feat: add VicCAN topics to Anchor

src/anchor_pkg/anchor_pkg/anchor_node.py

@@ -13,17 +13,27 @@ import threading
 import glob
 
 from std_msgs.msg import String
-from ros2_interfaces_pkg.msg import CoreFeedback
+from ros2_interfaces_pkg.msg import VicCAN
-from ros2_interfaces_pkg.msg import CoreControl
 
 serial_pub = None
 thread = None
 
+
 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_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)
+
 
         # Create publishers 
         self.arm_pub = self.create_publisher(String, '/anchor/arm/feedback', 10)
@@ -31,7 +41,7 @@ class SerialRelay(Node):
         self.bio_pub = self.create_publisher(String, '/anchor/bio/feedback', 10)
 
         self.debug_pub = self.create_publisher(String, '/anchor/debug', 10)
-        
+
         # Create a subscriber 
         self.relay_sub = self.create_subscription(String, '/anchor/relay', self.send_cmd, 10)
 
@@ -39,33 +49,32 @@ class SerialRelay(Node):
         self.port = None
         ports = SerialRelay.list_serial_ports()
         for i in range(4):
+            if self.port is not None:
+                break
             for port in ports:
                 try:
                     # connect and send a ping command
                     ser = serial.Serial(port, 115200, timeout=1)
                     #(f"Checking port {port}...")
                     ser.write(b"ping\n")
-                    response = ser.read_until("\n")
+                    response = ser.read_until(bytes("\n", "utf8"))
-                    ser.write(b"can_relay_mode,on\n")
 
                     # if pong is in response, then we are talking with the MCU
                     if b"pong" in response:
                         self.port = port
                         self.get_logger().info(f"Found MCU at {self.port}!")
-                        self.get_logger().info(f"Enabling Relay Mode")
-                        ser.write(b"can_relay_mode,on\n")
                         break
                 except:
                     pass
-            if self.port is not None:
+
-                break
-        
         if self.port is None:
             self.get_logger().info("Unable to find MCU...")
             time.sleep(1)
             sys.exit(1)
-        
+
         self.ser = serial.Serial(self.port, 115200)
+        self.get_logger().info(f"Enabling Relay Mode")
+        self.ser.write(b"can_relay_mode,on\n")
         atexit.register(self.cleanup)
 
 
@@ -86,6 +95,7 @@ class SerialRelay(Node):
             output = str(self.ser.readline(), "utf8")
             
             if output:
+                self.relay_fromvic(output)
                 # All output over debug temporarily
                 #self.get_logger().info(f"[MCU] {output}")
                 msg = String()
@@ -120,7 +130,41 @@ class SerialRelay(Node):
             #     self.ser.close()
             # exit(1)
 
-    def send_cmd(self, msg):
+
+    def relay_mock_fromvic(self, msg: String):
+        #self.get_logger().info(f"Got command from mock MCU: {msg}")
+        self.relay_fromvic(msg.data)
+
+
+    def relay_tovic(self, msg: VicCAN):
+        output: str = f"can_relay_tovic,{msg.mcu_name},{msg.command_id}"
+        for num in msg.data:
+            output += f",{num}"
+        output += "\n"
+        #self.get_logger().info(f"Relaying to MCU: {output}")
+        self.ser.write(bytes(output, "utf8"))
+
+    def relay_fromvic(self, msg: str):
+        self.fromvic_debug_pub_.publish(String(data=msg))
+        parts = msg.strip().split(",")
+        if len(parts) < 3 or parts[0] != "can_relay_fromvic":
+            return
+        output = VicCAN()
+        output.mcu_name = parts[1]
+        output.command_id = int(parts[2])
+        if len(parts) > 3:
+            output.data = [float(x) for x in parts[3:]]
+        output.header.stamp = self.get_clock().now().to_msg()
+        # self.get_logger().info(f"Relaying from MCU: {output}")
+        if output.mcu_name == "core":
+            self.fromvic_core_pub_.publish(output)
+        elif output.mcu_name == "arm" or output.mcu_name == "digit":
+            self.fromvic_arm_pub_.publish(output)
+        elif output.mcu_name == "citadel" or output.mcu_name == "digit":
+            self.fromvic_bio_pub_.publish(output)
+
+
+    def send_cmd(self, msg: String):
         message = msg.data
         #self.get_logger().info(f"Sending command to MCU: {msg}")
         self.ser.write(bytes(message, "utf8"))
@@ -128,7 +172,7 @@ class SerialRelay(Node):
     @staticmethod
     def list_serial_ports():
         return glob.glob("/dev/ttyUSB*") + glob.glob("/dev/ttyACM*")
-    
+
     def cleanup(self):
         print("Cleaning up before terminating...")
         if self.ser.is_open: