fix a handful of oversights in the anchor refactor. add a testing script

flake.nix

@@ -31,6 +31,8 @@
           name = "ASTRA Anchor";
           packages = with pkgs; [
             colcon
+            socat
+            can-utils
             (python313.withPackages (
               p: with p; [
                 pyserial

scripts/reset-repo.bash

@@ -0,0 +1,38 @@
+#!/usr/bin/env bash
+
+repo_root="$(git rev-parse --show-toplevel)"
+
+if [[ -z $repo_root ]]; then
+	echo "script must be run from within the rover-ros2 repo" >&2
+	exit 1
+fi
+
+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
+	echo "you didn't say exactly 'y'. aborting." >&2
+	exit 2
+fi
+
+echo
+
+echo "ok say goodbye to everything in this repo"
+git submodule deinit --all -f && echo "- submodules gone"
+git clean -fdx && echo "- gitignored changes gone"
+git add -A
+git reset HEAD --hard && echo "- everything else gone"
+echo
+
+echo "in theory that should've done it. let's make sure"
+status=$(git status --porcelain)
+echo $status
+if [[ -z $status ]]; then
+	echo "nice, all clean!"
+else
+	echo "uhh that's not supposed to be there. this is probably a bug in this script. good luck!" >&2
+	exit 3
+fi
+

