From 667247cac8ce1a635ae3263012303c4ea2224ca3 Mon Sep 17 00:00:00 2001
From: David Sharpe <ds0196@uah.edu>
Date: Sun, 8 Mar 2026 00:10:33 -0600
Subject: [PATCH] refactor: (arm) reorganize __init__() and remove run()

---
 src/arm_pkg/arm_pkg/arm_node.py | 112 +++++++++++++++++---------------
 1 file changed, 60 insertions(+), 52 deletions(-)

diff --git a/src/arm_pkg/arm_pkg/arm_node.py b/src/arm_pkg/arm_pkg/arm_node.py
index c1077b5..d5dad57 100644
--- a/src/arm_pkg/arm_pkg/arm_node.py
+++ b/src/arm_pkg/arm_pkg/arm_node.py
@@ -5,6 +5,7 @@ import math
 
 import rclpy
 from rclpy.node import Node
+from rclpy.executors import ExternalShutdownException
 from rclpy import qos
 
 from std_msgs.msg import String, Header
@@ -64,55 +65,14 @@ class ArmNode(Node):
         self.get_logger().info(f"arm launch_mode is: anchor")  # Hey I like the output
 
         ##################################################
-        # Topics
+        # Old topics
 
         # Anchor topics
-        self.anchor_fromvic_sub_ = self.create_subscription(
-            VicCAN, "/anchor/from_vic/arm", self.relay_fromvic, 20
-        )
-        self.anchor_tovic_pub_ = self.create_publisher(
-            VicCAN, "/anchor/to_vic/relay", 20
-        )
-
         self.anchor_sub = self.create_subscription(
             String, "/anchor/arm/feedback", self.anchor_feedback, 10
         )
         self.anchor_pub = self.create_publisher(String, "/anchor/relay", 10)
 
-        # Control
-
-        # Manual: /arm/manual_new is published by Servo or Basestation
-        self.jointjog_pub_ = self.create_subscription(
-            JointJog, "/arm/manual_new", self.jointjog_callback, 1
-        )
-        # IK: /joint_commands is published by JointTrajectoryController via topic_based_control
-        self.joint_command_sub_ = self.create_subscription(
-            JointState, "/joint_commands", self.joint_command_callback, 1
-        )
-
-        # Feedback
-
-        self.arm_feedback_pub_ = self.create_publisher(
-            ArmFeedback,
-            "/arm/feedback/new_feedback",
-            qos_profile=qos.qos_profile_sensor_data,
-        )
-        self.arm_feedback_new = ArmFeedback()
-        # IK: /joint_states is published from here to topic_based_control
-        self.joint_state_pub_ = self.create_publisher(
-            JointState, "joint_states", qos_profile=qos.qos_profile_sensor_data
-        )
-        self.saved_joint_state = JointState()
-        self.saved_joint_state.name = self.all_joint_names
-        self.saved_joint_state.position = [0.0] * len(
-            self.saved_joint_state.name
-        )  # Initialize with zeros
-        self.saved_joint_state.velocity = [0.0] * len(
-            self.saved_joint_state.name
-        )  # Initialize with zeros
-
-        # Old
-
         # Create publishers
         self.socket_pub = self.create_publisher(
             SocketFeedback, "/arm/feedback/socket", 10
@@ -127,15 +87,56 @@ class ArmNode(Node):
             ArmManual, "/arm/control/manual", self.send_manual, 10
         )
 
-    def run(self):
-        global thread
-        thread = threading.Thread(target=rclpy.spin, args=(self,), daemon=True)
-        thread.start()
+        ###################################################
+        # New topics
 
-        try:
-            thread.join()
-        except KeyboardInterrupt:
-            pass
+        # Anchor topics
+
+        # from_vic
+        self.anchor_fromvic_sub_ = self.create_subscription(
+            VicCAN, "/anchor/from_vic/arm", self.relay_fromvic, 20
+        )
+        # to_vic
+        self.anchor_tovic_pub_ = self.create_publisher(
+            VicCAN, "/anchor/to_vic/relay", 20
+        )
+
+        # Control
+
+        # Manual: /arm/manual_new is published by Servo or Basestation
+        self.jointjog_pub_ = self.create_subscription(
+            JointJog, "/arm/manual_new", self.jointjog_callback, 1
+        )
+        # IK: /joint_commands is published by JointTrajectoryController via topic_based_control
+        self.joint_command_sub_ = self.create_subscription(
+            JointState, "/joint_commands", self.joint_command_callback, 1
+        )
+
+        # Feedback
+
+        # Combined Socket and Digit feedback
+        self.arm_feedback_pub_ = self.create_publisher(
+            ArmFeedback,
+            "/arm/feedback/new_feedback",
+            qos_profile=qos.qos_profile_sensor_data,
+        )
+        # IK arm pose: /joint_states is published from here to topic_based_control
+        self.joint_state_pub_ = self.create_publisher(
+            JointState, "joint_states", qos_profile=qos.qos_profile_sensor_data
+        )
+
+        ###################################################
+        # Saved state
+
+        # Combined Socket and Digit feedback
+        self.arm_feedback_new = ArmFeedback()
+
+        # IK Arm pose
+        self.saved_joint_state = JointState()
+        self.saved_joint_state.name = self.all_joint_names
+        # ... initialize with zeros
+        self.saved_joint_state.position = [0.0] * len(self.saved_joint_state.name)
+        self.saved_joint_state.velocity = [0.0] * len(self.saved_joint_state.name)
 
     def jointjog_callback(self, msg: JointJog):
         if (
@@ -451,8 +452,15 @@ def main(args=None):
     rclpy.init(args=args)
 
     arm_node = ArmNode()
-    arm_node.run()
-    rclpy.try_shutdown()
+    thread = threading.Thread(target=rclpy.spin, args=(arm_node,), daemon=True)
+    thread.start()
+
+    try:
+        thread.join()
+    except (KeyboardInterrupt, ExternalShutdownException):
+        pass
+    finally:
+        rclpy.try_shutdown()
 
 
 if __name__ == "__main__":