clean stuff up a bit to prep for CAN

.envrc

@@ -1 +1,2 @@
 use flake
+[[ -d install ]] && source install/setup.$(echo $0 | grep -oE '[^/]+$')

flake.nix

@@ -28,6 +28,7 @@
             (python313.withPackages (
               p: with p; [
                 pyserial
+		python-can
                 pygame
                 scipy
                 crccheck

src/anchor_pkg/anchor_pkg/connector.py

@@ -1,10 +1,16 @@
 from abc import ABC, abstractmethod
-import serial
-import serial.tools.list_ports
 from astra_msgs.msg import VicCAN
 from rclpy.impl.rcutils_logger import RcutilsLogger
 from .convert import string_to_viccan
 
+# CAN
+import can
+import can.interfaces.socketcan
+
+# Serial
+import serial
+import serial.tools.list_ports
+
 KNOWN_USBS = [
     (0x2E8A, 0x00C0),  # Raspberry Pi Pico
     (0x1A86, 0x55D4),  # Adafruit Feather ESP32 V2
@@ -33,6 +39,9 @@ class DeviceClosedException(Exception):
 class Connector(ABC):
     logger: RcutilsLogger
 
+    def __init__(self, logger: RcutilsLogger):
+        self.logger = logger
+
     @abstractmethod
     def read(self) -> VicCAN | None:
         pass
@@ -51,74 +60,8 @@ class SerialConnector(Connector):
     serial_interface: serial.Serial
     override: bool
 
-    def _get_name(self, port: str) -> str | None:
-        """
-        Get the name of the MCU (if it works)
-
-        returns: str name of the MCU, None if it doesn't work
-        """
-        # attempt to open the serial port
-        serial_interface: serial.Serial
-        try:
-            self.logger.info(f"asking {port} for its name")
-            serial_interface = serial.Serial(port, BAUD_RATE, timeout=1)
-
-            serial_interface.write(
-                b"can_relay_mode,on\n"
-            )
-
-            for i in range(4):
-                self.logger.debug(f"attempt {i + 1} of 4 asking {port} for its name")
-                response = serial_interface.read_until(bytes("\n", "utf8"))
-                try:
-                    if b"can_relay_ready" in response:
-                        args: list[str] = response.decode("utf8").strip().split(",")
-                        if len(args) == 2:
-                            self.logger.info(f"we are talking to {args[1]}")
-                            return args[1]
-                        break
-                except UnicodeDecodeError as e:
-                    self.logger.info(
-                        f"ignoring UnicodeDecodeError when asking for MCU name: {e}"
-                    )
-
-            if serial_interface.is_open:
-                serial_interface.close()
-        except serial.SerialException as e:
-            self.logger.error(f"SerialException when asking for MCU name: {e}")
-
-        return None
-
-    def _find_ports(self) -> list[str]:
-        """
-        Finds all valid ports but does not test them
-
-        returns: all valid ports
-        """
-        comports = serial.tools.list_ports.comports()
-        valid_ports = list(
-            map(  # get just device strings
-                lambda p: p.device,
-                filter(  # make sure we have a known device
-                    lambda p: (p.vid, p.pid) in KNOWN_USBS
-                    and p.device is not None,
-                    comports,
-                ),
-            )
-        )
-        self.logger.info(f"found valid MCU ports: [ {', '.join(valid_ports)} ]")
-        return valid_ports
-
-    def cleanup(self):
-        self.logger.info(f"closing serial port if open {self.port}")
-        try:
-            if self.serial_interface.is_open:
-                self.serial_interface.close()
-        except Exception as e:
-            self.logger.error(e)
-
     def __init__(self, logger: RcutilsLogger):
-        self.logger = logger
+        super().__init__(logger)
 
         ports = self._find_ports()
 
@@ -143,6 +86,61 @@ class SerialConnector(Connector):
         # if we fail at this point, it should crash because we've already tested the port
         self.serial_interface = serial.Serial(self.port, BAUD_RATE, timeout=1)
 
