From bc9183d59acd88833f8cfdd49f2604f6536f8973 Mon Sep 17 00:00:00 2001
From: ryleu <69326171+ryleu@users.noreply.github.com>
Date: Tue, 7 Apr 2026 21:52:52 -0500
Subject: [PATCH] make mock mcu use VicCAN messages

---
 README.md                                |  2 +-
 src/anchor_pkg/anchor_pkg/anchor_node.py | 13 +++----------
 2 files changed, 4 insertions(+), 11 deletions(-)

diff --git a/README.md b/README.md
index fe84505..b045857 100644
--- a/README.md
+++ b/README.md
@@ -84,7 +84,7 @@ $ ros2 topic pub /anchor/to_vic/relay astra_msgs/msg/VicCAN '{mcu_name: "core",
 To emulate receiving data from a microcontroller, publish to the dedicated topic:
 
 ```bash
-$ ros2 topic pub /anchor/from_vic/mock_mcu std_msgs/msg/String '{data: "can_relay_fromvic,arm,55,0.0,450.0,900.0,0.0"}'
+$ ros2 topic pub /anchor/from_vic/mock_mcu astra_msgs/msg/VicCAN '{mcu_name: "arm", command_id: 55, data: [0.0, 450.0, 900.0, 0.0]}'
 ```
 
 ### Testing Serial
diff --git a/src/anchor_pkg/anchor_pkg/anchor_node.py b/src/anchor_pkg/anchor_pkg/anchor_node.py
index b9cf992..f831015 100644
--- a/src/anchor_pkg/anchor_pkg/anchor_node.py
+++ b/src/anchor_pkg/anchor_pkg/anchor_node.py
@@ -37,7 +37,7 @@ class Anchor(Node):
 
     Subscribers:
     * /anchor/from_vic/mock_mcu
-        - For testing without an actual MCU, publish strings here as if they came from an MCU
+        - For testing without an actual MCU, publish ViCAN 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
@@ -229,16 +229,9 @@ class Anchor(Node):
         elif msg.mcu_name == "citadel" or msg.mcu_name == "digit":
             self.fromvic_bio_pub_.publish(msg)
 
-    def on_mock_fromvic(self, msg: String):
+    def on_mock_fromvic(self, msg: VicCAN):
         """Relay a message as if it came from the MCU"""
-        viccan = string_to_viccan(
-            msg.data,
-            "mock",
-            self.get_logger(),
-            self.get_clock().now().to_msg(),
-        )
-        if viccan:
-            self.relay_fromvic(viccan)
+        self.relay_fromvic(msg)
 
 
 def main(args=None):