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fix wrong order for initialization

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This commit is contained in:
ryleu
2026-03-23 13:25:13 -05:00
parent 941e196316
commit fe46a2ab4d
1 changed files with 33 additions and 33 deletions
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66
src/anchor_pkg/anchor_pkg/anchor_node.py
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@@ -73,6 +73,39 @@ class Anchor(Node):
),
)
# Determine which connector to use. Options are Mock, Serial, and CAN
connector_select = (
self.get_parameter("connector").get_parameter_value().string_value
)
can_override = (
self.get_parameter("can_override").get_parameter_value().string_value
)
match connector_select:
case "serial":
logger.info("using serial connector")
self.connector = SerialConnector(logger, self.get_clock())
case "can":
logger.info("using CAN connector")
self.connector = CANConnector(logger, self.get_clock(), can_override)
case "mock":
logger.info("using mock connector")
self.connector = MockConnector(logger, self.get_clock())
case "auto":
logger.info("automatically determining connector")
try:
logger.info("trying CAN connector")
self.connector = CANConnector(
logger, self.get_clock(), can_override
)
except (NoValidDeviceException, NoWorkingDeviceException, TypeError):
logger.info("CAN connector failed, trying serial connector")
self.connector = SerialConnector(logger, self.get_clock())
case _:
logger.fatal(
f"invalid value for connector parameter: {connector_select}"
)
exit(1)
# ROS2 Topic Setup
# Publishers
@@ -123,39 +156,6 @@ class Anchor(Node):
20,
)
# Determine which connector to use. Options are Mock, Serial, and CAN
connector_select = (
self.get_parameter("connector").get_parameter_value().string_value
)
can_override = (
self.get_parameter("can_override").get_parameter_value().string_value
)
match connector_select:
case "serial":
logger.info("using serial connector")
self.connector = SerialConnector(logger, self.get_clock())
case "can":
logger.info("using CAN connector")
self.connector = CANConnector(logger, self.get_clock(), can_override)
case "mock":
logger.info("using mock connector")
self.connector = MockConnector(logger, self.get_clock())
case "auto":
logger.info("automatically determining connector")
try:
logger.info("trying CAN connector")
self.connector = CANConnector(
logger, self.get_clock(), can_override
)
except (NoValidDeviceException, NoWorkingDeviceException, TypeError):
logger.info("CAN connector failed, trying serial connector")
self.connector = SerialConnector(logger, self.get_clock())
case _:
logger.fatal(
f"invalid value for connector parameter: {connector_select}"
)
exit(1)
# Close devices on exit
atexit.register(self.cleanup)