refactor(anchor): buffer bytes instead of string

Resolves Riley's comments, makes it so UTF-8 characters over 1 byte aren't destroyed

README.md

@@ -16,6 +16,9 @@ You will use these packages to launch all rover-side ROS2 nodes.
   - [Connecting the GuliKit Controller](#connecting-the-gulikit-controller)
 - [Common Problems/Toubleshooting](#common-problemstroubleshooting)
 - [Packages](#packages)
+- [Graphs](#graphs)
+  - [Full System](#full-system)
+  - [Individual Nodes](#individual-nodes)
 - [Maintainers](#maintainers)
 
 ## Software Prerequisites
@@ -57,6 +60,33 @@ $ 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"
+```
+
+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:
@@ -65,10 +95,31 @@ 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
@@ -140,6 +191,40 @@ A: To find a microcontroller to talk to, Anchor sends a ping to every Serial por
 - [ros2\_interfaces\_pkg](./src/ros2_interfaces_pkg) - Contains custom message types for communication between basestation and the rover over ROS2. (being renamed to `astra_msgs`).
 - [servo\_arm\_twist\_pkg](./src/servo_arm_twist_pkg) - A temporary node to translate controller state from `ros2_joy` to `Twist` messages to control the Arm via IK.
 
+## Graphs
+
+### Full System
+
+> **Anchor stand-alone** (`ros2 launch anchor_pkg rover.launch.py`)
+>
+> ![rqt_graph of Anchor by itself, ran with command: ros2 launch anchor_pkg rover.launch.py](./docs-resources/graph-anchor-standalone.png)
+
+> **Anchor with [basestation-classic](https://github.com/SHC-ASTRA/basestation-classic)**
+>
+> ![rqt_graph of Anchor ran with the same command as above, talking to basestation-classic](./docs-resources/graph-anchor-w-basestation-classic.png)
+
+> **Anchor with Headless** (`ros2 run headless_pkg headless_full`)
+>
+> ![rqt_graph of Anchor ran with Headless](./docs-resources/graph-anchor-w-headless.png)
+
+### Individual Nodes
+
+> **Anchor** (`ros2 run anchor_pkg anchor`)
+>
+> ![rqt_graph of Anchor node running by itself](./docs-resources/graph-anchor-anchor-standalone.png)
+
+> **Core** (`ros2 run core_pkg core --ros-args -p launch_mode:=anchor`)
+>
+> ![rqt_graph of Core node running by itself](./docs-resources/graph-anchor-core-standalone.png)
+
+> **Arm** (`ros2 run arm_pkg arm --ros-args -p launch_mode:=anchor`)
+>
+> ![rqt_graph of Arm node running by itself](./docs-resources/graph-anchor-arm-standalone.png)
+
+> **Bio** (`ros2 run bio_pkg bio --ros-args -p launch_mode:=anchor`)
+>
+> ![rqt_graph of Bio node running by itself](./docs-resources/graph-anchor-bio-standalone.png)
+
 ## Maintainers
 
 | Name | Email | Discord |

auto_start/auto_start_anchor.sh

@@ -15,7 +15,11 @@ echo "[INFO] Network interface is up!"
 echo "[INFO] Starting ROS node..."
 
 # Source ROS 2 Humble setup script
+if command -v nixos-rebuild; then
+  echo "[INFO] running on NixOS"
+else
   source /opt/ros/humble/setup.bash
+fi
 
 # Source your workspace setup script
 source $SCRIPT_DIR/../install/setup.bash

auto_start/auto_start_headless_full.sh

@@ -15,11 +15,14 @@ echo "[INFO] Network interface is up!"
 echo "[INFO] Starting ROS node..."
 
 # Source ROS 2 Humble setup script
+if command -v nixos-rebuild; then
+  echo "[INFO] running on NixOS"
+else
   source /opt/ros/humble/setup.bash
+fi
 
 # Source your workspace setup script
 source $SCRIPT_DIR/../install/setup.bash
 
 # Launch the ROS 2 node
 ros2 run headless_pkg headless_full
-

auto_start/start_rosbag.sh

@@ -3,10 +3,10 @@ set -e
 
 SCRIPT_DIR=$(cd -- "$(dirname -- "${BASH_SOURCE[0]}")" &>/dev/null && pwd)
 
-[[ -z "$ANCHOR_WS" ]] && ANCHOR_WS="$SCRIPT_DIR/.."
+[[ -z $ANCHOR_WS ]] && ANCHOR_WS="$SCRIPT_DIR/.."
-[[ -z "$AUTONOMY_WS" ]] && AUTONOMY_WS="$HOME/rover-Autonomy"
+[[ -z $AUTONOMY_WS ]] && AUTONOMY_WS="$HOME/rover-Autonomy"
 BAG_LOCATION="$HOME/bags/autostart"
-[[ ! -d "$BAG_LOCATION" ]] && mkdir -p "$BAG_LOCATION"
+[[ ! -d $BAG_LOCATION ]] && mkdir -p "$BAG_LOCATION"
 
 # Wait for a network interface to be up (not necessarily online)
 while ! ip link show | grep -q "state UP"; do
@@ -16,8 +16,11 @@ done
 
 echo "[INFO] Network interface is up!"
 
-
+if command -v nixos-rebuild; then
+  echo "[INFO] running on NixOS"
+else
   source /opt/ros/humble/setup.bash
+fi
 source $ANCHOR_WS/install/setup.bash
 [[ -f $AUTONOMY_WS/install/setup.bash ]] && source $AUTONOMY_WS/install/setup.bash
 

flake.lock

@@ -24,11 +24,11 @@
         "nixpkgs": "nixpkgs"
       },
       "locked": {
-        "lastModified": 1761810010,
+        "lastModified": 1775216071,
-        "narHash": "sha256-o0wJKW603SiOO373BTgeZaF6nDxegMA/cRrzSC2Cscg=",
+        "narHash": "sha256-PrPW70Fh1uLx3JxNV/NLeXjUhgfrZmi7ac8LJOlS0q4=",
         "owner": "lopsided98",
         "repo": "nix-ros-overlay",
-        "rev": "e277df39e3bc6b372a5138c0bcf10198857c55ab",
+        "rev": "197a2b55c4ed24f8b885a5b20b65f426fb6d57ca",
         "type": "github"
       },
       "original": {
@@ -40,11 +40,11 @@
     },
     "nixpkgs": {
       "locked": {
-        "lastModified": 1744849697,
+        "lastModified": 1759381078,
-        "narHash": "sha256-S9hqvanPSeRu6R4cw0OhvH1rJ+4/s9xIban9C4ocM/0=",
+        "narHash": "sha256-gTrEEp5gEspIcCOx9PD8kMaF1iEmfBcTbO0Jag2QhQs=",
-        "owner": "lopsided98",
+        "owner": "NixOS",
         "repo": "nixpkgs",
-        "rev": "6318f538166fef9f5118d8d78b9b43a04bb049e4",
+        "rev": "7df7ff7d8e00218376575f0acdcc5d66741351ee",
         "type": "github"
       },
       "original": {
@@ -60,7 +60,8 @@
         "nixpkgs": [
           "nix-ros-overlay",
           "nixpkgs"
-        ]
+        ],
+        "treefmt-nix": "treefmt-nix"
       }
     },
     "systems": {
@@ -77,6 +78,26 @@
         "repo": "default",
         "type": "github"
       }
+    },
+    "treefmt-nix": {
+      "inputs": {
+        "nixpkgs": [
+          "nixpkgs"
+        ]
+      },
+      "locked": {
+        "lastModified": 1773297127,
+        "narHash": "sha256-6E/yhXP7Oy/NbXtf1ktzmU8SdVqJQ09HC/48ebEGBpk=",
+        "owner": "numtide",
+        "repo": "treefmt-nix",
+        "rev": "71b125cd05fbfd78cab3e070b73544abe24c5016",
+        "type": "github"
+      },
+      "original": {
+        "owner": "numtide",
+        "repo": "treefmt-nix",
+        "type": "github"
+      }
     }
   },
   "root": "root",

flake.nix

@@ -4,6 +4,11 @@
   inputs = {
     nix-ros-overlay.url = "github:lopsided98/nix-ros-overlay/master";
     nixpkgs.follows = "nix-ros-overlay/nixpkgs"; # IMPORTANT!!!
+
+    treefmt-nix = {
+      url = "github:numtide/treefmt-nix";
+      inputs.nixpkgs.follows = "nixpkgs";
+    };
   };
 
   outputs =
@@ -11,19 +16,14 @@
       self,
       nix-ros-overlay,
       nixpkgs,
-    }:
+      ...
+    }@inputs:
     nix-ros-overlay.inputs.flake-utils.lib.eachDefaultSystem (
       system:
       let
         pkgs = import nixpkgs {
           inherit system;
           overlays = [ nix-ros-overlay.overlays.default ];
-          config = {
-            # Allow the insecure freeimage package
-            permittedInsecurePackages = [
-              "freeimage-3.18.0-unstable-2024-04-18"
-            ];
-          };
         };
       in
       {
@@ -31,9 +31,12 @@
           name = "ASTRA Anchor";
           packages = with pkgs; [
             colcon
-            (python312.withPackages (
+            socat
+            can-utils
+            (python313.withPackages (
               p: with p; [
                 pyserial
+                python-can
                 pygame
                 scipy
                 crccheck
@@ -41,7 +44,7 @@
               ]
             ))
             (
-              with rosPackages.jazzy;
+              with rosPackages.humble;
               buildEnv {
                 paths = [
                   ros-core
@@ -62,22 +65,23 @@
                   control-msgs
                   control-toolbox
                   moveit-core
+                  moveit-planners
                   moveit-common
                   moveit-msgs
                   moveit-ros-planning
                   moveit-ros-planning-interface
+                  moveit-ros-visualization
                   moveit-configs-utils
                   moveit-ros-move-group
                   moveit-servo
                   moveit-simple-controller-manager
+                  topic-based-ros2-control
                   pilz-industrial-motion-planner
                   pick-ik
                   ompl
-                  chomp-motion-planner
                   joy
-                  ros-gz-sim
+                  ros2-controllers
-                  ros-gz-bridge
+                  chomp-motion-planner
-                  # ros2-controllers nixpkg does not build :(
                 ];
               }
             )
@@ -86,17 +90,16 @@
             # Display stuff
             export DISPLAY=''${DISPLAY:-:0}
             export QT_X11_NO_MITSHM=1
-	    if [[ ! $DIRENV_IN_ENVRC ]]; then
-              eval "$(${pkgs.python3Packages.argcomplete}/bin/register-python-argcomplete ros2)"
-              eval "$(${pkgs.python3Packages.argcomplete}/bin/register-python-argcomplete colcon)"
-            fi
           '';
         };
+
+        formatter = (inputs.treefmt-nix.lib.evalModule pkgs ./treefmt.nix).config.build.wrapper;
       }
     );
 
   nixConfig = {
-    extra-substituters = [ "https://ros.cachix.org" ];
+    # Cache to pull ros packages from
-    extra-trusted-public-keys = [ "ros.cachix.org-1:dSyZxI8geDCJrwgvCOHDoAfOm5sV1wCPjBkKL+38Rvo=" ];
+    extra-substituters = [ "https://ros.cachix.org" "https://attic.iid.ciirc.cvut.cz/ros" ];
+    extra-trusted-public-keys = [ "ros.cachix.org-1:dSyZxI8geDCJrwgvCOHDoAfOm5sV1wCPjBkKL+38Rvo=" "ros:JR95vUYsShSqfA1VTYoFt1Nz6uXasm5QrcOsGry9f6Q=" ];
   };
 }

