From ec7f2729348b9089073e8becb8f8e5be28f037ac Mon Sep 17 00:00:00 2001
From: ryleu <69326171+ryleu@users.noreply.github.com>
Date: Tue, 7 Apr 2026 22:16:08 -0500
Subject: [PATCH] clean up code

---
 src/anchor_pkg/anchor_pkg/anchor_node.py | 10 ++++------
 src/anchor_pkg/anchor_pkg/connector.py   |  2 +-
 src/anchor_pkg/anchor_pkg/convert.py     |  3 ++-
 3 files changed, 7 insertions(+), 8 deletions(-)

diff --git a/src/anchor_pkg/anchor_pkg/anchor_node.py b/src/anchor_pkg/anchor_pkg/anchor_node.py
index f831015..7c475a6 100644
--- a/src/anchor_pkg/anchor_pkg/anchor_node.py
+++ b/src/anchor_pkg/anchor_pkg/anchor_node.py
@@ -175,7 +175,7 @@ class Anchor(Node):
         self.mock_mcu_sub_ = self.create_subscription(
             String,
             "/anchor/from_vic/mock_mcu",
-            self.on_mock_fromvic,
+            self.relay_fromvic,
             20,
         )
         self.tovic_string_sub_ = self.create_subscription(
@@ -206,7 +206,9 @@ class Anchor(Node):
         self.connector.write(msg)
         self.tovic_debug_pub_.publish(msg)
 
-    @deprecated("Use /anchor/to_vic/relay or /anchor/to_vic/relay_string instead of /anchor/relay")
+    @deprecated(
+        "Use /anchor/to_vic/relay or /anchor/to_vic/relay_string instead of /anchor/relay"
+    )
     def write_connector_legacy(self, msg: String):
         """Write to the connector by first attempting to convert String to VicCAN"""
         # please do not reference this code. ~riley
@@ -229,10 +231,6 @@ 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: VicCAN):
-        """Relay a message as if it came from the MCU"""
-        self.relay_fromvic(msg)
-
 
 def main(args=None):
     try:
diff --git a/src/anchor_pkg/anchor_pkg/connector.py b/src/anchor_pkg/anchor_pkg/connector.py
index 0e8fffe..7241884 100644
--- a/src/anchor_pkg/anchor_pkg/connector.py
+++ b/src/anchor_pkg/anchor_pkg/connector.py
@@ -372,7 +372,7 @@ class CANConnector(Connector):
             case 2:
                 data_type = 1
                 data = struct.pack(">ff", *msg.data)
-            case 3 | 4: # 3 gets padded and is treated as 4
+            case 3 | 4:  # 3 gets padded and is treated as 4
                 data_type = 2
                 # pad till we have 4 otherwise struct.pack will freak out
                 msg.data = (msg.data + [0])[:4]
diff --git a/src/anchor_pkg/anchor_pkg/convert.py b/src/anchor_pkg/anchor_pkg/convert.py
index 57b2c44..4452497 100644
--- a/src/anchor_pkg/anchor_pkg/convert.py
+++ b/src/anchor_pkg/anchor_pkg/convert.py
@@ -58,7 +58,8 @@ def string_to_viccan(
 def viccan_to_string(viccan: VicCAN) -> str:
     """Converts a ROS2 VicCAN message to the serial string VicCAN format."""
     # make sure we accept 3 digits and treat it as 4
-    if len(viccan.data) == 3: viccan.data.append("0")
+    if len(viccan.data) == 3:
+        viccan.data.append("0")
     # go from [ w, x, y, z ] -> ",w,x,y,z" & round to 7 digits max
     data = "".join([f",{round(val,7)}" for val in viccan.data])
     return f"can_relay_tovic,{viccan.mcu_name},{viccan.command_id}{data}\n"