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

scripts/reset-repo.bash

@@ -12,7 +12,7 @@ cd $repo_root
 echo "this will nuke all of your current un-commited git changes, including any changes to submodules and any gitignored files. is this okay? (y/N)"
 read okay
 
-if [[ ! $okay == "y" ]]; then
+if [[ $okay != "y" ]]; then
   echo "you didn't say exactly 'y'. aborting." >&2
   exit 2
 fi

scripts/test-connectors.bash

@@ -13,6 +13,7 @@ fi
 
 cd "$repo_root"
 
+# colors
 BOLD='\033[1m'
 RED='\033[1;31m'
 GREEN='\033[1;32m'
@@ -69,6 +70,24 @@ wait_for_topic() {
   return 0
 }
 
+# run a ROS pub/echo test
+# usage: ros_pubsub_test <echo_topic> <pub_topic> <msg_type> <msg_data>
+# returns the echo output via stdout
+ros_pubsub_test() {
+  local echo_topic="$1"
+  local pub_topic="$2"
+  local msg_type="$3"
+  local msg_data="$4"
+
+  timeout 5 bash -c "
+    ros2 topic echo --once $echo_topic &
+    ECHO_PID=\$!
+    sleep 0.5
+    ros2 topic pub --once $pub_topic $msg_type \"$msg_data\" >/dev/null 2>&1
+    wait \$ECHO_PID
+  " 2>/dev/null || true
+}
+
 test_mock_connector() {
   log "testing mock connector"
 
@@ -90,91 +109,57 @@ test_mock_connector() {
 
   log "anchor started successfully"
 
-  # relay -> debug
+  # test: relay -> debug
   log "testing relay -> debug"
+  local output
+  output=$(ros_pubsub_test "/anchor/to_vic/debug" "/anchor/to_vic/relay" \
+    "astra_msgs/msg/VicCAN" '{mcu_name: \"core\", command_id: 50, data: [1.0, 2.0, 3.0, 4.0]}')
 
-  local debug_output
+  if [[ -n $output ]] && echo "$output" | grep -q "can_relay_tovic,core,50"; then
-  debug_output=$(timeout 5 bash -c '
-		ros2 topic echo --once /anchor/to_vic/debug &
-		ECHO_PID=$!
-		sleep 0.5
-		ros2 topic pub --once /anchor/to_vic/relay astra_msgs/msg/VicCAN "{mcu_name: \"core\", command_id: 50, data: [1.0, 2.0, 3.0, 4.0]}" >/dev/null 2>&1
-		wait $ECHO_PID
-	' 2>/dev/null) || true
-
-  if [[ -n $debug_output ]] && echo "$debug_output" | grep -q "can_relay_tovic,core,50"; then
     pass "mock connector: relay -> debug"
   else
     fail "mock connector: relay -> debug"
   fi
 
-  # mock_mcu -> from_vic/core
+  # test: mock_mcu -> from_vic/core
   log "testing mock_mcu (core) -> from_vic/core"
+  output=$(ros_pubsub_test "/anchor/from_vic/core" "/anchor/from_vic/mock_mcu" \
+    "astra_msgs/msg/VicCAN" '{mcu_name: \"core\", command_id: 10, data: [100.0, 200.0]}')
 
-  local core_output=""
+  if [[ -n $output ]] && echo "$output" | grep -q "mcu_name: core" && echo "$output" | grep -q "command_id: 10"; then
-  core_output=$(timeout 5 bash -c '
-		ros2 topic echo --once /anchor/from_vic/core &
-		ECHO_PID=$!
-		sleep 0.5
-		ros2 topic pub --once /anchor/from_vic/mock_mcu astra_msgs/msg/VicCAN "{mcu_name: \"core\", command_id: 10, data: [100.0, 200.0]}" >/dev/null 2>&1 || true
-		wait $ECHO_PID || true
-	' 2>/dev/null || true) || core_output=""
-
-  if [[ -n $core_output ]] && echo "$core_output" | grep -q "mcu_name: core" && echo "$core_output" | grep -q "command_id: 10"; then
     pass "mock connector: mock_mcu -> from_vic/core"
   else
     fail "mock connector: mock_mcu -> from_vic/core"
   fi
 
-  # mock_mcu -> from_vic/arm
+  # test: mock_mcu -> from_vic/arm
   log "testing mock_mcu (arm) -> from_vic/arm"
+  output=$(ros_pubsub_test "/anchor/from_vic/arm" "/anchor/from_vic/mock_mcu" \
+    "astra_msgs/msg/VicCAN" '{mcu_name: \"arm\", command_id: 55, data: [0.0, 450.0, 900.0, 0.0]}')
 
