feat(arm): implement ArmCtrlState topic

src/arm_pkg/arm_pkg/arm_node.py

@@ -12,7 +12,7 @@ from std_msgs.msg import String, Header
 from sensor_msgs.msg import JointState
 from control_msgs.msg import JointJog
 from astra_msgs.msg import SocketFeedback, DigitFeedback, ArmManual  # TODO: Old topics
-from astra_msgs.msg import ArmFeedback, VicCAN, RevMotorState
+from astra_msgs.msg import ArmFeedback, ArmCtrlState, VicCAN, RevMotorState
 
 control_qos = qos.QoSProfile(
     history=qos.QoSHistoryPolicy.KEEP_LAST,
@@ -78,7 +78,9 @@ class ArmNode(Node):
             self.anchor_sub = self.create_subscription(
                 String, "/anchor/arm/feedback", self.anchor_feedback, 10
             )
-            self.anchor_pub = self.create_publisher(String, "/anchor/relay", 10)
+            self.anchor_pub = self.create_publisher(
+                String, "/anchor/to_vic/relay_string", 10
+            )
 
             # Create publishers
             self.socket_pub = self.create_publisher(
@@ -112,10 +114,10 @@ class ArmNode(Node):
 
         # Control
 
-        # Manual: /arm/manual/joint_jog is published by Basestation or Headless
+        # Manual: /arm/control/joint_jog is published by Basestation or Headless
         self.man_jointjog_sub_ = self.create_subscription(
             JointJog,
-            "/arm/manual/joint_jog",
+            "/arm/control/joint_jog",
             self.jointjog_callback,
             qos_profile=control_qos,
         )
@@ -126,6 +128,13 @@ class ArmNode(Node):
             self.joint_command_callback,
             qos_profile=control_qos,
         )
+        # State: /arm/control/state is published by Basestation or Headless
+        self.man_state_sub_ = self.create_subscription(
+            ArmCtrlState,
+            "/arm/control/state",
+            self.man_state_callback,
+            qos_profile=control_qos,
+        )
 
         # Feedback
 
@@ -204,6 +213,25 @@ class ArmNode(Node):
 
         # TODO: use msg.duration
 
+    def man_state_callback(self, msg: ArmCtrlState):
+        self.anchor_tovic_pub_.publish(
+            VicCAN(
+                mcu_name="arm",
+                command_id=18,
+                data=[1.0 if msg.brake_mode else 0.0],
+                header=Header(stamp=self.get_clock().now().to_msg()),
+            )
+        )
+
+        self.anchor_tovic_pub_.publish(
+            VicCAN(
+                mcu_name="arm",
+                command_id=34,
+                data=[1.0 if msg.laser else 0.0],
+                header=Header(stamp=self.get_clock().now().to_msg()),
+            )
+        )
+
     def joint_command_callback(self, msg: JointState):
         if len(msg.position) < 7 and len(msg.velocity) < 7:
             self.get_logger().debug("Ignoring malformed /joint_command message.")

src/headless_pkg/src/headless_node.py

@@ -18,7 +18,7 @@ from std_msgs.msg import Header
 from geometry_msgs.msg import Twist, TwistStamped
 from control_msgs.msg import JointJog
 from astra_msgs.msg import CoreControl, ArmManual, BioControl
-from astra_msgs.msg import CoreCtrlState
+from astra_msgs.msg import CoreCtrlState, ArmCtrlState
 
 import warnings
 
@@ -177,6 +177,8 @@ class Headless(Node):
         self.ctrl_mode = "core"  # Start in core mode
         self.core_brake_mode = False
         self.core_max_duty = 0.5  # Default max duty cycle (walking speed)
+        self.arm_brake_mode = False
+        self.arm_laser = False
 
         ##################################################
         # Old Topics
@@ -203,7 +205,10 @@ class Headless(Node):
             )
 
             self.arm_manual_pub_ = self.create_publisher(
-                JointJog, "/arm/manual_new", qos_profile=control_qos
+                JointJog, "/arm/control/joint_jog", qos_profile=control_qos
+            )
+            self.arm_state_pub_ = self.create_publisher(
+                ArmCtrlState, "/arm/control/state", qos_profile=control_qos
             )
 
             self.arm_ik_twist_publisher = self.create_publisher(
@@ -582,13 +587,26 @@ class Headless(Node):
             )
 
             # A: brake
-            # TODO: Brake mode
+            new_brake_mode = button_a
 
-            # Y: linear actuator
-            # TODO: linear actuator
+            # X: laser
+            new_laser = button_x
 
             self.arm_manual_pub_.publish(arm_input)
 
+            # Only publish state if needed
+            if new_brake_mode != self.arm_brake_mode or new_laser != self.arm_laser:
+                self.arm_brake_mode = new_brake_mode
+                self.arm_laser = new_laser
+                state_msg = ArmCtrlState()
+                state_msg.brake_mode = bool(self.arm_brake_mode)
+                state_msg.laser = bool(self.arm_laser)
+
+                self.arm_state_pub_.publish(state_msg)
+                self.get_logger().info(
+                    f"[Arm State] Brake: {self.arm_brake_mode}, Laser: {self.arm_laser}"
+                )
+
         # IK (ONLY NEW)
         # =============