scripts/test-connectors.bash

@@ -0,0 +1,447 @@
+#!/usr/bin/env bash
+
+# test script for anchor connectors (mock, serial, CAN)
+
+set -o pipefail
+
+repo_root="$(git rev-parse --show-toplevel)"
+
+if [[ -z $repo_root ]]; then
+	echo "script must be run from within the rover-ros2 repo" >&2
+	exit 1
+fi
+
+cd "$repo_root"
+
+BOLD='\033[1m'
+RED='\033[1;31m'
+GREEN='\033[1;32m'
+YELLOW='\033[1;33m'
+NC='\033[0m'
+
+TESTS_PASSED=0
+TESTS_FAILED=0
+
+log() {
+	echo -e "${BOLD}${YELLOW}info:${NC} ${1}"
+}
+
+pass() {
+	echo -e "${BOLD}${GREEN}pass:${NC} ${1}"
+	TESTS_PASSED=$((TESTS_PASSED + 1))
+}
+
+fail() {
+	echo -e "${BOLD}${RED}fail:${NC} ${1}"
+	TESTS_FAILED=$((TESTS_FAILED + 1))
+}
+
+cleanup() {
+	log "cleaning up"
+	if [[ -n $ANCHOR_PID ]]; then
+		kill -INT -- -"$ANCHOR_PID" 2>/dev/null || true
+		wait "$ANCHOR_PID" 2>/dev/null || true
+	fi
+	if [[ -n $SOCAT_PID ]]; then
+		kill -INT "$SOCAT_PID" 2>/dev/null || true
+		wait "$SOCAT_PID" 2>/dev/null || true
+	fi
+	rm -f /tmp/ttyACM9 /tmp/ttyOUT 2>/dev/null || true
+}
+
+trap cleanup EXIT
+
+source_ros2() {
+	source install/setup.bash
+}
+
+wait_for_topic() {
+	local topic="$1"
+	local timeout="${2:-5}"
+	local count=0
+	while ! ros2 topic list 2>/dev/null | grep -q "^${topic}$"; do
+		sleep 0.5
+		count=$((count + 1))
+		if [[ $count -ge $((timeout * 2)) ]]; then
+			return 1
+		fi
+	done
+	return 0
+}
+
+test_mock_connector() {
+	log "testing mock connector"
+
+	log "starting anchor with mock connector"
+	setsid ros2 run anchor_pkg anchor --ros-args -p connector:=mock &
+	ANCHOR_PID=$!
+	sleep 2
+
+	if ! kill -0 "$ANCHOR_PID" 2>/dev/null; then
+		fail "mock connector: anchor failed to start"
+		return 1
+	fi
+
+	if ! wait_for_topic "/anchor/to_vic/relay" 10; then
+		fail "mock connector: topics not available"
+		kill -INT -- -"$ANCHOR_PID" 2>/dev/null || true
+		return 1
+	fi
+
+	log "anchor started successfully"
+
+	# relay -> debug
+	log "testing relay -> debug"
+
+	local debug_output
+	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 "$debug_output" | grep -q "can_relay_tovic,core,50"; then
+		pass "mock connector: relay -> debug"
+	else
+		fail "mock connector: relay -> debug"
+	fi
+
+	# mock_mcu -> from_vic/core
+	log "testing mock_mcu (core) -> from_vic/core"
+
+	local core_output=""
+	core_output=$(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
+	log "testing mock_mcu (arm) -> from_vic/arm"
+
+	local arm_output
+	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
+	log "testing mock_mcu (citadel) -> from_vic/bio"
+
+	local bio_output
+	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 "$bio_output" | grep -q "command_id: 20"; then
+		pass "mock connector: mock_mcu -> from_vic/bio"
+	else
+		fail "mock connector: mock_mcu -> from_vic/bio"
+	fi
+
+	# relay_string -> debug
+	log "testing relay_string -> debug"
+
+	local relay_string_output
+	relay_string_output=$(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 "$relay_string_output" | grep -q "test_raw_string_data"; then
+		pass "mock connector: relay_string -> debug"
+	else
+		fail "mock connector: relay_string -> debug"
+	fi
+
+	kill -INT -- -"$ANCHOR_PID" 2>/dev/null || true
+	wait "$ANCHOR_PID" 2>/dev/null || true
+	ANCHOR_PID=""
+}
+
+test_serial_connector() {
+	log "testing serial connector"
+
+	log "creating virtual serial ports with socat"
+	socat pty,raw,echo=0,link=/tmp/ttyACM9 pty,raw,echo=0,link=/tmp/ttyOUT 2>/dev/null &
+	SOCAT_PID=$!
+	sleep 2
+
+	if ! kill -0 "$SOCAT_PID" 2>/dev/null; then
+		fail "serial connector: failed to create virtual serial ports"
+		return 1
+	fi
+
+	log "starting anchor with serial connector (override: /tmp/ttyACM9)"
+	setsid ros2 run anchor_pkg anchor --ros-args -p connector:=serial -p serial_override:=/tmp/ttyACM9 &
+	ANCHOR_PID=$!
+	sleep 2
+
+	if ! kill -0 "$ANCHOR_PID" 2>/dev/null; then
+		fail "serial connector: anchor failed to start"
+		kill -INT "$SOCAT_PID" 2>/dev/null || true
+		return 1
+	fi
+
+	if ! wait_for_topic "/anchor/to_vic/relay" 10; then
+		fail "serial connector: topics not available"
+		kill -INT -- -"$ANCHOR_PID" 2>/dev/null || true
+		kill -INT "$SOCAT_PID" 2>/dev/null || true
+		return 1
+	fi
+
+	pass "serial connector: anchor starts with virtual serial"
+
+	# relay_string -> debug
+	log "testing relay_string -> debug"
+
+	local relay_string_output
+	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 "$ANCHOR_PID" 2>/dev/null || true
+	ANCHOR_PID=""
+	kill -INT "$SOCAT_PID" 2>/dev/null || true
+	wait "$SOCAT_PID" 2>/dev/null || true
+	SOCAT_PID=""
+}
+
+test_can_connector() {
+	log "testing CAN connector"
+
+	log "starting anchor with CAN connector (override: vcan0)"
+	setsid ros2 run anchor_pkg anchor --ros-args -p connector:=can -p can_override:=vcan0 &