scripts/reset-repo.bash

@@ -0,0 +1,38 @@
+#!/usr/bin/env bash
+
+repo_root="$(git rev-parse --show-toplevel)"
+
+if [[ -z $repo_root ]]; then
+  echo "script must be run from within a git repo" >&2
+  exit 1
+fi
+
+cd $repo_root
+
+echo "this will nuke all of your current un-commited git changes, including any changes to submodules and any gitignored files. is this okay? (y/N)"
+read okay
+
+if [[ $okay != "y" ]]; then
+  echo "you didn't say exactly 'y'. aborting." >&2
+  exit 2
+fi
+
+echo
+
+echo "ok say goodbye to everything in this repo"
+git submodule deinit --all -f && echo "- submodules gone"
+git clean -fdx && echo "- gitignored changes gone"
+git add -A
+git reset HEAD --hard && echo "- everything else gone"
+git submodule update --init --recursive && echo "- brought the submodules back"
+echo
+
+echo "in theory that should've done it. let's make sure"
+status=$(git status --porcelain)
+echo $status
+if [[ -z $status ]]; then
+  echo "nice, all clean!"
+else
+  echo "uhh that's not supposed to be there. this is probably a bug in this script. good luck!" >&2
+  exit 3
+fi

scripts/test-connectors.bash

@@ -0,0 +1,463 @@
+#!/usr/bin/env bash
+
+# test script for anchor connectors (mock, serial, CAN)
+
+set -o pipefail
+
+repo_root="$(git rev-parse --show-toplevel)"
+
+if [[ -z $repo_root ]]; then
+  echo "script must be run from within the rover-ros2 repo" >&2
+  exit 1
+fi
+
+cd "$repo_root"
+
+# colors
+BOLD='\033[1m'
+RED='\033[1;31m'
+GREEN='\033[1;32m'
+YELLOW='\033[1;33m'
+NC='\033[0m'
+
+TESTS_PASSED=0
+TESTS_FAILED=0
+
+log() {
+  echo -e "${BOLD}${YELLOW}info:${NC} ${1}"
+}
+
+pass() {
+  echo -e "${BOLD}${GREEN}pass:${NC} ${1}"
+  TESTS_PASSED=$((TESTS_PASSED + 1))
+}
+
+fail() {
+  echo -e "${BOLD}${RED}fail:${NC} ${1}"
+  TESTS_FAILED=$((TESTS_FAILED + 1))
+}
+
+cleanup() {
+  log "cleaning up"
+  if [[ -n $ANCHOR_PID ]]; then
+    kill -INT -- -"$ANCHOR_PID" 2>/dev/null || true
+    wait "$ANCHOR_PID" 2>/dev/null || true
+  fi
+  if [[ -n $SOCAT_PID ]]; then
+    kill -INT "$SOCAT_PID" 2>/dev/null || true
+    wait "$SOCAT_PID" 2>/dev/null || true
+  fi
+  rm -f /tmp/ttyACM9 /tmp/ttyOUT 2>/dev/null || true
+}
+
+trap cleanup EXIT
+
+source_ros2() {
+  source install/setup.bash
+}
+
+wait_for_topic() {
+  local topic="$1"
+  local timeout="${2:-5}"
+  local count=0
+  while ! ros2 topic list 2>/dev/null | grep -q "^${topic}$"; do
+    sleep 0.5
+    count=$((count + 1))
+    if [[ $count -ge $((timeout * 2)) ]]; then
+      return 1
+    fi
+  done
+  return 0
+}
+
+# run a ROS pub/echo test
+# usage: ros_pubsub_test <echo_topic> <pub_topic> <msg_type> <msg_data>
+# returns the echo output via stdout
+ros_pubsub_test() {
+  local echo_topic="$1"
+  local pub_topic="$2"
+  local msg_type="$3"
+  local msg_data="$4"
+
+  timeout 5 bash -c "
+    ros2 topic echo --once $echo_topic &
+    ECHO_PID=\$!
+    sleep 0.5
+    ros2 topic pub --once $pub_topic $msg_type \"$msg_data\" >/dev/null 2>&1
+    wait \$ECHO_PID
+  " 2>/dev/null || true
+}
+
+test_mock_connector() {
+  log "testing mock connector"
+
+  log "starting anchor with mock connector"
+  setsid ros2 run anchor_pkg anchor --ros-args -p connector:=mock &
+  ANCHOR_PID=$!
+  sleep 2
+
+  if ! kill -0 "$ANCHOR_PID" 2>/dev/null; then
+    fail "mock connector: anchor failed to start"
+    return 1
+  fi
+
+  if ! wait_for_topic "/anchor/to_vic/relay" 10; then
+    fail "mock connector: topics not available"
+    kill -INT -- -"$ANCHOR_PID" 2>/dev/null || true
+    return 1
+  fi
+
+  log "anchor started successfully"
+
+  # test: relay -> debug
+  log "testing relay -> debug"
+  local output
+  output=$(ros_pubsub_test "/anchor/to_vic/debug" "/anchor/to_vic/relay" \
+    "astra_msgs/msg/VicCAN" '{mcu_name: \"core\", command_id: 50, data: [1.0, 2.0, 3.0, 4.0]}')
+
+  if [[ -n $output ]] && echo "$output" | grep -q "can_relay_tovic,core,50"; then
+    pass "mock connector: relay -> debug"
+  else
+    fail "mock connector: relay -> debug"
+  fi
+
+  # test: mock_mcu -> from_vic/core
+  log "testing mock_mcu (core) -> from_vic/core"
+  output=$(ros_pubsub_test "/anchor/from_vic/core" "/anchor/from_vic/mock_mcu" \
+    "astra_msgs/msg/VicCAN" '{mcu_name: \"core\", command_id: 10, data: [100.0, 200.0]}')
+
+  if [[ -n $output ]] && echo "$output" | grep -q "mcu_name: core" && echo "$output" | grep -q "command_id: 10"; then
+    pass "mock connector: mock_mcu -> from_vic/core"
+  else
+    fail "mock connector: mock_mcu -> from_vic/core"
+  fi
+
+  # test: mock_mcu -> from_vic/arm
+  log "testing mock_mcu (arm) -> from_vic/arm"
+  output=$(ros_pubsub_test "/anchor/from_vic/arm" "/anchor/from_vic/mock_mcu" \
+    "astra_msgs/msg/VicCAN" '{mcu_name: \"arm\", command_id: 55, data: [0.0, 450.0, 900.0, 0.0]}')
+
+  if [[ -n $output ]] && echo "$output" | grep -q "mcu_name: arm" && echo "$output" | grep -q "command_id: 55"; then
+    pass "mock connector: mock_mcu -> from_vic/arm"
+  else
+    fail "mock connector: mock_mcu -> from_vic/arm"
+  fi
+
+  # test: mock_mcu -> from_vic/bio
+  log "testing mock_mcu (citadel) -> from_vic/bio"
+  output=$(ros_pubsub_test "/anchor/from_vic/bio" "/anchor/from_vic/mock_mcu" \
+    "astra_msgs/msg/VicCAN" '{mcu_name: \"citadel\", command_id: 20, data: [5.0]}')
+
+  if echo "$output" | grep -q "mcu_name: citadel" && echo "$output" | grep -q "command_id: 20"; then
+    pass "mock connector: mock_mcu -> from_vic/bio"
+  else
+    fail "mock connector: mock_mcu -> from_vic/bio"
+  fi
+
+  # test: relay_string -> debug
+  log "testing relay_string -> debug"
+  output=$(ros_pubsub_test "/anchor/to_vic/debug" "/anchor/to_vic/relay_string" \
+    "std_msgs/msg/String" '{data: \"test_raw_string_data\"}')
+
+  if [[ -n $output ]] && echo "$output" | grep -q "test_raw_string_data"; then
+    pass "mock connector: relay_string -> debug"
+  else
+    fail "mock connector: relay_string -> debug"
+  fi
+
+  kill -INT -- -"$ANCHOR_PID" 2>/dev/null || true
+  wait "$ANCHOR_PID" 2>/dev/null || true
+  ANCHOR_PID=""
+}
+
+test_serial_connector() {
+  log "testing serial connector"
+
+  log "creating virtual serial ports with socat"
+  socat pty,raw,echo=0,link=/tmp/ttyACM9 pty,raw,echo=0,link=/tmp/ttyOUT 2>/dev/null &
+  SOCAT_PID=$!
+  sleep 2
+
+  if ! kill -0 "$SOCAT_PID" 2>/dev/null; then
+    fail "serial connector: failed to create virtual serial ports"
+    return 1
+  fi
+
+  log "starting anchor with serial connector (override: /tmp/ttyACM9)"
+  setsid ros2 run anchor_pkg anchor --ros-args -p connector:=serial -p serial_override:=/tmp/ttyACM9 &
+  ANCHOR_PID=$!
+  sleep 2
+
+  if ! kill -0 "$ANCHOR_PID" 2>/dev/null; then
+    fail "serial connector: anchor failed to start"
+    kill -INT "$SOCAT_PID" 2>/dev/null || true
+    return 1
+  fi
+
+  if ! wait_for_topic "/anchor/to_vic/relay" 10; then
+    fail "serial connector: topics not available"
+    kill -INT -- -"$ANCHOR_PID" 2>/dev/null || true
+    kill -INT "$SOCAT_PID" 2>/dev/null || true
+    return 1
+  fi
+
+  pass "serial connector: anchor starts with virtual serial"
+
+  # test: relay -> serial output (VicCAN encoding)
+  log "testing relay -> serial output"
+
+  local serial_out_file
+  serial_out_file=$(mktemp)
+
+  # Start head first (blocks waiting for input), then publish
+  timeout 5 head -n1 /tmp/ttyOUT >"$serial_out_file" &
+  local head_pid=$!
+  sleep 0.3
+  ros2 topic pub --once /anchor/to_vic/relay astra_msgs/msg/VicCAN \
+    '{mcu_name: "core", command_id: 30, data: [1.0, 2.0, 3.0, 4.0]}' >/dev/null 2>&1
+  wait $head_pid 2>/dev/null || true
+
+  local serial_out
+  serial_out=$(cat "$serial_out_file")
+  rm -f "$serial_out_file"
+
+  if [[ -n $serial_out ]] && echo "$serial_out" | grep -q "can_relay_tovic,core,30"; then
+    pass "serial connector: relay -> serial output"
+  else
+    fail "serial connector: relay -> serial output (got: $serial_out)"
+  fi
+
+  # test: serial input -> from_vic/core
+  log "testing serial input -> from_vic/core"
+
+  local output
+  output=$(timeout 5 bash -c '
+    ros2 topic echo --once /anchor/from_vic/core &
+    ECHO_PID=$!
+    sleep 0.5
+    echo "can_relay_fromvic,core,15,10.0,20.0,30.0,40.0" > /tmp/ttyOUT
+    sleep 0.5
+    echo "can_relay_fromvic,core,15,10.0,20.0,30.0,40.0" > /tmp/ttyOUT
+    wait $ECHO_PID
+  ' 2>/dev/null) || true
+
+  if echo "$output" | grep -q "mcu_name: core" && echo "$output" | grep -q "command_id: 15"; then
+    pass "serial connector: serial input -> from_vic/core"
+  else
+    fail "serial connector: serial input -> from_vic/core (got: $output)"
+  fi
+
+  # test: relay_string -> debug
+  log "testing relay_string -> debug"
+  output=$(ros_pubsub_test "/anchor/to_vic/debug" "/anchor/to_vic/relay_string" \
+    "std_msgs/msg/String" '{data: \"serial_test_string\"}')
+
+  if [[ -n $output ]] && echo "$output" | grep -q "serial_test_string"; then
+    pass "serial connector: relay_string -> debug"
+  else
+    fail "serial connector: relay_string -> debug"
+  fi
+
+  kill -INT -- -"$ANCHOR_PID" 2>/dev/null || true
+  wait "$ANCHOR_PID" 2>/dev/null || true
+  ANCHOR_PID=""
+  kill -INT "$SOCAT_PID" 2>/dev/null || true
+  wait "$SOCAT_PID" 2>/dev/null || true
+  SOCAT_PID=""
+}
+
+test_can_connector() {
+  log "testing CAN connector"
+
+  log "starting anchor with CAN connector (override: vcan0)"
+  setsid ros2 run anchor_pkg anchor --ros-args -p connector:=can -p can_override:=vcan0 &
+  ANCHOR_PID=$!
+  sleep 2
+
+  if ! kill -0 "$ANCHOR_PID" 2>/dev/null; then
+    fail "CAN connector: anchor failed to start"
+    return 1
+  fi
+
+  if ! wait_for_topic "/anchor/to_vic/relay" 10; then
+    fail "CAN connector: topics not available"
+    kill -INT -- -"$ANCHOR_PID" 2>/dev/null || true
+    return 1
+  fi
+
+  log "anchor started successfully"
+  sleep 1
+
+  # test: relay -> CAN bus
+  # core=1, int16x4=2, cmd=30 -> id = (1<<8)|(2<<6)|30 = 0x19E
+  log "testing relay -> CAN bus"
+
+  local output
+  output=$(timeout 8 bash -c '
+    candump -n 1 vcan0 &
+    DUMP_PID=$!
+    sleep 1
+    ros2 topic pub --once /anchor/to_vic/relay astra_msgs/msg/VicCAN "{mcu_name: \"core\", command_id: 30, data: [1, 2, 3, 4]}" >/dev/null 2>&1
+    sleep 0.5
+    ros2 topic pub --once /anchor/to_vic/relay astra_msgs/msg/VicCAN "{mcu_name: \"core\", command_id: 30, data: [1, 2, 3, 4]}" >/dev/null 2>&1
+    wait $DUMP_PID
+  ' 2>/dev/null) || true
+
+  if echo "$output" | grep -qi "19E"; then
+    pass "CAN connector: relay -> CAN bus"
+  else
+    fail "CAN connector: relay -> CAN bus (got: $output)"
+  fi
+
+  # test: CAN -> from_vic/core
+  log "testing CAN bus -> from_vic/core"
+
+  output=$(timeout 5 bash -c '
+    ros2 topic echo --once /anchor/from_vic/core &
+    ECHO_PID=$!
+    sleep 1
+    cansend vcan0 18F#000A0014001E0028
+    sleep 0.5
+    cansend vcan0 18F#000A0014001E0028
+    wait $ECHO_PID
+  ' 2>/dev/null) || true
+
+  if echo "$output" | grep -q "mcu_name: core" && echo "$output" | grep -q "command_id: 15"; then
+    pass "CAN connector: CAN -> from_vic/core"
+  else
+    fail "CAN connector: CAN -> from_vic/core"
+  fi
+
+  # test: CAN -> from_vic/arm
+  log "testing CAN bus -> from_vic/arm"
+
+  output=$(timeout 5 bash -c '
+    ros2 topic echo --once /anchor/from_vic/arm &
+    ECHO_PID=$!
+    sleep 1
+    cansend vcan0 294#00640096012C01F4
+    sleep 0.5
+    cansend vcan0 294#00640096012C01F4
+    wait $ECHO_PID
+  ' 2>/dev/null) || true
+
+  if echo "$output" | grep -q "mcu_name: arm" && echo "$output" | grep -q "command_id: 20"; then
+    pass "CAN connector: CAN -> from_vic/arm"
+  else
+    fail "CAN connector: CAN -> from_vic/arm"
+  fi
+
+  # test: CAN double data type (data_type_key=0)
+  log "testing CAN double data type"
+
+  output=$(timeout 8 bash -c '
+    ros2 topic echo --once /anchor/from_vic/core &
+    ECHO_PID=$!
+    sleep 1
+    cansend vcan0 105#3FF0000000000000
+    sleep 0.5
+    cansend vcan0 105#3FF0000000000000
+    sleep 0.5
+    cansend vcan0 105#3FF0000000000000
+    wait $ECHO_PID
+  ' 2>/dev/null) || true
+
+  if echo "$output" | grep -q "mcu_name: core" && echo "$output" | grep -q "command_id: 5"; then
+    pass "CAN connector: double data type"
+  else
+    fail "CAN connector: double data type"
+  fi
+
+  # test: CAN float32x2 data type (data_type_key=1)
+  log "testing CAN float32x2 data type"
+
+  output=$(timeout 8 bash -c '
+    ros2 topic echo --once /anchor/from_vic/core &
+    ECHO_PID=$!
+    sleep 1
+    cansend vcan0 14A#3F80000040000000
+    sleep 0.5
+    cansend vcan0 14A#3F80000040000000
+    sleep 0.5
+    cansend vcan0 14A#3F80000040000000
+    wait $ECHO_PID
+  ' 2>/dev/null) || true
+
+  if echo "$output" | grep -q "mcu_name: core" && echo "$output" | grep -q "command_id: 10"; then
+    pass "CAN connector: float32x2 data type"
+  else
+    fail "CAN connector: float32x2 data type"
+  fi
+
+  kill -INT -- -"$ANCHOR_PID" 2>/dev/null || true
+  wait "$ANCHOR_PID" 2>/dev/null || true
+  ANCHOR_PID=""
+}
+
+check_prerequisites() {
+  log "checking prerequisites"
+  local missing=0
+
+  if [[ ! -f install/setup.bash ]]; then
+    fail "install/setup.bash not found; run 'colcon build --symlink-install' first"
+    missing=1
+  fi
+
+  if ! command -v socat &>/dev/null; then
+    fail "socat not found; install it or use 'nix develop'"
+    missing=1
+  fi
+
+  if ! command -v cansend &>/dev/null || ! command -v candump &>/dev/null; then
+    fail "can-utils (cansend/candump) not found; install it or use 'nix develop'"
+    missing=1
+  fi
+
+  if ! ip link show vcan0 &>/dev/null; then
+    fail "vcan0 interface not found"
+    log "  create it with:"
+    log "    sudo ip link add dev vcan0 type vcan"
+    log "    sudo ip link set vcan0 up"
+    missing=1
+  elif ! ip link show vcan0 | grep -q ",UP"; then
+    fail "vcan0 exists but is not UP"
+    log "  enable it with: sudo ip link set vcan0 up"
+    missing=1
+  fi
+
+  if [[ $missing -eq 1 ]]; then
+    echo ""
+    log "prerequisites not met"
+    exit 1
+  fi
+
+  log "all prerequisites met"
+}
+
+main() {
+  echo ""
+  log "anchor connector test suite"
+  echo ""
+
+  check_prerequisites
+
+  log "sourcing ROS2 workspace"
+  source_ros2
+
+  test_mock_connector
+  test_serial_connector
+  test_can_connector
+
+  echo ""
+  log "test summary"
+  echo -e "${BOLD}${GREEN}passed:${NC} $TESTS_PASSED"
+  echo -e "${BOLD}${RED}failed:${NC} $TESTS_FAILED"
+  echo ""
+
+  if [[ $TESTS_FAILED -gt 0 ]]; then
+    exit 1
+  fi
+  exit 0
+}
+
+main "$@"

