finish adding parameters

README.md

@@ -60,6 +60,20 @@ $ ros2 launch anchor_pkg rover.launch.py  # Must be run on a computer connected
 $ ros2 run headless_pkg headless_full  # Optionally run in a separate shell on the same or different computer.
 ```
 
+### Using the Mock Connector
+
+Anchor provides a mock connector meant for testing and scripting purposes. You can select the mock connector by running anchor with this command:
+
+```bash
+$ ros2 launch anchor_pkg rover.launch.py connector:="mock"
+```
+
+You can see all data sent to it in a string format with this command:
+
+```bash
+$ ros2 topic echo /anchor/to_vic/debug
+```
+
 ### Testing Serial
 
 You can fake the presence of a Serial device (i.e., MCU) by using the following command:
@@ -68,10 +82,31 @@ You can fake the presence of a Serial device (i.e., MCU) by using the following
 $ socat -dd -v pty,rawer,crnl,link=/tmp/ttyACM9 pty,rawer,crnl,link=/tmp/ttyOUT
 ```
 
-When you go to run anchor, use the `PORT_OVERRIDE` environment variable to point it to the fake serial port, like so:
+When you go to run anchor, use the `serial_override` ROS2 parameter to point it to the fake serial port, like so:
 
 ```bash
-$ PORT_OVERRIDE=/tmp/ttyACM9 ros2 launch anchor_pkg rover.launch.py
+$ ros2 launch anchor_pkg rover.launch.py connector:=serial serial_override:=/tmp/ttyACM9
+```
+
+### Testing CAN
+
+You can create a virtual CAN network by using the following commands to create and then enable it:
+
+```bash
+sudo ip link add dev vcan0 type vcan
+sudo ip link set vcan0 up
+```
+
+When you go to run anchor, use the `can_override` ROS2 parameter to point it to the virtual CAN network, like so:
+
+```bash
+$ ros2 launch anchor_pkg rover.launch.py connector:=can can_override:=vcan0
+```
+
+Once you're done, you should delete the virtual network so that anchor doesn't get confused if you plug in a real CAN adapter:
+
+```bash
+$ sudo ip link delete vcan0
 ```
 
 ### Connecting the GuliKit Controller

src/anchor_pkg/anchor_pkg/anchor_node.py

@@ -51,6 +51,8 @@ class Anchor(Node):
 
         logger = self.get_logger()
 
+        # ROS2 Parameter Setup
+
         self.declare_parameter(
             "connector",
             "auto",
@@ -73,6 +75,17 @@ class Anchor(Node):
             ),
         )
 
+        self.declare_parameter(
+            "serial_override",
+            "",
+            ParameterDescriptor(
+                name="serial_override",
+                description="Overrides which serial port will be used. Defaults to ''.",
+                type=ParameterType.PARAMETER_STRING,
+                additional_constraints="Must be a valid path to a serial device file that shows up in `ls /dev/tty*`.",
+            ),
+        )
+
         # Determine which connector to use. Options are Mock, Serial, and CAN
         connector_select = (
             self.get_parameter("connector").get_parameter_value().string_value
@@ -80,10 +93,15 @@ class Anchor(Node):
         can_override = (
             self.get_parameter("can_override").get_parameter_value().string_value
         )
+        serial_override = (
+            self.get_parameter("serial_override").get_parameter_value().string_value
+        )
         match connector_select:
             case "serial":
                 logger.info("using serial connector")
-                self.connector = SerialConnector(logger, self.get_clock())
+                self.connector = SerialConnector(
+                    logger, self.get_clock(), serial_override
+                )
             case "can":
                 logger.info("using CAN connector")
                 self.connector = CANConnector(logger, self.get_clock(), can_override)
@@ -99,7 +117,9 @@ class Anchor(Node):
                     )
                 except (NoValidDeviceException, NoWorkingDeviceException, TypeError):
                     logger.info("CAN connector failed, trying serial connector")
-                    self.connector = SerialConnector(logger, self.get_clock())
+                    self.connector = SerialConnector(
+                        logger, self.get_clock(), serial_override
+                    )
             case _:
                 logger.fatal(
                     f"invalid value for connector parameter: {connector_select}"

src/anchor_pkg/anchor_pkg/connector.py

@@ -78,12 +78,19 @@ class SerialConnector(Connector):
     port: str
     mcu_name: str
     serial_interface: serial.Serial
-    override: bool
 
-    def __init__(self, logger: RcutilsLogger, clock: Clock):
+    def __init__(self, logger: RcutilsLogger, clock: Clock, serial_override: str = ""):
         super().__init__(logger, clock)
 
         ports = self._find_ports()
+        mcu_name: str | None = None
+
+        if serial_override:
+            logger.warn(
+                f"using serial_override: `{serial_override}`! this will bypass several checks."
+            )
+            ports = [serial_override]
+            mcu_name = "override"
 
         if len(ports) <= 0:
             raise NoValidDeviceException("no valid serial device found")
@@ -94,7 +101,8 @@ class SerialConnector(Connector):
 
         # check each of our ports to make sure one of them is responding
         port = ports[0]
-        mcu_name = self._get_name(port)
+        # we might already have a name by now if we overrode earlier
+        mcu_name = mcu_name or self._get_name(port)
         if not mcu_name:
             raise NoWorkingDeviceException(
                 f"found {port}, but it did not respond with its name"

src/anchor_pkg/launch/rover.launch.py

@@ -7,6 +7,8 @@ from launch_ros.actions import Node
 
 def generate_launch_description():
     connector = LaunchConfiguration("connector")
+    serial_override = LaunchConfiguration("serial_override")
+    can_override = LaunchConfiguration("can_override")
     use_ptz = LaunchConfiguration("use_ptz")
 
     ld = LaunchDescription()
@@ -16,7 +18,23 @@ def generate_launch_description():
         DeclareLaunchArgument(
             "connector",
             default_value="auto",
-            description="Connector parameter for anchor node (default: auto)",
+            description="Connector parameter for anchor node (default: 'auto')",
+        )
+    )
+
+    ld.add_action(
+        DeclareLaunchArgument(
+            "serial_override",
+            default_value="",
+            description="Serial port override parameter for anchor node (default: '')",
+        )
+    )
+
+    ld.add_action(
+        DeclareLaunchArgument(
+            "can_override",
+            default_value="auto",
+            description="CAN network override parameter for anchor node (default: '')",
         )
     )
 
@@ -82,6 +100,8 @@ def generate_launch_description():
                 {
                     "launch_mode": "anchor",
                     "connector": connector,
+                    "serial_override": serial_override,
+                    "can_override": can_override,
                 }
             ],
             on_exit=Shutdown(),