+    def _find_ports(self) -> list[str]:
+        """
+        Finds all valid ports but does not test them
+
+        returns: all valid ports
+        """
+        comports = serial.tools.list_ports.comports()
+        valid_ports = list(
+            map(  # get just device strings
+                lambda p: p.device,
+                filter(  # make sure we have a known device
+                    lambda p: (p.vid, p.pid) in KNOWN_USBS and p.device is not None,
+                    comports,
+                ),
+            )
+        )
+        self.logger.info(f"found valid MCU ports: [ {', '.join(valid_ports)} ]")
+        return valid_ports
+
+    def _get_name(self, port: str) -> str | None:
+        """
+        Get the name of the MCU (if it works)
+
+        returns: str name of the MCU, None if it doesn't work
+        """
+        # attempt to open the serial port
+        serial_interface: serial.Serial
+        try:
+            self.logger.info(f"asking {port} for its name")
+            serial_interface = serial.Serial(port, BAUD_RATE, timeout=1)
+
+            serial_interface.write(b"can_relay_mode,on\n")
+
+            for i in range(4):
+                self.logger.debug(f"attempt {i + 1} of 4 asking {port} for its name")
+                response = serial_interface.read_until(bytes("\n", "utf8"))
+                try:
+                    if b"can_relay_ready" in response:
+                        args: list[str] = response.decode("utf8").strip().split(",")
+                        if len(args) == 2:
+                            self.logger.info(f"we are talking to {args[1]}")
+                            return args[1]
+                        break
+                except UnicodeDecodeError as e:
+                    self.logger.info(
+                        f"ignoring UnicodeDecodeError when asking for MCU name: {e}"
+                    )
+
+            if serial_interface.is_open:
+                serial_interface.close()
+        except serial.SerialException as e:
+            self.logger.error(f"SerialException when asking for MCU name: {e}")
+
+        return None
+
     def read(self) -> VicCAN | None:
         try:
             raw = str(self.serial_interface.readline(), "utf8")
@@ -166,15 +164,23 @@ class SerialConnector(Connector):
         output = f"can_relay_tovic,{msg.mcu_name},{msg.command_id},{data}\n"
         self.serial_interface.write(bytes(output, "utf8"))
 
+    def cleanup(self):
+        self.logger.info(f"closing serial port if open {self.port}")
+        try:
+            if self.serial_interface.is_open:
+                self.serial_interface.close()
+        except Exception as e:
+            self.logger.error(e)
+
 
 class CANConnector(Connector):
     def __init__(self, logger: RcutilsLogger):
-        pass
+        super().__init__(logger)
 
 
 class MockConnector(Connector):
-    def __init__(self, _: RcutilsLogger):
-        pass
+    def __init__(self, logger: RcutilsLogger):
+        super().__init__(logger)
 
     def read(self) -> VicCAN | None:
         return None

src/anchor_pkg/anchor_pkg/convert.py

@@ -1,7 +1,25 @@
 from astra_msgs.msg import VicCAN
 from rclpy.impl.rcutils_logger import RcutilsLogger
 
-def string_to_viccan(msg: str, mcu_name, logger: RcutilsLogger):
+def string_to_viccan(msg: str, mcu_name: str, logger: RcutilsLogger):
+    """
+    Converts the serial string VicCAN format to a ROS2 VicCAN message.
+    Does not fill out the Header of the message.
+    On a failure, it will log at a debug level why it failed.
+
+    Parameters:
+      * msg: str
+        - The message in serial VicCAN format
+      * mcu_name: str
+        - The name of the MCU (e.g. core, citadel, arm)
+      * logger: RcutilsLogger
+        - A logger retrieved from node.get_logger()
+
+    Returns:
+      * VicCAN | None
+        - The VicCAN message on a success or None on a failure
+    """
+
     parts: list[str] = msg.split(",")
 
     # don't need an extra check because len of .split output is always >= 1

src/anchor_pkg/package.xml

@@ -3,13 +3,14 @@
 <package format="3">
   <name>anchor_pkg</name>
   <version>0.0.0</version>
-  <description>TODO: Package description</description>
-  <maintainer email="tristanmcginnis26@gmail.com">tristan</maintainer>
+  <description>Anchor -- ROS and CAN relay node</description>
+  <maintainer email="rjm0037@uah.edu">Riley</maintainer>
   <license>AGPL-3.0-only</license>
 
   <depend>rclpy</depend>
   <depend>common_interfaces</depend>
   <depend>python3-serial</depend>
+  <depend>python3-can</depend>
 
   <build_depend>black</build_depend>