src/anchor_pkg/anchor_pkg/anchor_node.py

@@ -1,24 +1,24 @@
+from warnings import deprecated
 import rclpy
 from rclpy.node import Node
-from std_srvs.srv import Empty
+from rclpy.executors import ExternalShutdownException, SingleThreadedExecutor
+from rcl_interfaces.msg import ParameterDescriptor, ParameterType
 
-import signal
+from .connector import (
-import time
+    Connector,
-import atexit
+    MockConnector,
+    SerialConnector,
+    CANConnector,
+    NoValidDeviceException,
+    NoWorkingDeviceException,
+)
+from .convert import string_to_viccan, viccan_to_string
 
-import serial
-import os
-import sys
-import threading
-import glob
-
-from std_msgs.msg import String, Header
 from astra_msgs.msg import VicCAN
-
+from std_msgs.msg import String
-serial_pub = None
-thread = None
 
 
+class Anchor(Node):
     """
     Publishers:
     * /anchor/from_vic/debug
@@ -29,254 +29,227 @@ Publishers:
         - VicCAN messages for Arm node
     * /anchor/from_vic/bio
         - VicCAN messages for Bio node
+    * /anchor/to_vic/debug
+        - A string copy of the messages published to ./relay are published here
 
     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 VicCAN 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
-    - Publish raw strings to this topic to send directly to the MCU for debugging
+        - 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
 
-class SerialRelay(Node):
     def __init__(self):
-        # Initalize node with name
+        super().__init__("anchor_node")
-        super().__init__("anchor_node")  # previously 'serial_publisher'
 
-        # Loop through all serial devices on the computer to check for the MCU
+        logger = self.get_logger()
-        self.port = None
+
-        if port_override := os.getenv("PORT_OVERRIDE"):
+        # ROS2 Parameter Setup
-            self.port = port_override
+
-        ports = SerialRelay.list_serial_ports()
+        self.declare_parameter(
-        for i in range(4):
+            "connector",
-            if self.port is not None:
+            "auto",
-                break
+            ParameterDescriptor(
-            for port in ports:
+                name="connector",
+                description="Declares which MCU connector should be used. Defaults to 'auto'.",
+                type=ParameterType.PARAMETER_STRING,
+                additional_constraints="Must be 'serial', 'can', 'mock', or 'auto'.",
+            ),
+        )
+
+        self.declare_parameter(
+            "can_override",
+            "",
+            ParameterDescriptor(
+                name="can_override",
+                description="Overrides which CAN channel will be used. Defaults to ''.",
+                type=ParameterType.PARAMETER_STRING,
+                additional_constraints="Must be a valid CAN network that shows up in `ip link show`.",
+            ),
+        )
+
+        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
+        )
+        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(), serial_override
+                )
+            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:
-                    # connect and send a ping command
+                    logger.info("trying CAN connector")
-                    ser = serial.Serial(port, 115200, timeout=1)
+                    self.connector = CANConnector(
-                    # (f"Checking port {port}...")
+                        logger, self.get_clock(), can_override
-                    ser.write(b"ping\n")
+                    )
-                    response = ser.read_until(bytes("\n", "utf8"))
+                except (NoValidDeviceException, NoWorkingDeviceException, TypeError):
+                    logger.info("CAN connector failed, trying serial connector")
+                    self.connector = SerialConnector(
+                        logger, self.get_clock(), serial_override
+                    )
+            case _:
+                logger.fatal(
+                    f"invalid value for connector parameter: {connector_select}"
+                )
+                exit(1)
 
-                    # if pong is in response, then we are talking with the MCU
+        # ROS2 Topic Setup
-                    if b"pong" in response:
-                        self.port = port
-                        self.get_logger().info(f"Found MCU at {self.port}!")
-                        break
-                except:
-                    pass
 
-        if self.port is None:
+        # Publishers
-            self.get_logger().info("Unable to find MCU...")
+        self.fromvic_debug_pub_ = self.create_publisher(  # only used by serial
-            time.sleep(1)
+            String,
-            sys.exit(1)
+            "/anchor/from_vic/debug",
-
+            20,
-        self.ser = serial.Serial(self.port, 115200)
-        self.get_logger().info(f"Enabling Relay Mode")
-        self.ser.write(b"can_relay_mode,on\n")
-        atexit.register(self.cleanup)
-
-        # New pub/sub with VicCAN
-        self.fromvic_debug_pub_ = self.create_publisher(
-            String, "/anchor/from_vic/debug", 20
         )
         self.fromvic_core_pub_ = self.create_publisher(
-            VicCAN, "/anchor/from_vic/core", 20
+            VicCAN,
+            "/anchor/from_vic/core",
+            20,
         )
         self.fromvic_arm_pub_ = self.create_publisher(
-            VicCAN, "/anchor/from_vic/arm", 20
+            VicCAN,
+            "/anchor/from_vic/arm",
+            20,
         )
         self.fromvic_bio_pub_ = self.create_publisher(
-            VicCAN, "/anchor/from_vic/bio", 20
+            VicCAN,
+            "/anchor/from_vic/bio",
+            20,
+        )
+        # Debug publisher
+        self.tovic_debug_pub_ = self.create_publisher(
+            String,
+            "/anchor/to_vic/debug",
+            20,
         )
 