-  local arm_output
+  if [[ -n $output ]] && echo "$output" | grep -q "mcu_name: arm" && echo "$output" | grep -q "command_id: 55"; then
-  arm_output=$(timeout 5 bash -c '
-		ros2 topic echo --once /anchor/from_vic/arm &
-		ECHO_PID=$!
-		sleep 0.5
-		ros2 topic pub --once /anchor/from_vic/mock_mcu astra_msgs/msg/VicCAN "{mcu_name: \"arm\", command_id: 55, data: [0.0, 450.0, 900.0, 0.0]}" >/dev/null 2>&1
-		wait $ECHO_PID
-	' 2>/dev/null) || true
-
-  if [[ -n $arm_output ]] && echo "$arm_output" | grep -q "mcu_name: arm" && echo "$arm_output" | grep -q "command_id: 55"; then
     pass "mock connector: mock_mcu -> from_vic/arm"
   else
     fail "mock connector: mock_mcu -> from_vic/arm"
   fi
 
-  # mock_mcu -> from_vic/bio
+  # test: mock_mcu -> from_vic/bio
   log "testing mock_mcu (citadel) -> from_vic/bio"
+  output=$(ros_pubsub_test "/anchor/from_vic/bio" "/anchor/from_vic/mock_mcu" \
+    "astra_msgs/msg/VicCAN" '{mcu_name: \"citadel\", command_id: 20, data: [5.0]}')
 
-  local bio_output
+  if echo "$output" | grep -q "mcu_name: citadel" && echo "$output" | grep -q "command_id: 20"; then
-  bio_output=$(timeout 5 bash -c '
-		ros2 topic echo --once /anchor/from_vic/bio &
-		ECHO_PID=$!
-		sleep 0.5
-		ros2 topic pub --once /anchor/from_vic/mock_mcu astra_msgs/msg/VicCAN "{mcu_name: \"citadel\", command_id: 20, data: [5.0]}" >/dev/null 2>&1
-		wait $ECHO_PID
-	' 2>/dev/null) || true
-
-  if echo "$bio_output" | grep -q "mcu_name: citadel" && echo "$bio_output" | grep -q "command_id: 20"; then
     pass "mock connector: mock_mcu -> from_vic/bio"
   else
     fail "mock connector: mock_mcu -> from_vic/bio"
   fi
 
-  # relay_string -> debug
+  # test: relay_string -> debug
   log "testing relay_string -> debug"
+  output=$(ros_pubsub_test "/anchor/to_vic/debug" "/anchor/to_vic/relay_string" \
+    "std_msgs/msg/String" '{data: \"test_raw_string_data\"}')
 
-  local relay_string_output
+  if [[ -n $output ]] && echo "$output" | grep -q "test_raw_string_data"; then
-  relay_string_output=$(timeout 5 bash -c '
-		ros2 topic echo --once /anchor/to_vic/debug &
-		ECHO_PID=$!
-		sleep 0.5
-		ros2 topic pub --once /anchor/to_vic/relay_string std_msgs/msg/String "{data: \"test_raw_string_data\"}" >/dev/null 2>&1
-		wait $ECHO_PID
-	' 2>/dev/null) || true
-
-  if [[ -n $relay_string_output ]] && echo "$relay_string_output" | grep -q "test_raw_string_data"; then
     pass "mock connector: relay_string -> debug"
   else
     fail "mock connector: relay_string -> debug"
@@ -218,26 +203,61 @@ test_serial_connector() {
 
   pass "serial connector: anchor starts with virtual serial"
 
-  # relay_string -> debug
+  # test: relay -> serial output (VicCAN encoding)
+  log "testing relay -> serial output"
+
+  local serial_out_file
+  serial_out_file=$(mktemp)
+
+  # Start head first (blocks waiting for input), then publish
+  timeout 5 head -n1 /tmp/ttyOUT >"$serial_out_file" &
+  local head_pid=$!
+  sleep 0.3
+  ros2 topic pub --once /anchor/to_vic/relay astra_msgs/msg/VicCAN \
+    '{mcu_name: "core", command_id: 30, data: [1.0, 2.0, 3.0, 4.0]}' >/dev/null 2>&1
+  wait $head_pid 2>/dev/null || true
+
+  local serial_out
+  serial_out=$(cat "$serial_out_file")
+  rm -f "$serial_out_file"
+
+  if [[ -n $serial_out ]] && echo "$serial_out" | grep -q "can_relay_tovic,core,30"; then
+    pass "serial connector: relay -> serial output"
+  else
+    fail "serial connector: relay -> serial output (got: $serial_out)"
+  fi
+
+  # test: serial input -> from_vic/core
+  log "testing serial input -> from_vic/core"
+
+  local output
+  output=$(timeout 5 bash -c '
+    ros2 topic echo --once /anchor/from_vic/core &
+    ECHO_PID=$!
+    sleep 0.5
+    echo "can_relay_fromvic,core,15,10.0,20.0,30.0,40.0" > /tmp/ttyOUT
+    sleep 0.5
+    echo "can_relay_fromvic,core,15,10.0,20.0,30.0,40.0" > /tmp/ttyOUT
+    wait $ECHO_PID
+  ' 2>/dev/null) || true
+
+  if echo "$output" | grep -q "mcu_name: core" && echo "$output" | grep -q "command_id: 15"; then
+    pass "serial connector: serial input -> from_vic/core"
+  else
+    fail "serial connector: serial input -> from_vic/core (got: $output)"
+  fi
+
+  # test: relay_string -> debug
   log "testing relay_string -> debug"
+  output=$(ros_pubsub_test "/anchor/to_vic/debug" "/anchor/to_vic/relay_string" \
+    "std_msgs/msg/String" '{data: \"serial_test_string\"}')
 
