/anchor/to_vic/relay",
@@ -183,10 +183,10 @@ class Anchor(Node):
             20,
         )
 
-        # Timer to poll connector for incoming data at 100 Hz
+        # poll at 100Hz for incoming data
         self.read_timer_ = self.create_timer(0.01, self.read_connector)
 
-        # Close devices on exit
+        # close devices on exit
         atexit.register(self.cleanup)
 
     def cleanup(self):
@@ -249,6 +249,7 @@ def main(args=None):
     except (KeyboardInterrupt, ExternalShutdownException):
         pass
     finally:
+        # might not have to shut down everything manually, find out later ~riley
         executor.shutdown()
         anchor_node.destroy_node()
         rclpy.try_shutdown()

src/anchor_pkg/anchor_pkg/connector.py

@@ -154,7 +154,7 @@ class SerialConnector(Connector):
         serial_interface: serial.Serial
         try:
             self.logger.info(f"asking {port} for its name")
-            serial_interface = serial.Serial(port, BAUD_RATE, timeout=1)
+            serial_interface = serial.Serial(port, BAUD_RATE)
 
             serial_interface.write(b"can_relay_mode,on\n")
 
@@ -429,7 +429,7 @@ class CANConnector(Connector):
 class MockConnector(Connector):
     def __init__(self, logger: RcutilsLogger, clock: Clock):
         super().__init__(logger, clock)
-        # No hardware interface for MockConnector. Publish to `/anchor/from_vic/mock_mcu` instead.
+        # no hardware interface for MockConnector. publish to `/anchor/from_vic/mock_mcu` instead
 
     def read(self) -> tuple[VicCAN | None, str | None]:
         return (None, None)