-        self.mock_mcu_sub_ = self.create_subscription(
+        # Subscribers
-            String, "/anchor/from_vic/mock_mcu", self.on_mock_fromvic, 20
-        )
         self.tovic_sub_ = self.create_subscription(
-            VicCAN, "/anchor/to_vic/relay", self.on_relay_tovic_viccan, 20
+            VicCAN,
+            "/anchor/to_vic/relay",
+            self.write_connector,
+            20,
         )
-        self.tovic_debug_sub_ = self.create_subscription(
+        self.tovic_sub_legacy_ = self.create_subscription(
-            String, "/anchor/to_vic/relay_string", self.on_relay_tovic_string, 20
+            String,
+            "/anchor/relay",
+            self.write_connector_legacy,
+            20,
+        )
+        self.mock_mcu_sub_ = self.create_subscription(
+            VicCAN,
+            "/anchor/from_vic/mock_mcu",
+            self.relay_fromvic,
+            20,
+        )
+        self.tovic_string_sub_ = self.create_subscription(
+            String,
+            "/anchor/to_vic/relay_string",
+            self.write_connector_raw,
+            20,
         )
 
-        # Create publishers
+        # poll at 100Hz for incoming data
-        self.arm_pub = self.create_publisher(String, "/anchor/arm/feedback", 10)
+        self.read_timer_ = self.create_timer(0.01, self.read_connector)
-        self.core_pub = self.create_publisher(String, "/anchor/core/feedback", 10)
-        self.bio_pub = self.create_publisher(String, "/anchor/bio/feedback", 10)
 
-        self.debug_pub = self.create_publisher(String, "/anchor/debug", 10)
+    def destroy_node(self):
+        self.get_logger().info("closing connector")
+        self.connector.cleanup()
+        super().destroy_node()
 
-        # Create a subscriber
+    def read_connector(self):
-        self.relay_sub = self.create_subscription(
+        """Check the connector for new data from the MCU, and publish string to appropriate topics"""
-            String, "/anchor/relay", self.on_relay_tovic_string, 10
+        viccan, raw = self.connector.read()
+
+        if raw:
+            self.fromvic_debug_pub_.publish(String(data=raw))
+
+        if viccan:
+            self.relay_fromvic(viccan)
+
+    def write_connector(self, msg: VicCAN):
+        """Write to the connector and send a copy to /anchor/to_vic/debug"""
+        self.connector.write(msg)
+        self.tovic_debug_pub_.publish(String(data=viccan_to_string(msg)))
+
+    def write_connector_raw(self, msg: String):
+        """Write raw string to the connector and send a copy to /anchor/to_vic/debug"""
+        self.connector.write_raw(msg)
+        self.tovic_debug_pub_.publish(msg)
+
+    @deprecated(
+        "Use /anchor/to_vic/relay or /anchor/to_vic/relay_string instead of /anchor/relay"
     )
-
+    def write_connector_legacy(self, msg: String):
-    def run(self):
+        """Write to the connector by first attempting to convert String to VicCAN"""
-        # This thread makes all the update processes run in the background
+        # please do not reference this code. ~riley
-        global thread
+        for cmd in msg.data.split("\n"):
-        thread = threading.Thread(target=rclpy.spin, args={self}, daemon=True)
+            viccan = string_to_viccan(
-        thread.start()
+                cmd,
-
+                "anchor",
-        try:
+                self.get_logger(),
-            while rclpy.ok():
+                self.get_clock().now().to_msg(),
-                self.read_MCU()  # Check the MCU for updates
-        except KeyboardInterrupt:
-            sys.exit(0)
-
-    def read_MCU(self):
-        """Check the USB serial port for new data from the MCU, and publish string to appropriate topics"""
-        try:
-            output = str(self.ser.readline(), "utf8")
-
-            if output:
-                self.relay_fromvic(output)
-                # All output over debug temporarily
-                # self.get_logger().info(f"[MCU] {output}")
-                msg = String()
-                msg.data = output
-                self.debug_pub.publish(msg)
-                if output.startswith("can_relay_fromvic,core"):
-                    self.core_pub.publish(msg)
-                elif output.startswith("can_relay_fromvic,arm") or output.startswith(
-                    "can_relay_fromvic,digit"
-                ):  # digit for voltage readings
-                    self.arm_pub.publish(msg)
-                if output.startswith("can_relay_fromvic,citadel") or output.startswith(
-                    "can_relay_fromvic,digit"
-                ):  # digit for SHT sensor
-                    self.bio_pub.publish(msg)
-                # msg = String()
-                # msg.data = output
-                # self.debug_pub.publish(msg)
-                return
-        except serial.SerialException as e:
-            print(f"SerialException: {e}")
-            print("Closing serial port.")
-            if self.ser.is_open:
-                self.ser.close()
-            exit(1)
-        except TypeError as e:
-            print(f"TypeError: {e}")
-            print("Closing serial port.")
-            if self.ser.is_open:
-                self.ser.close()
-            exit(1)
-        except Exception as e:
-            print(f"Exception: {e}")
-            # print("Closing serial port.")
-            # if self.ser.is_open:
-            #     self.ser.close()
-            # exit(1)
-
-    def on_mock_fromvic(self, msg: String):
-        """For testing without an actual MCU, publish strings here as if they came from an MCU"""
-        # self.get_logger().info(f"Got command from mock MCU: {msg}")
-        self.relay_fromvic(msg.data)
-
-    def on_relay_tovic_viccan(self, msg: VicCAN):
-        """Relay a VicCAN message to the MCU"""
-        output: str = f"can_relay_tovic,{msg.mcu_name},{msg.command_id}"
-        for num in msg.data:
-            output += f",{round(num, 7)}"  # limit to 7 decimal places
-        output += "\n"
-        # self.get_logger().info(f"VicCAN relay to MCU: {output}")
-        self.ser.write(bytes(output, "utf8"))
-
-    def relay_fromvic(self, msg: str):
-        """Relay a string message from the MCU to the appropriate VicCAN topic"""
-        self.fromvic_debug_pub_.publish(String(data=msg))
-        parts = msg.strip().split(",")
-        if len(parts) > 0 and parts[0] != "can_relay_fromvic":
-            self.get_logger().debug(f"Ignoring non-VicCAN message: '{msg.strip()}'")
-            return
-
-        # String validation
-        malformed: bool = False
-        malformed_reason: str = ""
-        if len(parts) < 3 or len(parts) > 7:
-            malformed = True
-            malformed_reason = (
-                f"invalid argument count (expected [3,7], got {len(parts)})"
             )
-        elif parts[1] not in ["core", "arm", "digit", "citadel", "broadcast"]:
+            if viccan:
-            malformed = True
+                self.write_connector(viccan)
-            malformed_reason = f"invalid mcu_name '{parts[1]}'"
-        elif not (parts[2].isnumeric()) or int(parts[2]) < 0:
-            malformed = True
-            malformed_reason = f"command_id '{parts[2]}' is not a non-negative integer"
-        else:
-            for x in parts[3:]:
-                try:
-                    float(x)
-                except ValueError:
-                    malformed = True
-                    malformed_reason = f"data '{x}' is not a float"
-                    break
 
-        if malformed:
+    def relay_fromvic(self, msg: VicCAN):
-            self.get_logger().warning(
+        """Relay a message from the MCU to the appropriate VicCAN topic"""
-                f"Ignoring malformed from_vic message: '{msg.strip()}'; reason: {malformed_reason}"
+        if msg.mcu_name == "core":
-            )
+            self.fromvic_core_pub_.publish(msg)
-            return
+        if msg.mcu_name == "arm" or msg.mcu_name == "digit":
-
+            self.fromvic_arm_pub_.publish(msg)
-        # Have valid VicCAN message
+        if msg.mcu_name == "citadel" or msg.mcu_name == "digit":
-
+            self.fromvic_bio_pub_.publish(msg)
-        output = VicCAN()
-        output.mcu_name = parts[1]
-        output.command_id = int(parts[2])
-        if len(parts) > 3:
-            output.data = [float(x) for x in parts[3:]]
-        output.header = Header(
-            stamp=self.get_clock().now().to_msg(), frame_id="from_vic"
-        )
-
-        # self.get_logger().info(f"Relaying from MCU: {output}")
-        if output.mcu_name == "core":
-            self.fromvic_core_pub_.publish(output)
-        elif output.mcu_name == "arm" or output.mcu_name == "digit":
-            self.fromvic_arm_pub_.publish(output)
-        elif output.mcu_name == "citadel" or output.mcu_name == "digit":
-            self.fromvic_bio_pub_.publish(output)
-
-    def on_relay_tovic_string(self, msg: String):
-        """Relay a raw string message to the MCU for debugging"""
-        message = msg.data
-        # self.get_logger().info(f"Sending command to MCU: {msg}")
-        self.ser.write(bytes(message, "utf8"))
-
-    @staticmethod
-    def list_serial_ports():
-        return glob.glob("/dev/ttyUSB*") + glob.glob("/dev/ttyACM*")
-
-    def cleanup(self):
-        print("Cleaning up before terminating...")
-        if self.ser.is_open:
-            self.ser.close()
-
-
-def myexcepthook(type, value, tb):
-    print("Uncaught exception:", type, value)
-    if serial_pub:
-        serial_pub.cleanup()
 
 
 def main(args=None):
     rclpy.init(args=args)
-    sys.excepthook = myexcepthook
+    anchor_node = Anchor()
+    executor = SingleThreadedExecutor()
+    executor.add_node(anchor_node)
 
-    global serial_pub
+    try:
-
+        executor.spin()
-    serial_pub = SerialRelay()
+    except (KeyboardInterrupt, ExternalShutdownException):
-    serial_pub.run()
+        pass
-
+    finally:
-
+        # don't accept any more jobs
-if __name__ == "__main__":
+        executor.shutdown()
-    # signal.signal(signal.SIGTSTP, lambda signum, frame: sys.exit(0))  # Catch Ctrl+Z and exit cleanly
+        # make the node quit processing things
-    signal.signal(
+        anchor_node.destroy_node()
-        signal.SIGTERM, lambda signum, frame: sys.exit(0)
+        # shut down everything else
-    )  # Catch termination signals and exit cleanly
+        rclpy.try_shutdown()
-    main()

