clean up

.gitmodules

@@ -1,6 +1,3 @@
 [submodule "src/astra_description"]
 	path = src/astra_descriptions
 	url = ../astra_descriptions
-[submodule "src/astra_msgs"]
-	path = src/astra_msgs
-	url = git@github.com:SHC-ASTRA/astra_msgs.git

flake.lock

@@ -1,5 +1,29 @@
 {
   "nodes": {
+    "astra-msgs": {
+      "inputs": {
+        "nix-ros-overlay": "nix-ros-overlay",
+        "nixpkgs": [
+          "astra-msgs",
+          "nix-ros-overlay",
+          "nixpkgs"
+        ]
+      },
+      "locked": {
+        "lastModified": 1770494960,
+        "narHash": "sha256-0Q8uK1NtTSAh+Yoo7dnQk8aqfQb6uo0EGCWZdIIUrtQ=",
+        "owner": "SHC-ASTRA",
+        "repo": "astra_msgs",
+        "rev": "35d5ac0c2355cd9dc88ac746dbc627108a48bf81",
+        "type": "github"
+      },
+      "original": {
+        "owner": "SHC-ASTRA",
+        "ref": "35d5ac0c2355cd9dc88ac746dbc627108a48bf81",
+        "repo": "astra_msgs",
+        "type": "github"
+      }
+    },
     "flake-utils": {
       "inputs": {
         "systems": "systems"
@@ -18,11 +42,49 @@
         "type": "github"
       }
     },
+    "flake-utils_2": {
+      "inputs": {
+        "systems": "systems_2"
+      },
+      "locked": {
+        "lastModified": 1731533236,
+        "narHash": "sha256-l0KFg5HjrsfsO/JpG+r7fRrqm12kzFHyUHqHCVpMMbI=",
+        "owner": "numtide",
+        "repo": "flake-utils",
+        "rev": "11707dc2f618dd54ca8739b309ec4fc024de578b",
+        "type": "github"
+      },
+      "original": {
+        "owner": "numtide",
+        "repo": "flake-utils",
+        "type": "github"
+      }
+    },
     "nix-ros-overlay": {
       "inputs": {
         "flake-utils": "flake-utils",
         "nixpkgs": "nixpkgs"
       },
+      "locked": {
+        "lastModified": 1770408708,
+        "narHash": "sha256-E7ZQRgGrsiuswgXnG7337ZR5s4SdZlheZjxKOQdVoH8=",
+        "owner": "lopsided98",
+        "repo": "nix-ros-overlay",
+        "rev": "e78ba91032c7f8bdd823fbf43937cbf0f4f09747",
+        "type": "github"
+      },
+      "original": {
+        "owner": "lopsided98",
+        "ref": "develop",
+        "repo": "nix-ros-overlay",
+        "type": "github"
+      }
+    },
+    "nix-ros-overlay_2": {
+      "inputs": {
+        "flake-utils": "flake-utils_2",
+        "nixpkgs": "nixpkgs_2"
+      },
       "locked": {
         "lastModified": 1761810010,
         "narHash": "sha256-o0wJKW603SiOO373BTgeZaF6nDxegMA/cRrzSC2Cscg=",
@@ -39,6 +101,22 @@
       }
     },
     "nixpkgs": {
+      "locked": {
+        "lastModified": 1759381078,
+        "narHash": "sha256-gTrEEp5gEspIcCOx9PD8kMaF1iEmfBcTbO0Jag2QhQs=",
+        "owner": "NixOS",
+        "repo": "nixpkgs",
+        "rev": "7df7ff7d8e00218376575f0acdcc5d66741351ee",
+        "type": "github"
+      },
+      "original": {
+        "owner": "lopsided98",
+        "ref": "nix-ros",
+        "repo": "nixpkgs",
+        "type": "github"
+      }
+    },
+    "nixpkgs_2": {
       "locked": {
         "lastModified": 1744849697,
         "narHash": "sha256-S9hqvanPSeRu6R4cw0OhvH1rJ+4/s9xIban9C4ocM/0=",
@@ -56,7 +134,8 @@
     },
     "root": {
       "inputs": {
-        "nix-ros-overlay": "nix-ros-overlay",
+        "astra-msgs": "astra-msgs",
+        "nix-ros-overlay": "nix-ros-overlay_2",
         "nixpkgs": [
           "nix-ros-overlay",
           "nixpkgs"
@@ -77,6 +156,21 @@
         "repo": "default",
         "type": "github"
       }
+    },
+    "systems_2": {
+      "locked": {
+        "lastModified": 1681028828,
+        "narHash": "sha256-Vy1rq5AaRuLzOxct8nz4T6wlgyUR7zLU309k9mBC768=",
+        "owner": "nix-systems",
+        "repo": "default",
+        "rev": "da67096a3b9bf56a91d16901293e51ba5b49a27e",
+        "type": "github"
+      },
+      "original": {
+        "owner": "nix-systems",
+        "repo": "default",
+        "type": "github"
+      }
     }
   },
   "root": "root",

