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style: explain anchor topics in comment block

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David
2025-09-29 11:09:05 -05:00
parent b1f4fe8320
commit 644459ec71
2 changed files with 24 additions and 5 deletions
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27
src/anchor_pkg/anchor_pkg/anchor_node.py
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@@ -19,20 +19,39 @@ serial_pub = None
thread = None
"""
Publishers:
* /anchor/from_vic/debug
- Every string received from the MCU is published here for debugging
* /anchor/from_vic/core
- VicCAN messages for Core node
* /anchor/from_vic/arm
- VicCAN messages for Arm node
* /anchor/from_vic/bio
- VicCAN messages for Bio node
Subscribers:
* /anchor/from_vic/mock_mcu
- For testing without an actual MCU, publish strings here as if they came from an MCU
* /anchor/to_vic/relay
- Core, Arm, and Bio publish VicCAN messages to this topic to send to the MCU
* /anchor/to_vic/relay_string
- Publish raw strings to this topic to send directly to the MCU for debugging
"""
class SerialRelay(Node):
def __init__(self):
# Initalize node with name
super().__init__("anchor_node")#previously 'serial_publisher'
# New pub/sub with VicCAN
self.mock_mcu_sub_ = self.create_subscription(String, '/anchor/from_mock_mcu', self.relay_mock_fromvic, 20)
self.fromvic_debug_pub_ = self.create_publisher(String, '/anchor/from_vic/debug', 20)
self.fromvic_core_pub_ = self.create_publisher(VicCAN, '/anchor/from_vic/core', 20)
self.fromvic_arm_pub_ = self.create_publisher(VicCAN, '/anchor/from_vic/arm', 20)
self.fromvic_bio_pub_ = self.create_publisher(VicCAN, '/anchor/from_vic/bio', 20)
self.tovic_sub_ = self.create_subscription(VicCAN, '/anchor/to_vic/relay', self.relay_tovic, 20)
self.fromvic_debug_pub_ = self.create_publisher(String, '/anchor/from_vic/debug', 20)
self.tovic_debug_sub_ = self.create_subscription(String, '/anchor/to_vic/debug', self.send_cmd, 20)
self.mock_mcu_sub_ = self.create_subscription(String, '/anchor/from_vic/mock_mcu', self.relay_mock_fromvic, 20)
self.tovic_sub_ = self.create_subscription(VicCAN, '/anchor/to_vic/relay', self.relay_tovic, 20)
self.tovic_debug_sub_ = self.create_subscription(String, '/anchor/to_vic/relay_string', self.send_cmd, 20)
# Create publishers