src/anchor_pkg/anchor_pkg/connector.py

@@ -0,0 +1,507 @@
+from abc import ABC, abstractmethod
+from time import monotonic
+from typing import TYPE_CHECKING
+from astra_msgs.msg import VicCAN
+from std_msgs.msg import String
+from rclpy.clock import Clock
+from rclpy.impl.rcutils_logger import RcutilsLogger
+from .convert import string_to_viccan as _string_to_viccan, viccan_to_string
+
+# CAN
+import can
+import can.interfaces.socketcan
+import struct
+
+# Serial
+import serial
+import serial.tools.list_ports
+
+KNOWN_USBS = [
+    (0x2E8A, 0x00C0),  # Raspberry Pi Pico
+    (0x1A86, 0x55D4),  # Adafruit Feather ESP32 V2
+    (0x10C4, 0xEA60),  # DOIT ESP32 Devkit V1
+    (0x1A86, 0x55D3),  # ESP32 S3 Development Board
+]
+
+BAUD_RATE = 115200
+
+SERIAL_READ_TIMEOUT = 0.5  # seconds
+
+MCU_IDS = [
+    "broadcast",
+    "core",
+    "arm",
+    "digit",
+    "faerie",
+    "citadel",
+    "libs",
+]
+
+
+class NoValidDeviceException(Exception):
+    pass
+
+
+class NoWorkingDeviceException(Exception):
+    pass
+
+
+class MultipleValidDevicesException(Exception):
+    pass
+
+
+class DeviceClosedException(Exception):
+    pass
+
+
+class Connector(ABC):
+    logger: RcutilsLogger
+    clock: Clock
+
+    def string_to_viccan(self, msg: str, mcu_name: str):
+        """function currying so that we do not need to pass logger and clock every time"""
+        return _string_to_viccan(
+            msg,
+            mcu_name,
+            self.logger,
+            self.clock.now().to_msg(),
+        )
+
+    def __init__(self, logger: RcutilsLogger, clock: Clock):
+        self.logger = logger
+        self.clock = clock
+
+    @abstractmethod
+    def read(self) -> tuple[VicCAN | None, str | None]:
+        """
+        Must return a tuple of (VicCAN, debug message or string repr of VicCAN)
+        """
+        pass
+
+    @abstractmethod
+    def write(self, msg: VicCAN):
+        pass
+
+    @abstractmethod
+    def write_raw(self, msg: String):
+        pass
+
+    def cleanup(self):
+        pass
+
+
+class SerialConnector(Connector):
+    port: str
+    mcu_name: str
+    serial_interface: serial.Serial
+
+    def __init__(self, logger: RcutilsLogger, clock: Clock, serial_override: str = ""):
+        super().__init__(logger, clock)
+
+        ports = self._find_ports()
+        mcu_name: str | None = None
+
+        # Serial buffering
+        self._serial_buffer: bytes = b""
+        self._last_read_time = monotonic()
+
+        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")
+        if (l := len(ports)) > 1:
+            raise MultipleValidDevicesException(
+                f"too many ({l}) valid serial devices found"
+            )
+
+        # check each of our ports to make sure one of them is responding
+        port = ports[0]
+        # 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"
+            )
+
+        self.port = port
+        self.mcu_name = mcu_name
+
+        # if we fail at this point, it should crash because we've already tested the port
+        self.serial_interface = serial.Serial(self.port, BAUD_RATE, timeout=0)
+
+    def _find_ports(self) -> list[str]:
+        """
+        Finds all valid ports but does not test them
+
+        returns: all valid ports
+        """
+        comports = serial.tools.list_ports.comports()
+        valid_ports = list(
+            map(  # get just device strings
+                lambda p: p.device,
+                filter(  # make sure we have a known device
+                    lambda p: (p.vid, p.pid) in KNOWN_USBS and p.device is not None,
+                    comports,
+                ),
+            )
+        )
+        self.logger.info(f"found valid MCU ports: [ {', '.join(valid_ports)} ]")
+        return valid_ports
+
+    def _get_name(self, port: str) -> str | None:
+        """
+        Get the name of the MCU (if it works)
+
+        returns: str name of the MCU, None if it doesn't work
+        """
+        # attempt to open the serial port
+        serial_interface: serial.Serial
+        try:
+            self.logger.info(f"asking {port} for its name")
+            serial_interface = serial.Serial(port, BAUD_RATE, timeout=1)
+
+            serial_interface.write(b"can_relay_mode,on\n")
+
+            for i in range(4):
+                self.logger.debug(f"attempt {i + 1} of 4 asking {port} for its name")
+                response = serial_interface.read_until(bytes("\n", "utf8"))
+                try:
+                    if b"can_relay_ready" in response:
+                        args: list[str] = response.decode("utf8").strip().split(",")
+                        if len(args) == 2:
+                            self.logger.info(f"we are talking to {args[1]}")
+                            return args[1]
+                        break
+                except UnicodeDecodeError as e:
+                    self.logger.info(
+                        f"ignoring UnicodeDecodeError when asking for MCU name: {e}"
+                    )
+
+            if serial_interface.is_open:
+                # turn relay mode off if it failed to respond with its name
+                serial_interface.write(b"can_relay_mode,off\n")
+                serial_interface.close()
+        except serial.SerialException as e:
+            self.logger.error(f"SerialException when asking for MCU name: {e}")
+
+        return None
+
+    def _try_readline(self) -> str | None:
+        """Attempts to read a full string from the MCU without blocking.
+
+        When pyserial is used with 'timeout=0', reads are performed non-blocking.
+        When used with interface.readline(), this breaks the assumption that a returned
+        string will be a completed attempt by the MCU to send a string; it may be
+        cut off between the start of the string and the newline, removing information
+        and rendering the string(s) useless; thus, to get around the downside of readline()
+        not waiting for a newline while still not blocking, this function manually
+        implements a serial input buffer and newline timeout.
+
+        If readline() returns a non-empty string, send it if it ends with a newline
+        (readline() will not read past any newline); otherwise, save the read string.
+        This buffered string should be pre-pended to the next readline() result.
+
+        If readline() does not receive a non-empty string after the last non-newline-
+        terminated readline() result within the manual timeout, send the contents of the
+        buffer as if it ended with a newline, and clear the buffer.
+
+        Returns:
+            str: A hopefully-complete string read from the MCU via the serial interface.
+        """
+        if TYPE_CHECKING:
+            assert type(self.serial_interface) == serial.Serial
+
+        # Warn on buffer timeout, as the only scenarios that would trigger this are
+        # a microcontroller output that isn't newline-terminated (bad), or the MCU is
+        # hanging (also bad).
+        if (
+            self._serial_buffer
+            and (monotonic() - self._last_read_time) > SERIAL_READ_TIMEOUT
+        ):
+            self.logger.warn(
+                f"Serial buffer timeout, last received '{self._serial_buffer}'."
+            )
+            result = self._serial_buffer
+            self._serial_buffer = b""
+            self._last_read_time = monotonic()
+            return str(result, "utf8").strip()
+
+        # No try-except here so caller catches it instead.
+        raw = self.serial_interface.readline()
+
+        # Empty or whitespace-only string
+        if not raw or not raw.strip():
+            return None
+
+        # Add to buffer or send finished buffer
+        if not (raw.endswith(b"\n") or raw.endswith(b"\r")):  # unfinished string
+            self._serial_buffer += raw
+            self._last_read_time = monotonic()
+            return None
+        else:
+            result = self._serial_buffer + raw
+            self._serial_buffer = b""
+            return str(result, "utf8").strip()
+
+    def read(self) -> tuple[VicCAN | None, str | None]:
+        try:
+            raw = self._try_readline()
+
+            if not raw:
+                return (None, None)
+
+            return (
+                self.string_to_viccan(raw, self.mcu_name),
+                raw,
+            )
+        except serial.SerialException as e:
+            self.logger.error(f"SerialException: {e}")
+            raise DeviceClosedException(f"serial port {self.port} closed unexpectedly")
+        except Exception:
+            return (None, None)  # pretty much no other error matters
+
+    def write(self, msg: VicCAN):
+        self.write_raw(String(data=viccan_to_string(msg)))
+
+    def write_raw(self, msg: String):
+        self.serial_interface.write(bytes(msg.data, "utf8"))
+
+    def cleanup(self):
+        self.logger.info(f"closing serial port if open {self.port}")
+        try:
+            if self.serial_interface.is_open:
+                self.serial_interface.close()
+        except Exception as e:
+            self.logger.error(e)
+
+
+class CANConnector(Connector):
+    def __init__(self, logger: RcutilsLogger, clock: Clock, can_override: str):
+        super().__init__(logger, clock)
+
+        self.can_channel: str | None = None
+        self.can_bus: can.BusABC | None = None
+
+        avail = can.interfaces.socketcan.SocketcanBus._detect_available_configs()
+
+        if len(avail) == 0:
+            raise NoValidDeviceException("no CAN interfaces found")
+
+        # filter to busses whose channel matches the can_override
+        if can_override:
+            self.logger.info(f"overrode can interface with {can_override}")
+            avail = list(
+                filter(
+                    lambda b: b.get("channel") == can_override,
+                    avail,
+                )
+            )
+
+        if (l := len(avail)) > 1:
+            channels = ", ".join(str(b.get("channel")) for b in avail)
+            raise MultipleValidDevicesException(
+                f"too many ({l}) CAN interfaces found: [{channels}]"
+            )
+
+        bus = avail[0]
+        self.can_channel = str(bus.get("channel"))
+        self.logger.info(f"found CAN interface '{self.can_channel}'")
+
+        try:
+            self.can_bus = can.Bus(
+                interface="socketcan",
+                channel=self.can_channel,
+                bitrate=1_000_000,
+            )
+        except can.CanError as e:
+            raise NoWorkingDeviceException(
+                f"could not open CAN channel '{self.can_channel}': {e}"
+            )
+
+        if self.can_channel and self.can_channel.startswith("v"):
+            self.logger.warn("CAN interface is likely virtual")
+
+    def read(self) -> tuple[VicCAN | None, str | None]:
+        if not self.can_bus:
+            raise DeviceClosedException("CAN bus not initialized")
+
+        try:
+            message = self.can_bus.recv(timeout=0.0)
+        except can.CanError as e:
+            self.logger.error(f"CAN error while receiving: {e}")
+            raise DeviceClosedException("CAN bus closed unexpectedly")
+
+        if message is None:
+            return (None, None)
+
+        arbitration_id = message.arbitration_id & 0x7FF
+        data_bytes = bytes(message.data)
+
+        mcu_key = (arbitration_id >> 8) & 0b111
+        data_type_key = (arbitration_id >> 6) & 0b11
+        command = arbitration_id & 0x3F
+
+        try:
+            mcu_name = MCU_IDS[mcu_key]
+        except IndexError:
+            self.logger.warn(
+                f"received CAN frame with unknown MCU key {mcu_key}; id=0x{arbitration_id:X}"
+            )
+            return (None, None)
+
+        data: list[float] = []
+
+        try:
+            if data_type_key == 3:
+                data = []
+            elif data_type_key == 0:
+                if len(data_bytes) < 8:
+                    self.logger.warn(
+                        f"received double payload with insufficient length {len(data_bytes)}; dropping frame"
+                    )
+                    return (None, None)
+                (value,) = struct.unpack(">d", data_bytes[:8])
+                data = [float(value)]
+            elif data_type_key == 1:
+                if len(data_bytes) < 8:
+                    self.logger.warn(
+                        f"received float32x2 payload with insufficient length {len(data_bytes)}; dropping frame"
+                    )
+                    return (None, None)
+                v1, v2 = struct.unpack(">ff", data_bytes[:8])
+                data = [float(v1), float(v2)]
+            elif data_type_key == 2:
+                if len(data_bytes) < 8:
+                    self.logger.warn(
+                        f"received int16x4 payload with insufficient length {len(data_bytes)}; dropping frame"
+                    )
+                    return (None, None)
+                i1, i2, i3, i4 = struct.unpack(">hhhh", data_bytes[:8])
+                data = [float(i1), float(i2), float(i3), float(i4)]
+            else:
+                self.logger.warn(
+                    f"received CAN frame with unknown data_type_key {data_type_key}; id=0x{arbitration_id:X}"
+                )
+                return (None, None)
+        except struct.error as e:
+            self.logger.error(f"error unpacking CAN payload: {e}")
+            return (None, None)
+
+        viccan = VicCAN(
+            mcu_name=mcu_name,
+            command_id=int(command),
+            data=data,
+        )
+
+        self.logger.debug(
+            f"received CAN frame id=0x{message.arbitration_id:X}, "
+            f"decoded as VicCAN(mcu_name={viccan.mcu_name}, command_id={viccan.command_id}, data={viccan.data})"
+        )
+
+        return (
+            viccan,
+            f"{viccan.mcu_name},{viccan.command_id},"
+            + ",".join(map(str, list(viccan.data))),
+        )
+
+    def write(self, msg: VicCAN):
+        if not self.can_bus:
+            raise DeviceClosedException("CAN bus not initialized")
+
+        # build 11-bit arbitration ID according to VicCAN spec:
+        # bits 10..8: targeted MCU key
+        # bits 7..6:  data type key
+        # bits 5..0:  command
+
+        # map MCU name to 3-bit key.
+        try:
+            mcu_id = MCU_IDS.index((msg.mcu_name or "").lower())
+        except ValueError:
+            self.logger.error(
+                f"unknown VicCAN mcu_name '{msg.mcu_name}' for CAN frame; dropping message"
+            )
+            return
+
+        # determine data type from length:
+        # 0: double x1, 1: float32 x2, 2: int16 x4, 3: empty
+        match data_len := len(msg.data):
+            case 0:
+                data_type = 3
+                data = bytes()
+            case 1:
+                data_type = 0
+                data = struct.pack(">d", *msg.data)
+            case 2:
+                data_type = 1
+                data = struct.pack(">ff", *msg.data)
+            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(
+                    f"unexpected VicCAN data length: {data_len}; dropping message"
+                )
+                return
+
+        # command is limited to 6 bits.
+        command = int(msg.command_id)
+        if command < 0 or command > 0x3F:
+            self.logger.error(
+                f"invalid command_id for CAN frame: {command}; dropping message"
+            )
+            return
+
+        try:
+            can_message = can.Message(
+                arbitration_id=(mcu_id << 8) | (data_type << 6) | command,
+                data=data,
+                is_extended_id=False,
+            )
+        except Exception as e:
+            self.logger.error(f"failed to construct CAN message: {e}")
+            return
+
+        try:
+            self.can_bus.send(can_message)
+            self.logger.debug(
+                f"sent CAN frame id=0x{can_message.arbitration_id:X}, "
+                f"data={list(can_message.data)}"
+            )
+        except can.CanError as e:
+            self.logger.error(f"CAN error while sending: {e}")
+            raise DeviceClosedException("CAN bus closed unexpectedly")
+
+    def write_raw(self, msg: String):
+        self.logger.warn(
+            f"write_raw is not supported for CANConnector. msg: {msg.data}"
+        )
+
+    def cleanup(self):
+        try:
+            if self.can_bus is not None:
+                self.logger.info("shutting down CAN bus")
+                self.can_bus.shutdown()
+        except Exception as e:
+            self.logger.error(e)
+
+
+class MockConnector(Connector):
+    def __init__(self, logger: RcutilsLogger, clock: Clock):
+        super().__init__(logger, clock)
+        # No hardware interface for MockConnector. Publish to `/anchor/from_vic/mock_mcu` instead.
+
+    def read(self) -> tuple[VicCAN | None, str | None]:
+        return (None, None)
+
+    def write(self, msg: VicCAN):
+        pass
+
+    def write_raw(self, msg: String):
+        pass