-  local relay_string_output
+  if [[ -n $output ]] && echo "$output" | grep -q "serial_test_string"; then
-  relay_string_output=$(timeout 5 bash -c '
-		ros2 topic echo --once /anchor/to_vic/debug &
-		ECHO_PID=$!
-		sleep 0.5
-		ros2 topic pub --once /anchor/to_vic/relay_string std_msgs/msg/String "{data: \"serial_test_string\"}" >/dev/null 2>&1
-		wait $ECHO_PID
-	' 2>/dev/null) || true
-
-  if [[ -n $relay_string_output ]] && echo "$relay_string_output" | grep -q "serial_test_string"; then
     pass "serial connector: relay_string -> debug"
   else
     fail "serial connector: relay_string -> debug"
   fi
 
-  log "serial data transfer tests skipped (virtual pty limitation)"
-
   kill -INT -- -"$ANCHOR_PID" 2>/dev/null || true
   wait "$ANCHOR_PID" 2>/dev/null || true
   ANCHOR_PID=""
@@ -268,106 +288,102 @@ test_can_connector() {
   log "anchor started successfully"
   sleep 1
 
-  # relay -> CAN bus
+  # test: relay -> CAN bus
+  # core=1, int16x4=2, cmd=30 -> id = (1<<8)|(2<<6)|30 = 0x19E
   log "testing relay -> CAN bus"
 
-  local can_output
+  local output
-  can_output=$(timeout 8 bash -c '
+  output=$(timeout 8 bash -c '
-		candump -n 1 vcan0 &
+    candump -n 1 vcan0 &
-		DUMP_PID=$!
+    DUMP_PID=$!
-		sleep 1
+    sleep 1
-		ros2 topic pub --once /anchor/to_vic/relay astra_msgs/msg/VicCAN "{mcu_name: \"core\", command_id: 30, data: [1, 2, 3, 4]}" >/dev/null 2>&1
+    ros2 topic pub --once /anchor/to_vic/relay astra_msgs/msg/VicCAN "{mcu_name: \"core\", command_id: 30, data: [1, 2, 3, 4]}" >/dev/null 2>&1
-		sleep 0.5
+    sleep 0.5
-		ros2 topic pub --once /anchor/to_vic/relay astra_msgs/msg/VicCAN "{mcu_name: \"core\", command_id: 30, data: [1, 2, 3, 4]}" >/dev/null 2>&1
+    ros2 topic pub --once /anchor/to_vic/relay astra_msgs/msg/VicCAN "{mcu_name: \"core\", command_id: 30, data: [1, 2, 3, 4]}" >/dev/null 2>&1
-		wait $DUMP_PID
+    wait $DUMP_PID
-	' 2>/dev/null) || true
+  ' 2>/dev/null) || true
 
-  # core=1, int16x4=2, cmd=30 -> id = (1<<8)|(2<<6)|30 = 0x19E
+  if echo "$output" | grep -qi "19E"; then
-  if echo "$can_output" | grep -qi "19E"; then
     pass "CAN connector: relay -> CAN bus"
   else
-    fail "CAN connector: relay -> CAN bus (got: $can_output)"
+    fail "CAN connector: relay -> CAN bus (got: $output)"
   fi
 
-  # CAN -> from_vic/core
+  # test: CAN -> from_vic/core
   log "testing CAN bus -> from_vic/core"
 
-  local core_output
+  output=$(timeout 5 bash -c '
-  core_output=$(timeout 5 bash -c '
+    ros2 topic echo --once /anchor/from_vic/core &
-		ros2 topic echo --once /anchor/from_vic/core &
+    ECHO_PID=$!
-		ECHO_PID=$!
+    sleep 1
-		sleep 1
+    cansend vcan0 18F#000A0014001E0028
-		cansend vcan0 18F#000A0014001E0028
+    sleep 0.5
-		sleep 0.5
+    cansend vcan0 18F#000A0014001E0028
-		cansend vcan0 18F#000A0014001E0028
+    wait $ECHO_PID
-		wait $ECHO_PID
+  ' 2>/dev/null) || true
-	' 2>/dev/null) || true
 