flake.nix

@@ -4,6 +4,8 @@
   inputs = {
     nix-ros-overlay.url = "github:lopsided98/nix-ros-overlay/master";
     nixpkgs.follows = "nix-ros-overlay/nixpkgs"; # IMPORTANT!!!
+    # specify astra_msgs commit hash to the one we support
+    astra-msgs.url = "github:SHC-ASTRA/astra_msgs?ref=35d5ac0c2355cd9dc88ac746dbc627108a48bf81";
   };
 
   outputs =
@@ -11,6 +13,7 @@
       self,
       nix-ros-overlay,
       nixpkgs,
+      astra-msgs,
     }:
     nix-ros-overlay.inputs.flake-utils.lib.eachDefaultSystem (
       system:

src/bio_pkg/bio_pkg/bio_node.py

@@ -4,14 +4,13 @@ import threading
 import time
 
 import rclpy
+from astra_msgs.action import BioVacuum
+from astra_msgs.msg import BioControl, BioDistributor, VicCAN
+from astra_msgs.srv import BioTestTube
 from rclpy.action import ActionServer
 from rclpy.node import Node
 from std_msgs.msg import Header, String
 
-from astra_msgs.action import BioVacuum
-from astra_msgs.msg import BioControl, BioDistributor, BioFeedback, VicCAN
-from astra_msgs.srv import BioTestTube
-
 serial_pub = None
 thread = None
 
@@ -30,34 +29,27 @@ class SerialRelay(Node):
         # Initialize node
         super().__init__("bio_node")
 
-        # Get launch mode parameter
-        self.declare_parameter("launch_mode")
-        self.launch_mode = self.get_parameter("launch_mode").value
-        self.get_logger().info(f"bio launch_mode is: {self.launch_mode}")
-
         # Anchor Topics
-        if self.launch_mode == "anchor":
+        self.anchor_fromvic_sub_ = self.create_subscription(
-            self.anchor_fromvic_sub_ = self.create_subscription(
+            VicCAN, "/anchor/from_vic/bio", self.relay_fromvic, 20
-                VicCAN, "/anchor/from_vic/bio", self.relay_fromvic, 20
+        )
-            )
+        self.anchor_tovic_pub_ = self.create_publisher(
-            self.anchor_tovic_pub_ = self.create_publisher(
+            VicCAN, "/anchor/to_vic/relay", 20
-                VicCAN, "/anchor/to_vic/relay", 20
+        )
-            )
 
-            self.anchor_sub = self.create_subscription(
+        self.anchor_sub = self.create_subscription(
-                String, "/anchor/bio/feedback", self.anchor_feedback, 10
+            String, "/anchor/bio/feedback", self.anchor_feedback, 10
-            )
+        )
-            self.anchor_pub = self.create_publisher(String, "/anchor/relay", 10)
+        self.anchor_pub = self.create_publisher(String, "/anchor/relay", 10)
 
-            self.distributor_sub = self.create_subscription(
+        self.distributor_sub = self.create_subscription(
-                BioDistributor,
+            BioDistributor,
-                "/bio/control/distributor",
+            "/bio/control/distributor",
-                self.distributor_callback,
+            self.distributor_callback,
-                10,
+            10,
-            )
+        )
 
         # Services
-
         self.test_tube_service = self.create_service(
             BioTestTube, "/bio/control/test_tube", self.test_tube_callback
         )
@@ -82,12 +74,10 @@ class SerialRelay(Node):
         print("todo")
 
     def send_cmd(self, msg: str):
-        if (
+        # send to anchor node to relay
-            self.launch_mode == "anchor"
+        output = String()
-        ):  # if in anchor mode, send to anchor node to relay
+        output.data = msg
-            output = String()
+        self.anchor_pub.publish(output)
-            output.data = msg
-            self.anchor_pub.publish(output)
 
     def relay_fromvic(self, msg: VicCAN):
         # self.get_logger().info(msg)
@@ -95,9 +85,6 @@ class SerialRelay(Node):
             self.process_fromvic_citadel(msg)
 
     def process_fromvic_citadel(self, msg: VicCAN):
-        if msg.mcu_name != "citadel":
-            return
-
         # Check message len to prevent crashing on bad data
         if msg.command_id in viccan_citadel_msg_len_dict:
             expected_len = viccan_citadel_msg_len_dict[msg.command_id]
@@ -105,7 +92,7 @@ class SerialRelay(Node):
                 self.get_logger().warning(
                     f"Ignoring VicCAN message with id {msg.command_id} due to unexpected data length (expected {expected_len}, got {len(msg.data)})"
                 )
-                return
+            return
 
     def anchor_feedback(self, msg: String):
         output = msg.data
@@ -120,9 +107,9 @@ class SerialRelay(Node):
             mcu_name="citadel",
             command_id=40,
             data=[
-                to_short(distributor_arr[0]),
+                clamp_short(distributor_arr[0]),
-                to_short(distributor_arr[1]),
+                clamp_short(distributor_arr[1]),
-                to_short(distributor_arr[2]),
+                clamp_short(distributor_arr[2]),
                 0,
             ],
         )
@@ -205,7 +192,7 @@ class SerialRelay(Node):
         return BioVacuum.Result()
 
 
-def to_short(x: int) -> int:
+def clamp_short(x: int) -> int:
     return max(-32768, min(32767, x))