src/anchor_pkg/anchor_pkg/convert.py

@@ -0,0 +1,65 @@
+from astra_msgs.msg import VicCAN
+from std_msgs.msg import Header
+from builtin_interfaces.msg import Time
+from rclpy.impl.rcutils_logger import RcutilsLogger
+
+
+def string_to_viccan(
+    msg: str, mcu_name: str, logger: RcutilsLogger, time: Time
+) -> VicCAN | None:
+    """
+    Converts the serial string VicCAN format to a ROS2 VicCAN message.
+    Does not fill out the Header of the message.
+    On a failure, it will log at a debug level why it failed and return None.
+    """
+
+    parts: list[str] = msg.strip().split(",")
+
+    # don't need an extra check because len of .split output is always >= 1
+    if not parts[0].startswith("can_relay_"):
+        logger.debug(f"got non-CAN data from {mcu_name}: {msg}")
+        return None
+    elif len(parts) < 3:
+        logger.debug(f"got garbage (not enough parts) CAN data from {mcu_name}: {msg}")
+        return None
+    elif len(parts) > 7:
+        logger.debug(f"got garbage (too many parts) CAN data from {mcu_name}: {msg}")
+        return None
+
+    try:
+        command_id = int(parts[2])
+    except ValueError:
+        logger.debug(
+            f"got garbage (non-integer command id) CAN data from {mcu_name}: {msg}"
+        )
+        return None
+
+    if command_id not in range(64):
+        logger.debug(
+            f"got garbage (wrong command id {command_id}) CAN data from {mcu_name}: {msg}"
+        )
+        return None
+
+    try:
+        return VicCAN(
+            header=Header(
+                stamp=time,
+                frame_id="from_vic",
+            ),
+            mcu_name=parts[1],
+            command_id=command_id,
+            data=[float(x) for x in parts[3:]],
+        )
+    except ValueError:
+        logger.debug(f"got garbage (non-numerical) CAN data from {mcu_name}: {msg}")
+        return None
+
+
+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"

src/anchor_pkg/launch/rover.launch.py

@@ -1,136 +1,111 @@
-#!/usr/bin/env python3
-
 from launch import LaunchDescription
-from launch.actions import DeclareLaunchArgument, OpaqueFunction, Shutdown
+from launch.actions import DeclareLaunchArgument, Shutdown
-from launch.substitutions import (
+from launch.conditions import IfCondition
-    LaunchConfiguration,
+from launch.substitutions import LaunchConfiguration
-    ThisLaunchFileDir,
-    PathJoinSubstitution,
-)
 from launch_ros.actions import Node
 
 
-# Prevent making __pycache__ directories
+def generate_launch_description():
-from sys import dont_write_bytecode
+    connector = LaunchConfiguration("connector")
+    serial_override = LaunchConfiguration("serial_override")
+    can_override = LaunchConfiguration("can_override")
+    use_ptz = LaunchConfiguration("use_ptz")
 
-dont_write_bytecode = True
+    ld = LaunchDescription()
 
+    # arguments
+    ld.add_action(
+        DeclareLaunchArgument(
+            "connector",
+            default_value="auto",
+            description="Connector parameter for anchor node (default: 'auto')",
+        )
+    )
 
-def launch_setup(context, *args, **kwargs):
+    ld.add_action(
-    # Retrieve the resolved value of the launch argument 'mode'
+        DeclareLaunchArgument(
-    mode = LaunchConfiguration("mode").perform(context)
+            "serial_override",
-    nodes = []
+            default_value="",
+            description="Serial port override parameter for anchor node (default: '')",
+        )
+    )
 
-    if mode == "anchor":
+    ld.add_action(
-        # Launch every node and pass "anchor" as the parameter
+        DeclareLaunchArgument(
+            "can_override",
+            default_value="",
+            description="CAN network override parameter for anchor node (default: '')",
+        )
+    )
 
-        nodes.append(
+    ld.add_action(
-            Node(
+        DeclareLaunchArgument(
-                package="arm_pkg",
+            "use_ptz",
-                executable="arm",  # change as needed
+            default_value="true",  # must be string for launch system
-                name="arm",
+            description="Whether to launch PTZ node (default: true)",
-                output="both",
-                parameters=[{"launch_mode": mode}],
-                on_exit=Shutdown(),
         )
     )
-        nodes.append(
+
-            Node(
+    # nodes
-                package="core_pkg",
+    ld.add_action(
-                executable="core",  # change as needed
-                name="core",
-                output="both",
-                parameters=[{"launch_mode": mode}],
-                on_exit=Shutdown(),
-            )
-        )
-        nodes.append(
-            Node(
-                package="core_pkg",
-                executable="ptz",  # change as needed
-                name="ptz",
-                output="both",
-                # Currently don't shutdown all nodes if the PTZ node fails, as it is not critical
-                # on_exit=Shutdown()  # Uncomment if you want to shutdown on PTZ failure
-            )
-        )
-        nodes.append(
-            Node(
-                package="bio_pkg",
-                executable="bio",  # change as needed
-                name="bio",
-                output="both",
-                parameters=[{"launch_mode": mode}],
-                on_exit=Shutdown(),
-            )
-        )
-        nodes.append(
-            Node(
-                package="anchor_pkg",
-                executable="anchor",  # change as needed
-                name="anchor",
-                output="both",
-                parameters=[{"launch_mode": mode}],
-                on_exit=Shutdown(),
-            )
-        )
-    elif mode in ["arm", "core", "bio", "ptz"]:
-        # Only launch the node corresponding to the provided mode.
-        if mode == "arm":
-            nodes.append(
         Node(
             package="arm_pkg",
             executable="arm",
             name="arm",
             output="both",
-                    parameters=[{"launch_mode": mode}],
+            parameters=[{"launch_mode": "anchor"}],
             on_exit=Shutdown(),
         )
     )
-        elif mode == "core":
+
-            nodes.append(
+    ld.add_action(
         Node(
             package="core_pkg",
             executable="core",
             name="core",
             output="both",
-                    parameters=[{"launch_mode": mode}],
+            parameters=[{"launch_mode": "anchor"}],
             on_exit=Shutdown(),
         )
     )
-        elif mode == "bio":
+
-            nodes.append(
+    ld.add_action(
-                Node(
-                    package="bio_pkg",
-                    executable="bio",
-                    name="bio",
-                    output="both",
-                    parameters=[{"launch_mode": mode}],
-                    on_exit=Shutdown(),
-                )
-            )
-        elif mode == "ptz":
-            nodes.append(
         Node(
             package="core_pkg",
             executable="ptz",
             name="ptz",
             output="both",
-                    on_exit=Shutdown(),  # on fail, shutdown if this was the only node to be launched
+            condition=IfCondition(use_ptz),
         )
     )
-    else:
-        # If an invalid mode is provided, print an error.
-        print("Invalid mode provided. Choose one of: arm, core, bio, anchor, ptz.")
 
-    return nodes
+    ld.add_action(
-
+        Node(
-
+            package="bio_pkg",
-def generate_launch_description():
+            executable="bio",
-    declare_arg = DeclareLaunchArgument(
+            name="bio",
-        "mode",
+            output="both",
-        default_value="anchor",
+            parameters=[{"launch_mode": "anchor"}],
-        description="Launch mode: arm, core, bio, anchor, or ptz",
+            on_exit=Shutdown(),
+        )
     )
 
-    return LaunchDescription([declare_arg, OpaqueFunction(function=launch_setup)])
+    ld.add_action(
+        Node(
+            package="anchor_pkg",
+            executable="anchor",
+            name="anchor",
+            output="both",
+            parameters=[
+                {
+                    "launch_mode": "anchor",
+                    "connector": connector,
+                    "serial_override": serial_override,
+                    "can_override": can_override,
+                }
+            ],
+            on_exit=Shutdown(),
+        )
+    )
+
+    return ld

src/anchor_pkg/package.xml

@@ -3,13 +3,14 @@
 <package format="3">
   <name>anchor_pkg</name>
   <version>0.0.0</version>
-  <description>TODO: Package description</description>
+  <description>Anchor -- ROS and CAN relay node</description>
-  <maintainer email="tristanmcginnis26@gmail.com">tristan</maintainer>
+  <maintainer email="rjm0037@uah.edu">Riley</maintainer>
   <license>AGPL-3.0-only</license>
 
   <depend>rclpy</depend>
   <depend>common_interfaces</depend>
   <depend>python3-serial</depend>
+  <depend>python3-can</depend>
 
