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clean up

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This commit is contained in:
iggy
2026-02-07 19:50:34 -06:00
parent d46bb81ed1
commit d4042f8744
5 changed files with 126 additions and 46 deletions
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3
.gitmodules vendored
View File

@@ -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

96
flake.lock generated
View File

@@ -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",

3
flake.nix
View File

@@ -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:

1
src/astra_msgs

Submodule src/astra_msgs deleted from 91883d8cab

29
src/bio_pkg/bio_pkg/bio_node.py
View File

@@ -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
@@ -30,13 +29,7 @@ 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(
VicCAN, "/anchor/from_vic/bio", self.relay_fromvic, 20
)
@@ -57,7 +50,6 @@ class SerialRelay(Node):
)
# Services
self.test_tube_service = self.create_service(
BioTestTube, "/bio/control/test_tube", self.test_tube_callback
)
@@ -82,9 +74,7 @@ class SerialRelay(Node):
print("todo")
def send_cmd(self, msg: str):
if (
self.launch_mode == "anchor"
): # if in anchor mode, send to anchor node to relay
# send to anchor node to relay
output = String()
output.data = msg
self.anchor_pub.publish(output)
@@ -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]
@@ -120,9 +107,9 @@ class SerialRelay(Node):
mcu_name="citadel",
command_id=40,
data=[
to_short(distributor_arr[0]),
to_short(distributor_arr[1]),
to_short(distributor_arr[2]),
clamp_short(distributor_arr[0]),
clamp_short(distributor_arr[1]),
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))