+	ANCHOR_PID=$!
+	sleep 2
+
+	if ! kill -0 "$ANCHOR_PID" 2>/dev/null; then
+		fail "CAN connector: anchor failed to start"
+		return 1
+	fi
+
+	if ! wait_for_topic "/anchor/to_vic/relay" 10; then
+		fail "CAN connector: topics not available"
+		kill -INT -- -"$ANCHOR_PID" 2>/dev/null || true
+		return 1
+	fi
+
+	log "anchor started successfully"
+	sleep 1
+
+	# relay -> CAN bus
+	log "testing relay -> CAN bus"
+
+	local can_output
+	can_output=$(timeout 8 bash -c '
+		candump -n 1 vcan0 &
+		DUMP_PID=$!
+		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
+		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
+		wait $DUMP_PID
+	' 2>/dev/null) || true
+
+	# core=1, int16x4=2, cmd=30 -> id = (1<<8)|(2<<6)|30 = 0x19E
+	if echo "$can_output" | grep -qi "19E"; then
+		pass "CAN connector: relay -> CAN bus"
+	else
+		fail "CAN connector: relay -> CAN bus (got: $can_output)"
+	fi
+
+	# CAN -> from_vic/core
+	log "testing CAN bus -> from_vic/core"
+
+	local core_output
+	core_output=$(timeout 5 bash -c '
+		ros2 topic echo --once /anchor/from_vic/core &
+		ECHO_PID=$!
+		sleep 1
+		cansend vcan0 18F#000A0014001E0028
+		sleep 0.5
+		cansend vcan0 18F#000A0014001E0028
+		wait $ECHO_PID
+	' 2>/dev/null) || true
+
+	if echo "$core_output" | grep -q "mcu_name: core" && echo "$core_output" | grep -q "command_id: 15"; then
+		pass "CAN connector: CAN -> from_vic/core"
+	else
+		fail "CAN connector: CAN -> from_vic/core"
+	fi
+
+	# CAN -> from_vic/arm
+	log "testing CAN bus -> from_vic/arm"
+
+	local arm_output
+	arm_output=$(timeout 5 bash -c '
+		ros2 topic echo --once /anchor/from_vic/arm &
+		ECHO_PID=$!
+		sleep 1
+		cansend vcan0 294#00640096012C01F4
+		sleep 0.5
+		cansend vcan0 294#00640096012C01F4
+		wait $ECHO_PID
+	' 2>/dev/null) || true
+
+	if echo "$arm_output" | grep -q "mcu_name: arm" && echo "$arm_output" | grep -q "command_id: 20"; then
+		pass "CAN connector: CAN -> from_vic/arm"
+	else
+		fail "CAN connector: CAN -> from_vic/arm"
+	fi
+
+	# double data type
+	log "testing CAN double data type"
+
+	local double_output
+	double_output=$(timeout 8 bash -c '
+		ros2 topic echo --once /anchor/from_vic/core &
+		ECHO_PID=$!
+		sleep 1
+		cansend vcan0 105#3FF0000000000000
+		sleep 0.5
+		cansend vcan0 105#3FF0000000000000
+		sleep 0.5
+		cansend vcan0 105#3FF0000000000000
+		wait $ECHO_PID
+	' 2>/dev/null) || true
+
+	if echo "$double_output" | grep -q "mcu_name: core" && echo "$double_output" | grep -q "command_id: 5"; then
+		pass "CAN connector: double data type"
+	else
+		fail "CAN connector: double data type"
+	fi
+
+	# float32x2 data type
+	log "testing CAN float32x2 data type"
+
+	local float_output
+	float_output=$(timeout 8 bash -c '
+		ros2 topic echo --once /anchor/from_vic/core &
+		ECHO_PID=$!
+		sleep 1
+		cansend vcan0 14A#3F80000040000000
+		sleep 0.5
+		cansend vcan0 14A#3F80000040000000
+		sleep 0.5
+		cansend vcan0 14A#3F80000040000000
+		wait $ECHO_PID
+	' 2>/dev/null) || true
+
+	if echo "$float_output" | grep -q "mcu_name: core" && echo "$float_output" | grep -q "command_id: 10"; then
+		pass "CAN connector: float32x2 data type"
+	else
+		fail "CAN connector: float32x2 data type"
+	fi
+
+	kill -INT -- -"$ANCHOR_PID" 2>/dev/null || true
+	wait "$ANCHOR_PID" 2>/dev/null || true
+	ANCHOR_PID=""
+}
+
+check_prerequisites() {
+	log "checking prerequisites"
+	local missing=0
+
+	if [[ ! -f install/setup.bash ]]; then
+		fail "install/setup.bash not found; run 'colcon build' first"
+		missing=1
+	fi
+
+	if ! command -v socat &>/dev/null; then
+		fail "socat not found; install it or use 'nix develop'"
+		missing=1
+	fi
+
+	if ! command -v cansend &>/dev/null || ! command -v candump &>/dev/null; then
+		fail "can-utils (cansend/candump) not found; install it or use 'nix develop'"
+		missing=1
+	fi
+
+	if ! ip link show vcan0 &>/dev/null; then
+		fail "vcan0 interface not found"
+		log "  create it with:"
+		log "    sudo ip link add dev vcan0 type vcan"
+		log "    sudo ip link set vcan0 up"
+		missing=1
+	elif ! ip link show vcan0 | grep -q ",UP"; then
+		fail "vcan0 exists but is not UP"
+		log "  enable it with: sudo ip link set vcan0 up"
+		missing=1
+	fi
+
+	if [[ $missing -eq 1 ]]; then
+		echo ""
+		log "prerequisites not met"
+		exit 1
+	fi
+
+	log "all prerequisites met"
+}
+
+main() {
+	echo ""
+	log "anchor connector test suite"
+	echo ""
+
+	check_prerequisites
+
+	log "sourcing ROS2 workspace"
+	source_ros2
+
+	test_mock_connector
+	test_serial_connector
+	test_can_connector
+
+	echo ""
+	log "test summary"
+	echo -e "${BOLD}${GREEN}passed:${NC} $TESTS_PASSED"
+	echo -e "${BOLD}${RED}failed:${NC} $TESTS_FAILED"
+	echo ""
+
+	if [[ $TESTS_FAILED -gt 0 ]]; then
+		exit 1
+	fi
+	exit 0
+}
+
+main "$@"