   <build_depend>black</build_depend>
 

src/arm_pkg/arm_pkg/arm_headless.py

@@ -1,279 +0,0 @@
-import rclpy
-from rclpy.node import Node
-
-import pygame
-
-import time
-
-import serial
-import sys
-import threading
-import glob
-import os
-
-from std_msgs.msg import String
-from astra_msgs.msg import ControllerState
-from astra_msgs.msg import ArmManual
-from astra_msgs.msg import ArmIK
-
-
-os.environ["SDL_AUDIODRIVER"] = (
-    "dummy"  # Force pygame to use a dummy audio driver before pygame.init()
-)
-os.environ["SDL_VIDEODRIVER"] = "dummy"  # Prevents pygame from trying to open a display
-
-
-class Headless(Node):
-    def __init__(self):
-        # Initalize node with name
-        super().__init__("arm_headless")
-
-        # Depricated, kept temporarily for reference
-        # self.create_timer(0.20, self.send_controls)#read and send controls
-
-        self.create_timer(0.1, self.send_manual)
-
-        # Create a publisher to publish any output the pico sends
-
-        # Depricated, kept temporarily for reference
-        # self.publisher = self.create_publisher(ControllerState, '/astra/arm/control', 10)
-        self.manual_pub = self.create_publisher(ArmManual, "/arm/control/manual", 10)
-
-        # Create a subscriber to listen to any commands sent for the pico
-
-        # Depricated, kept temporarily for reference
-        # self.subscriber = self.create_subscription(String, '/astra/arm/feedback', self.read_feedback, 10)
-
-        # self.debug_sub = self.create_subscription(String, '/arm/feedback/debug', self.read_feedback, 10)
-
-        self.laser_status = 0
-
-        # Initialize pygame
-        pygame.init()
-
-        # Initialize the gamepad module
-        pygame.joystick.init()
-
-        # Check if any gamepad is connected
-        if pygame.joystick.get_count() == 0:
-            print("No gamepad found.")
-            pygame.quit()
-            exit()
-        for event in pygame.event.get():
-            if event.type == pygame.QUIT:
-                pygame.quit()
-                exit()
-
-        # Initialize the first gamepad, print name to terminal
-        self.gamepad = pygame.joystick.Joystick(0)
-        self.gamepad.init()
-        print(f"Gamepad Found: {self.gamepad.get_name()}")
-        #
-        #
-
-    def run(self):
-        # This thread makes all the update processes run in the background
-        thread = threading.Thread(target=rclpy.spin, args={self}, daemon=True)
-        thread.start()
-
-        try:
-            while rclpy.ok():
-                # Check the pico for updates
-
-                # self.read_feedback()
-                if (
-                    pygame.joystick.get_count() == 0
-                ):  # if controller disconnected, wait for it to be reconnected
-                    print(f"Gamepad disconnected: {self.gamepad.get_name()}")
-
-                    while pygame.joystick.get_count() == 0:
-                        # self.send_controls() #depricated, kept for reference temporarily
-                        self.send_manual()
-                        # self.read_feedback()
-                    self.gamepad = pygame.joystick.Joystick(0)
-                    self.gamepad.init()  # re-initialized gamepad
-                    print(f"Gamepad reconnected: {self.gamepad.get_name()}")
-
-        except KeyboardInterrupt:
-            sys.exit(0)
-
-    def send_manual(self):
-        for event in pygame.event.get():
-            if event.type == pygame.QUIT:
-                pygame.quit()
-                exit()
-        input = ArmManual()
-
-        # Triggers for gripper control
-        if self.gamepad.get_axis(2) > 0:  # left trigger
-            input.gripper = -1
-        elif self.gamepad.get_axis(5) > 0:  # right trigger
-            input.gripper = 1
-
-        # Toggle Laser
-        if self.gamepad.get_button(7):  # Start
-            self.laser_status = 1
-        elif self.gamepad.get_button(6):  # Back
-            self.laser_status = 0
-        input.laser = self.laser_status
-
-        if self.gamepad.get_button(5):  # right bumper, control effector
-
-            # Left stick X-axis for effector yaw
-            if self.gamepad.get_axis(0) > 0:
-                input.effector_yaw = 1
-            elif self.gamepad.get_axis(0) < 0:
-                input.effector_yaw = -1
-
-            # Right stick X-axis for effector roll
-            if self.gamepad.get_axis(3) > 0:
-                input.effector_roll = 1
-            elif self.gamepad.get_axis(3) < 0:
-                input.effector_roll = -1
-
-        else:  # Control arm axis
-            dpad_input = self.gamepad.get_hat(0)
-            input.axis0 = 0
-            if dpad_input[0] == 1:
-                input.axis0 = 1
-            elif dpad_input[0] == -1:
-                input.axis0 = -1
-
-            if self.gamepad.get_axis(0) > 0.15 or self.gamepad.get_axis(0) < -0.15:
-                input.axis1 = round(self.gamepad.get_axis(0))
-
-            if self.gamepad.get_axis(1) > 0.15 or self.gamepad.get_axis(1) < -0.15:
-                input.axis2 = -1 * round(self.gamepad.get_axis(1))
-
-            if self.gamepad.get_axis(4) > 0.15 or self.gamepad.get_axis(4) < -0.15:
-                input.axis3 = -1 * round(self.gamepad.get_axis(4))
-
-            # input.axis1 = -1 * round(self.gamepad.get_axis(0))#left x-axis
-            # input.axis2 = -1 * round(self.gamepad.get_axis(1))#left y-axis
-            # input.axis3 = -1 * round(self.gamepad.get_axis(4))#right y-axis
-
-        # Button Mappings
-        # axis2 -> LT
-        # axis5 -> RT
-        # Buttons0 -> A
-        # Buttons1 -> B
-        # Buttons2 -> X
-        # Buttons3 -> Y
-        # Buttons4 -> LB
-        # Buttons5 -> RB
-        # Buttons6 -> Back
-        # Buttons7 -> Start
-
-        input.linear_actuator = 0
-
-        if pygame.joystick.get_count() != 0:
-
-            self.get_logger().info(
-                f"[Ctrl] {input.axis0}, {input.axis1}, {input.axis2}, {input.axis3}\n"
-            )
-            self.manual_pub.publish(input)
-        else:
-            pass
-
-        pass
-
-    # Depricated, kept temporarily for reference
-    # def send_controls(self):
-
-    #     for event in pygame.event.get():
-    #         if event.type == pygame.QUIT:
-    #             pygame.quit()
-    #             exit()
-    #     input = ControllerState()
-
-    #     input.lt = self.gamepad.get_axis(2)#left trigger
-    #     input.rt = self.gamepad.get_axis(5)#right trigger
-
-    #     #input.lb = self.gamepad.get_button(9)#Value must be converted to bool
-    #     if(self.gamepad.get_button(4)):#left bumper
-    #         input.lb = True
-    #     else:
-    #         input.lb = False
-
-    #     #input.rb = self.gamepad.get_button(10)#Value must be converted to bool
-    #     if(self.gamepad.get_button(5)):#right bumper
-    #         input.rb = True
-    #     else:
-    #         input.rb = False
-
-    #     #input.plus = self.gamepad.get_button(6)#plus button
-    #     if(self.gamepad.get_button(7)):#plus button
-    #         input.plus = True
-    #     else:
-    #         input.plus = False
-
-    #     #input.minus = self.gamepad.get_button(4)#minus button
-    #     if(self.gamepad.get_button(6)):#minus button
-    #         input.minus = True
-    #     else:
-    #         input.minus = False
-
-    #     input.ls_x = round(self.gamepad.get_axis(0),2)#left x-axis
-    #     input.ls_y = round(self.gamepad.get_axis(1),2)#left y-axis
-    #     input.rs_x = round(self.gamepad.get_axis(3),2)#right x-axis
-    #     input.rs_y = round(self.gamepad.get_axis(4),2)#right y-axis
-
-    #     #input.a = self.gamepad.get_button(1)#A button
-    #     if(self.gamepad.get_button(0)):#A button
-    #         input.a = True
-    #     else:
-    #         input.a = False
-    #     #input.b = self.gamepad.get_button(0)#B button
-    #     if(self.gamepad.get_button(1)):#B button
-    #         input.b = True
-    #     else:
-    #         input.b = False
-    #     #input.x = self.gamepad.get_button(3)#X button
-    #     if(self.gamepad.get_button(2)):#X button
-    #         input.x = True
-    #     else:
-    #         input.x = False
-    #     #input.y = self.gamepad.get_button(2)#Y button
-    #     if(self.gamepad.get_button(3)):#Y button
-    #         input.y = True
-    #     else:
-    #         input.y = False
-
-    #     dpad_input = self.gamepad.get_hat(0)#D-pad input
-
-    #     #not using up/down on DPad
-    #     input.d_up = False
-    #     input.d_down = False
-
-    #     if(dpad_input[0] == 1):#D-pad right
-    #         input.d_right = True
-    #     else:
-    #         input.d_right = False
-    #     if(dpad_input[0] == -1):#D-pad left
-    #         input.d_left = True
-    #     else:
-    #         input.d_left = False
-
-    #     if pygame.joystick.get_count() != 0:
-
-    #         self.get_logger().info(f"[Ctrl] Updated Controller State\n")
-
-    #         self.publisher.publish(input)
-    #     else:
-    #         pass
-
-
-def main(args=None):
-    rclpy.init(args=args)
-
-    node = Headless()
-
-    rclpy.spin(node)
-    rclpy.shutdown()
-
-    # tb_bs = BaseStation()
-    # node.run()
-
-
-if __name__ == "__main__":
-    main()

src/arm_pkg/arm_pkg/arm_node.py

@@ -1,50 +1,97 @@
-import rclpy
-from rclpy.node import Node
-import serial
 import sys
 import threading
-import glob
-import time
-import atexit
 import signal
-from std_msgs.msg import String
-from astra_msgs.msg import ArmManual
-from astra_msgs.msg import SocketFeedback
-from astra_msgs.msg import DigitFeedback
-from sensor_msgs.msg import JointState
 import math
+from warnings import deprecated
 
-# control_qos = qos.QoSProfile(
+import rclpy
-#     history=qos.QoSHistoryPolicy.KEEP_LAST,
+from rclpy.node import Node
-#     depth=1,
+from rclpy.executors import ExternalShutdownException
-#     reliability=qos.QoSReliabilityPolicy.BEST_EFFORT,
+from rclpy import qos
-#     durability=qos.QoSDurabilityPolicy.VOLATILE,
+
-#     deadline=1000,
+from std_msgs.msg import String, Header
-#     lifespan=500,
+from sensor_msgs.msg import JointState
+from control_msgs.msg import JointJog
+from astra_msgs.msg import SocketFeedback, DigitFeedback, ArmManual  # TODO: Old topics
+from astra_msgs.msg import ArmFeedback, VicCAN, RevMotorState
+
+control_qos = qos.QoSProfile(
+    history=qos.QoSHistoryPolicy.KEEP_LAST,
+    depth=2,
+    reliability=qos.QoSReliabilityPolicy.BEST_EFFORT,  # Best Effort subscribers are still compatible with Reliable publishers
+    durability=qos.QoSDurabilityPolicy.VOLATILE,
+    # deadline=Duration(seconds=1),
+    # lifespan=Duration(nanoseconds=500_000_000),  # 500ms
     # liveliness=qos.QoSLivelinessPolicy.SYSTEM_DEFAULT,
-#     liveliness_lease_duration=5000
+    # liveliness_lease_duration=Duration(seconds=5),
-# )
+)
 
-serial_pub = None
 thread = None
 
 
-class SerialRelay(Node):
+class ArmNode(Node):
+    """Relay between Anchor and Basestation/Headless/Moveit2 for Arm related topics."""
+
+    # Every non-fixed joint defined in Arm's URDF
+    # Used for JointState and JointJog messsages
+    all_joint_names = [
+        "axis_0_joint",
+        "axis_1_joint",
+        "axis_2_joint",
+        "axis_3_joint",
+        "wrist_yaw_joint",
+        "wrist_roll_joint",
+        "ef_gripper_left_joint",
+    ]
+
+    # Used to verify the length of an incoming VicCAN feedback message
+    # Key is VicCAN command_id, value is expected length of data list
+    viccan_socket_msg_len_dict = {
+        53: 4,
+        54: 4,
+        55: 4,
+        58: 4,
+        59: 4,
+    }
+
+    viccan_digit_msg_len_dict = {
+        54: 4,
+        55: 2,
+        59: 2,
+    }
+
     def __init__(self):
-        # Initialize node
         super().__init__("arm_node")
 
-        # Get launch mode parameter
+        self.get_logger().info(f"arm launch_mode is: anchor")  # Hey I like the output
-        self.declare_parameter("launch_mode", "arm")
+
-        self.launch_mode = self.get_parameter("launch_mode").value
+        ##################################################
-        self.get_logger().info(f"arm launch_mode is: {self.launch_mode}")
+        # Parameters
+
+        self.declare_parameter("use_old_topics", True)
+        self.use_old_topics = (
+            self.get_parameter("use_old_topics").get_parameter_value().bool_value
+        )
+
+        ##################################################
+        # Old topics
+
+        if self.use_old_topics:
+            # Anchor topics
+            self.anchor_sub = self.create_subscription(
+                String, "/anchor/arm/feedback", self.anchor_feedback, 10
+            )
+            self.anchor_pub = self.create_publisher(String, "/anchor/relay", 10)
 