-  if echo "$core_output" | grep -q "mcu_name: core" && echo "$core_output" | grep -q "command_id: 15"; then
+  if echo "$output" | grep -q "mcu_name: core" && echo "$output" | grep -q "command_id: 15"; then
     pass "CAN connector: CAN -> from_vic/core"
   else
     fail "CAN connector: CAN -> from_vic/core"
   fi
 
-  # CAN -> from_vic/arm
+  # test: CAN -> from_vic/arm
   log "testing CAN bus -> from_vic/arm"
 
-  local arm_output
+  output=$(timeout 5 bash -c '
-  arm_output=$(timeout 5 bash -c '
+    ros2 topic echo --once /anchor/from_vic/arm &
-		ros2 topic echo --once /anchor/from_vic/arm &
+    ECHO_PID=$!
-		ECHO_PID=$!
+    sleep 1
-		sleep 1
+    cansend vcan0 294#00640096012C01F4
-		cansend vcan0 294#00640096012C01F4
+    sleep 0.5
-		sleep 0.5
+    cansend vcan0 294#00640096012C01F4
-		cansend vcan0 294#00640096012C01F4
+    wait $ECHO_PID
-		wait $ECHO_PID
+  ' 2>/dev/null) || true
-	' 2>/dev/null) || true
 
-  if echo "$arm_output" | grep -q "mcu_name: arm" && echo "$arm_output" | grep -q "command_id: 20"; then
+  if echo "$output" | grep -q "mcu_name: arm" && echo "$output" | grep -q "command_id: 20"; then
     pass "CAN connector: CAN -> from_vic/arm"
   else
     fail "CAN connector: CAN -> from_vic/arm"
   fi
 
-  # double data type
+  # test: CAN double data type (data_type_key=0)
   log "testing CAN double data type"
 
-  local double_output
+  output=$(timeout 8 bash -c '
-  double_output=$(timeout 8 bash -c '
+    ros2 topic echo --once /anchor/from_vic/core &
-		ros2 topic echo --once /anchor/from_vic/core &
+    ECHO_PID=$!
-		ECHO_PID=$!
+    sleep 1
-		sleep 1
+    cansend vcan0 105#3FF0000000000000
-		cansend vcan0 105#3FF0000000000000
+    sleep 0.5
-		sleep 0.5
+    cansend vcan0 105#3FF0000000000000
-		cansend vcan0 105#3FF0000000000000
+    sleep 0.5
-		sleep 0.5
+    cansend vcan0 105#3FF0000000000000
-		cansend vcan0 105#3FF0000000000000
+    wait $ECHO_PID
-		wait $ECHO_PID
+  ' 2>/dev/null) || true
-	' 2>/dev/null) || true
 
-  if echo "$double_output" | grep -q "mcu_name: core" && echo "$double_output" | grep -q "command_id: 5"; then
+  if echo "$output" | grep -q "mcu_name: core" && echo "$output" | grep -q "command_id: 5"; then
     pass "CAN connector: double data type"
   else
     fail "CAN connector: double data type"
   fi
 
-  # float32x2 data type
+  # test: CAN float32x2 data type (data_type_key=1)
   log "testing CAN float32x2 data type"
 
-  local float_output
+  output=$(timeout 8 bash -c '
-  float_output=$(timeout 8 bash -c '
+    ros2 topic echo --once /anchor/from_vic/core &
-		ros2 topic echo --once /anchor/from_vic/core &
+    ECHO_PID=$!
-		ECHO_PID=$!
+    sleep 1
-		sleep 1
+    cansend vcan0 14A#3F80000040000000
-		cansend vcan0 14A#3F80000040000000
+    sleep 0.5
-		sleep 0.5
+    cansend vcan0 14A#3F80000040000000
-		cansend vcan0 14A#3F80000040000000
+    sleep 0.5
-		sleep 0.5
+    cansend vcan0 14A#3F80000040000000
-		cansend vcan0 14A#3F80000040000000
+    wait $ECHO_PID
-		wait $ECHO_PID
+  ' 2>/dev/null) || true
-	' 2>/dev/null) || true
 
-  if echo "$float_output" | grep -q "mcu_name: core" && echo "$float_output" | grep -q "command_id: 10"; then
+  if echo "$output" | grep -q "mcu_name: core" && echo "$output" | grep -q "command_id: 10"; then
     pass "CAN connector: float32x2 data type"
   else
     fail "CAN connector: float32x2 data type"

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)