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feat(anchor): add is_main and is_dirty to versioning

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David
2026-04-15 23:50:47 -05:00
parent 3dd9525833
commit 79b2d0020f
1 changed files with 6 additions and 0 deletions
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6
src/anchor_pkg/anchor_pkg/anchor_node.py
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@@ -255,6 +255,12 @@ class Anchor(Node):
version_msg.build_time = Time(
sec=int(time.mktime(self.ASTRA_EPOCH) + msg.data[0])
)
# is_main and is_dirty is in msg.data[1]
# Out of 1 byte, it looks like [lib_isdirty][lib_ismain][proj_isdirty][proj_ismain]
version_msg.astra_lib_is_dirty = bool(int(msg.data[1]) >> 3 & 0x1)
version_msg.astra_lib_is_main = bool(int(msg.data[1]) >> 2 & 0x1)
version_msg.project_is_dirty = bool(int(msg.data[1]) >> 1 & 0x1)
version_msg.project_is_main = bool(int(msg.data[1]) & 0x1)
self.mcu_version_pub_.publish(version_msg)