src/anchor_pkg/anchor_pkg/anchor_node.py

@@ -1,7 +1,7 @@
 from warnings import deprecated
 import rclpy
 from rclpy.node import Node
-from rclpy.executors import ExternalShutdownException
+from rclpy.executors import ExternalShutdownException, MultiThreadedExecutor
 from rcl_interfaces.msg import ParameterDescriptor, ParameterType
 
 import atexit
@@ -14,8 +14,7 @@ from .connector import (
     NoValidDeviceException,
     NoWorkingDeviceException,
 )
-from .convert import string_to_viccan
+from .convert import string_to_viccan, viccan_to_string
-import threading
 
 from astra_msgs.msg import VicCAN
 from std_msgs.msg import String
@@ -25,26 +24,25 @@ class Anchor(Node):
     """
     Publishers:
     * /anchor/from_vic/debug
-        - Every string received from the MCU is published here for debugging
+        - Every string received from the MCU is published here for debugging (String)
     * /anchor/from_vic/core
         - VicCAN messages for Core node
     * /anchor/from_vic/arm
-        - VicCAN messages for Arm node
+        - VicCAN messages for Arm node (also receives digit messages)
     * /anchor/from_vic/bio
-        - VicCAN messages for Bio node
+        - VicCAN messages for Bio node (also receives digit messages)
     * /anchor/to_vic/debug
-        - A string copy of the messages published to ./relay are published here
+        - String copy of all messages sent to the connector
 
     Subscribers:
     * /anchor/from_vic/mock_mcu
-        - For testing without an actual MCU, publish ViCAN messages here as if they came from an MCU
+        - For testing without an actual MCU, publish VicCAN messages 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
-        - Send raw strings to connectors. Does not work for connectors that require conversion (like CANConnector)
+        - Send raw strings to connectors. Does not work for CANConnector.
     * /anchor/relay
-        - Legacy method for talking to connectors. Takes String as input, but does not send the raw strings to connectors.
+        - (Deprecated) Legacy method. Takes String, converts to VicCAN, then sends to connector.
-          Instead, it converts them to VicCAN messages first.
     """
 
     connector: Connector
@@ -152,9 +150,9 @@ class Anchor(Node):
             "/anchor/from_vic/bio",
             20,
         )
-        # Debug publisher
+        # Debug publisher for outgoing messages
         self.tovic_debug_pub_ = self.create_publisher(
-            VicCAN,
+            String,
             "/anchor/to_vic/debug",
             20,
         )
@@ -173,7 +171,7 @@ class Anchor(Node):
             20,
         )
         self.mock_mcu_sub_ = self.create_subscription(
-            String,
+            VicCAN,
             "/anchor/from_vic/mock_mcu",
             self.relay_fromvic,
             20,
@@ -181,10 +179,13 @@ class Anchor(Node):
         self.tovic_string_sub_ = self.create_subscription(
             String,
             "/anchor/to_vic/relay_string",
-            self.connector.write_raw,
+            self.write_connector_raw,
             20,
         )
 
+        # Timer to poll connector for incoming data at 100 Hz
+        self.read_timer_ = self.create_timer(0.01, self.read_connector)
+
         # Close devices on exit
         atexit.register(self.cleanup)
 
@@ -204,6 +205,11 @@ class Anchor(Node):
     def write_connector(self, msg: VicCAN):
         """Write to the connector and send a copy to /anchor/to_vic/debug"""
         self.connector.write(msg)
+        self.tovic_debug_pub_.publish(String(data=viccan_to_string(msg)))
+
+    def write_connector_raw(self, msg: String):
+        """Write raw string to the connector and send a copy to /anchor/to_vic/debug"""
+        self.connector.write_raw(msg)
         self.tovic_debug_pub_.publish(msg)
 
     @deprecated(
@@ -226,25 +232,23 @@ class Anchor(Node):
         """Relay a message from the MCU to the appropriate VicCAN topic"""
         if msg.mcu_name == "core":
             self.fromvic_core_pub_.publish(msg)
-        elif msg.mcu_name == "arm" or msg.mcu_name == "digit":
+        if msg.mcu_name == "arm" or msg.mcu_name == "digit":
             self.fromvic_arm_pub_.publish(msg)
-        elif msg.mcu_name == "citadel" or msg.mcu_name == "digit":
+        if msg.mcu_name == "citadel" or msg.mcu_name == "digit":
             self.fromvic_bio_pub_.publish(msg)
 
 
 def main(args=None):
-    try:
     rclpy.init(args=args)
     anchor_node = Anchor()
+    executor = MultiThreadedExecutor()
+    executor.add_node(anchor_node)
 
-        thread = threading.Thread(target=rclpy.spin, args=(anchor_node,), daemon=True)
+    try:
-        thread.start()
+        executor.spin()
-
-        rate = anchor_node.create_rate(100)  # 100 Hz -- arbitrary rate
-        while rclpy.ok():
-            anchor_node.read_connector()  # Check the connector for updates
-            rate.sleep()
     except (KeyboardInterrupt, ExternalShutdownException):
-        print("Caught shutdown signal, shutting down...")
+        pass
     finally:
+        executor.shutdown()
+        anchor_node.destroy_node()
         rclpy.try_shutdown()

src/anchor_pkg/anchor_pkg/connector.py

@@ -1,5 +1,6 @@
 from abc import ABC, abstractmethod
 from astra_msgs.msg import VicCAN
+from std_msgs.msg import String
 from rclpy.clock import Clock
 from rclpy.impl.rcutils_logger import RcutilsLogger
 from .convert import string_to_viccan as _string_to_viccan, viccan_to_string
@@ -77,7 +78,7 @@ class Connector(ABC):
         pass
 
     @abstractmethod
-    def write_raw(self, msg: str):
+    def write_raw(self, msg: String):
         pass
 
     def cleanup(self):
@@ -199,10 +200,10 @@ class SerialConnector(Connector):
             return (None, None)  # pretty much no other error matters
 
     def write(self, msg: VicCAN):
-        self.write_raw(viccan_to_string(msg))
+        self.write_raw(String(data=viccan_to_string(msg)))
 
-    def write_raw(self, msg: str):
+    def write_raw(self, msg: String):
-        self.serial_interface.write(bytes(msg, "utf8"))
+        self.serial_interface.write(bytes(msg.data, "utf8"))
 
     def cleanup(self):
         self.logger.info(f"closing serial port if open {self.port}")
@@ -411,8 +412,10 @@ class CANConnector(Connector):
             self.logger.error(f"CAN error while sending: {e}")
             raise DeviceClosedException("CAN bus closed unexpectedly")
 
-    def write_raw(self, msg: str):
+    def write_raw(self, msg: String):
-        self.logger.warn(f"write_raw is not supported for CANConnector. msg: {msg}")
+        self.logger.warn(
+            f"write_raw is not supported for CANConnector. msg: {msg.data}"
+        )
 
     def cleanup(self):
         try:
@@ -434,5 +437,5 @@ class MockConnector(Connector):
     def write(self, msg: VicCAN):
         pass
 
-    def write_raw(self, msg: str):
+    def write_raw(self, msg: String):
         pass