Merge pull request #31 from SHC-ASTRA/can-refactor

Refactor anchor & add direct CAN connector

README.md

@@ -68,12 +68,25 @@ Anchor provides a mock connector meant for testing and scripting purposes. You c
 $ ros2 launch anchor_pkg rover.launch.py connector:="mock"
 ```
 
-You can see all data sent to it in a string format with this command:
+To see all data that would be sent over the CAN network (and thus to the microcontrollers), use this command:
 
 ```bash
 $ ros2 topic echo /anchor/to_vic/debug
 ```
 
+To send data to the mock connector (as if you were a ROS2 node), use the normal relay topic:
+
+```bash
+$ ros2 topic pub /anchor/to_vic/relay astra_msgs/msg/VicCAN '{mcu_name: "core", command_id: 50, data: [0.0, 2.0, 0.0, 1.0]}'
+
+```
+
+To send data to the mock connector (as if you were a microcontroller), publish to the dedicated topic:
+
+```bash
+$ 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
 
 You can fake the presence of a Serial device (i.e., MCU) by using the following command:

src/anchor_pkg/anchor_pkg/anchor_node.py

@@ -37,11 +37,14 @@ 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
         - Send raw strings to connectors. Does not work for connectors that require conversion (like CANConnector)
+    * /anchor/relay
+        - Legacy method for talking to connectors. Takes String as input, but does not send the raw strings to connectors.
+          Instead, it converts them to VicCAN messages first.
     """
 
     connector: Connector
@@ -172,7 +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(
@@ -203,7 +206,9 @@ class Anchor(Node):
         self.connector.write(msg)
         self.tovic_debug_pub_.publish(msg)
 
-    @deprecated("Use /anchor/to_vic/relay 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
@@ -226,17 +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

@@ -257,7 +257,7 @@ class CANConnector(Connector):
             )
 
         if self.can_channel and self.can_channel.startswith("v"):
-            self.logger.warn("likely using virtual CAN interface")
+            self.logger.warn("CAN interface is likely virtual")
 
     def read(self) -> tuple[VicCAN | None, str | None]:
         if not self.can_bus:
@@ -372,8 +372,10 @@ class CANConnector(Connector):
             case 2:
                 data_type = 1
                 data = struct.pack(">ff", *msg.data)
-            case 4:
+            case 3 | 4:  # 3 gets treated as 4
                 data_type = 2
+                if data_len == 3:
+                    msg.data.append(0)
                 data = struct.pack(">hhhh", *[int(x) for x in msg.data])
             case _:
                 self.logger.error(

src/anchor_pkg/anchor_pkg/convert.py

@@ -57,6 +57,9 @@ 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)
     # 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"