fix bug because apparently python has arrays

README.md

@@ -84,7 +84,7 @@ $ ros2 topic pub /anchor/to_vic/relay astra_msgs/msg/VicCAN '{mcu_name: "core",
 To emulate receiving data from a microcontroller, publish to the dedicated topic:
 
 ```bash
-$ ros2 topic pub /anchor/from_vic/mock_mcu std_msgs/msg/String '{data: "can_relay_fromvic,arm,55,0.0,450.0,900.0,0.0"}'
+$ ros2 topic pub /anchor/from_vic/mock_mcu astra_msgs/msg/VicCAN '{mcu_name: "arm", command_id: 55, data: [0.0, 450.0, 900.0, 0.0]}'
 ```
 
 ### Testing Serial

src/anchor_pkg/anchor_pkg/anchor_node.py

@@ -37,7 +37,7 @@ class Anchor(Node):
 
     Subscribers:
     * /anchor/from_vic/mock_mcu
-        - For testing without an actual MCU, publish strings here as if they came from an MCU
+        - For testing without an actual MCU, publish ViCAN messages here as if they came from an MCU
     * /anchor/to_vic/relay
         - Core, Arm, and Bio publish VicCAN messages to this topic to send to the MCU
     * /anchor/to_vic/relay_string
@@ -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
@@ -229,17 +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: String):
-        """Relay a message as if it came from the MCU"""
-        viccan = string_to_viccan(
-            msg.data,
-            "mock",
-            self.get_logger(),
-            self.get_clock().now().to_msg(),
-        )
-        if viccan:
-            self.relay_fromvic(viccan)
-
 
 def main(args=None):
     try:

src/anchor_pkg/anchor_pkg/connector.py

@@ -372,10 +372,11 @@ 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]
+                msg.data.append(0)
+                msg.data = msg.data[:4]
                 data = struct.pack(">hhhh", *[int(x) for x in msg.data])
             case _:
                 self.logger.error(

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"