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fix: control msg for anchor should relay msg.data

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This commit is contained in:
Tristan McGinnis
2025-02-20 14:20:31 -06:00
parent 6f98eb231a
commit b2bb4c1e67
1 changed files with 5 additions and 5 deletions
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10
src/core_pkg/core_pkg/core_node.py
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@@ -175,13 +175,13 @@ class SerialRelay(Node):
#print(f"[Sys] Relaying: {command}")
def send_cmd(self, cmd):
def send_cmd(self, msg):
if self.launch_mode == 'anchor':
self.get_logger().info(f"[Core to Anchor Relay] {cmd}")
self.anchor_pub.publish(cmd)
self.get_logger().info(f"[Core to Anchor Relay] {msg.data}")
self.anchor_pub.publish(msg.data)
elif self.launch_mode == 'core':
self.get_logger().info(f"[Core to MCU] {cmd}")
self.ser.write(bytes(cmd, "utf8"))
self.get_logger().info(f"[Core to MCU] {msg.data}")
self.ser.write(bytes(msg.data, "utf8"))
def anchor_feedback(self, msg):
self.get_logger.info(f"[Arm Anchor] {msg.data}", end="")