             # Create publishers
-        self.debug_pub = self.create_publisher(String, "/arm/feedback/debug", 10)
             self.socket_pub = self.create_publisher(
                 SocketFeedback, "/arm/feedback/socket", 10
             )
-        self.digit_pub = self.create_publisher(DigitFeedback, "/arm/feedback/digit", 10)
+            self.arm_feedback = SocketFeedback()
+            self.digit_pub = self.create_publisher(
+                DigitFeedback, "/arm/feedback/digit", 10
+            )
+            self.digit_feedback = DigitFeedback()
             self.feedback_timer = self.create_timer(0.25, self.publish_feedback)
 
             # Create subscribers
@@ -52,130 +99,123 @@ class SerialRelay(Node):
                 ArmManual, "/arm/control/manual", self.send_manual, 10
             )
 
-        # New messages
+        ###################################################
-        self.joint_state_pub = self.create_publisher(JointState, "joint_states", 10)
+        # New topics
-        self.joint_state = JointState()
+
-        self.joint_state.name = [
+        # Anchor topics
-            "Axis_0_Joint",
+
-            "Axis_1_Joint",
+        # from_vic
-            "Axis_2_Joint",
+        self.anchor_fromvic_sub_ = self.create_subscription(
-            "Axis_3_Joint",
+            VicCAN, "/anchor/from_vic/arm", self.relay_fromvic, 20
-            "Wrist_Differential_Joint",
+        )
-            "Wrist-EF_Roll_Joint",
+        # to_vic
-            "Gripper_Slider_Left",
+        self.anchor_tovic_pub_ = self.create_publisher(
+            VicCAN, "/anchor/to_vic/relay", 20
+        )
+
+        # Control
+
+        # Manual: /arm/manual/joint_jog is published by Basestation or Headless
+        self.man_jointjog_sub_ = self.create_subscription(
+            JointJog,
+            "/arm/manual/joint_jog",
+            self.jointjog_callback,
+            qos_profile=control_qos,
+        )
+        # IK: /joint_commands is published by JointTrajectoryController via topic_based_control
+        self.joint_command_sub_ = self.create_subscription(
+            JointState,
+            "/joint_commands",
+            self.joint_command_callback,
+            qos_profile=control_qos,
+        )
+
+        # Feedback
+
+        # Combined Socket and Digit feedback
+        self.arm_feedback_pub_ = self.create_publisher(
+            ArmFeedback,
+            "/arm/feedback",
+            qos_profile=qos.qos_profile_sensor_data,
+        )
+        # IK arm pose: /joint_states is published from here to topic_based_control
+        self.joint_state_pub_ = self.create_publisher(
+            JointState, "/joint_states", qos_profile=qos.qos_profile_sensor_data
+        )
+
+        ###################################################
+        # Saved state
+
+        # Combined Socket and Digit feedback
+        self.arm_feedback_new = ArmFeedback()
+
+        # IK Arm pose
+        self.saved_joint_state = JointState()
+        self.saved_joint_state.name = self.all_joint_names
+        # ... initialize with zeros
+        self.saved_joint_state.position = [0.0] * len(self.saved_joint_state.name)
+        self.saved_joint_state.velocity = [0.0] * len(self.saved_joint_state.name)
+
+    def jointjog_callback(self, msg: JointJog):
+        if len(msg.joint_names) != len(msg.velocities):
+            self.get_logger().debug("Ignoring malformed /arm/manual/joint_jog message.")
+            return
+
+        # Grab velocities from message
+        velocities = [
+            (
+                msg.velocities[msg.joint_names.index(joint_name)]  # type: ignore
+                if joint_name in msg.joint_names
+                else 0.0
+            )
+            for joint_name in self.all_joint_names
         ]
-        self.joint_state.position = [0.0] * len(
+        # Deadzone
-            self.joint_state.name
+        velocities = [vel if abs(vel) > 0.05 else 0.0 for vel in velocities]
-        )  # Initialize with zeros
 
-        self.joint_command_sub = self.create_subscription(
+        self.send_velocities(velocities, msg.header)
-            JointState, "/joint_commands", self.joint_command_callback, 10
-        )
 
-        # Topics used in anchor mode
+        # TODO: use msg.duration
-        if self.launch_mode == "anchor":
-            self.anchor_sub = self.create_subscription(
-                String, "/anchor/arm/feedback", self.anchor_feedback, 10
-            )
-            self.anchor_pub = self.create_publisher(String, "/anchor/relay", 10)
-
-        self.arm_feedback = SocketFeedback()
-        self.digit_feedback = DigitFeedback()
-
-        # Search for ports IF in 'arm' (standalone) and not 'anchor' mode
-        if self.launch_mode == "arm":
-            # Loop through all serial devices on the computer to check for the MCU
-            self.port = None
-            ports = SerialRelay.list_serial_ports()
-            for _ in range(4):
-                for port in ports:
-                    try:
-                        # connect and send a ping command
-                        ser = serial.Serial(port, 115200, timeout=1)
-                        # print(f"Checking port {port}...")
-                        ser.write(b"ping\n")
-                        response = ser.read_until("\n")  # type: ignore
-
-                        # if pong is in response, then we are talking with the MCU
-                        if b"pong" in response:
-                            self.port = port
-                            self.get_logger().info(f"Found MCU at {self.port}!")
-                            break
-                    except:
-                        pass
-                if self.port is not None:
-                    break
-
-            if self.port is None:
-                self.get_logger().info(
-                    "Unable to find MCU... please make sure it is connected."
-                )
-                time.sleep(1)
-                sys.exit(1)
-
-            self.ser = serial.Serial(self.port, 115200)
-            atexit.register(self.cleanup)
-
-    def run(self):
-        global thread
-        thread = threading.Thread(target=rclpy.spin, args=(self,), daemon=True)
-        thread.start()
-
-        # if in arm mode, will need to read from the MCU
-
-        try:
-            while rclpy.ok():
-                if self.launch_mode == "arm":
-                    if self.ser.in_waiting:
-                        self.read_mcu()
-                    else:
-                        time.sleep(0.1)
-        except KeyboardInterrupt:
-            pass
-        finally:
-            self.cleanup()
-
-    # Currently will just spit out all values over the /arm/feedback/debug topic as strings
-    def read_mcu(self):
-        try:
-            output = str(self.ser.readline(), "utf8")
-            if output:
-                # self.get_logger().info(f"[MCU] {output}")
-                msg = String()
-                msg.data = output
-                self.debug_pub.publish(msg)
-        except serial.SerialException:
-            self.get_logger().info("SerialException caught... closing serial port.")
-            if self.ser.is_open:
-                self.ser.close()
-            pass
-        except TypeError as e:
-            self.get_logger().info(f"TypeError: {e}")
-            print("Closing serial port.")
-            if self.ser.is_open:
-                self.ser.close()
-            pass
-        except Exception as e:
-            print(f"Exception: {e}")
-            print("Closing serial port.")
-            if self.ser.is_open:
-                self.ser.close()
-            pass
 
     def joint_command_callback(self, msg: JointState):
-        # Embedded takes deg*10, ROS2 uses Radians
+        if len(msg.position) < 7 and len(msg.velocity) < 7:
-        positions = [math.degrees(pos) * 10 for pos in msg.position]
+            self.get_logger().debug("Ignoring malformed /joint_command message.")
-        # Axis 2 & 3 URDF direction is inverted
+            return  # command needs either position or velocity for all 7 joints
-        positions[2] = -positions[2]
-        positions[3] = -positions[3]
 
-        # Set target angles for each arm axis for embedded IK PID to handle
+        # Grab velocities from message
-        command = f"can_relay_tovic,arm,32,{positions[0]},{positions[1]},{positions[2]},{positions[3]}\n"
+        velocities = [
-        # Wrist yaw and roll
+            (
-        command += f"can_relay_tovic,digit,32,{positions[4]},{positions[5]}\n"
+                msg.velocity[msg.name.index(joint_name)]  # type: ignore
-        # Gripper IK does not have adequate hardware yet
+                if joint_name in msg.name
-        self.send_cmd(command)
+                else 0.0
+            )
+            for joint_name in self.all_joint_names
+        ]
 
+        self.send_velocities(velocities, msg.header)
+
+    def send_velocities(self, velocities: list[float], header: Header):
+        # ROS2's rad/s to VicCAN's deg/s*10; don't convert gripper's m/s
+        velocities = [
+            math.degrees(vel) * 10 if i < 6 else vel for i, vel in enumerate(velocities)
+        ]
+
+        # Send Axis 0-3
+        self.anchor_tovic_pub_.publish(
+            VicCAN(mcu_name="arm", command_id=43, data=velocities[0:3], header=header)
+        )
+        # Send Wrist yaw and roll
+        # TODO: Verify embedded
+        self.anchor_tovic_pub_.publish(
+            VicCAN(mcu_name="digit", command_id=43, data=velocities[4:5], header=header)
+        )
+        # Send End Effector Gripper
+        # TODO: Verify m/s received correctly by embedded
+        self.anchor_tovic_pub_.publish(
+            VicCAN(mcu_name="digit", command_id=26, data=[velocities[6]], header=header)
+        )
+
+    @deprecated("Uses an old message type. Will be removed at some point.")
     def send_manual(self, msg: ArmManual):
         axis0 = msg.axis0
         axis1 = -1 * msg.axis1
@@ -190,7 +230,7 @@ class SerialRelay(Node):
 
         command += f"can_relay_tovic,digit,39,{msg.effector_yaw},{msg.effector_roll}\n"
 
-        # command += f"can_relay_tovic,digit,26,{msg.gripper}\n"  # no hardware rn
+        command += f"can_relay_tovic,digit,26,{msg.gripper}\n"  # no hardware rn
 
         command += f"can_relay_tovic,digit,28,{msg.laser}\n"
 
@@ -200,24 +240,17 @@ class SerialRelay(Node):
 
         return
 
+    @deprecated("Uses an old message type. Will be removed at some point.")
     def send_cmd(self, msg: str):
-        if (
+        output = String(data=msg)
-            self.launch_mode == "anchor"
-        ):  # if in anchor mode, send to anchor node to relay
-            output = String()
-            output.data = msg
         self.anchor_pub.publish(output)
-        elif self.launch_mode == "arm":  # if in standalone mode, send to MCU directly
-            self.get_logger().info(f"[Arm to MCU] {msg}")
-            self.ser.write(bytes(msg, "utf8"))
 
+    @deprecated("Uses an old message type. Will be removed at some point.")
     def anchor_feedback(self, msg: String):
         output = msg.data
         if output.startswith("can_relay_fromvic,arm,55"):
-            # pass
             self.updateAngleFeedback(output)
         elif output.startswith("can_relay_fromvic,arm,54"):
-            # pass
             self.updateBusVoltage(output)
         elif output.startswith("can_relay_fromvic,arm,53"):
             self.updateMotorFeedback(output)
@@ -235,19 +268,133 @@ class SerialRelay(Node):
             if len(parts) >= 4:
                 self.digit_feedback.wrist_angle = float(parts[3])
                 # self.digit_feedback.wrist_roll = float(parts[4])
-                self.joint_state.position[4] = math.radians(
-                    float(parts[4])
-                )  # Wrist roll
-                self.joint_state.position[5] = math.radians(
-                    float(parts[3])
-                )  # Wrist yaw
         else:
             return
 
+    def relay_fromvic(self, msg: VicCAN):
+        # Code for socket and digit are broken out for cleaner code
+        if msg.mcu_name == "arm":
+            self.process_fromvic_arm(msg)
+        elif msg.mcu_name == "digit":
+            self.process_fromvic_digit(msg)
+
+    def process_fromvic_arm(self, msg: VicCAN):
+        assert msg.mcu_name == "arm"
+
+        # Check message len to prevent crashing on bad data
+        if msg.command_id in self.viccan_socket_msg_len_dict:
+            expected_len = self.viccan_socket_msg_len_dict[msg.command_id]
+            if len(msg.data) != expected_len:
+                self.get_logger().warning(
+                    f"Ignoring VicCAN message with id {msg.command_id} due to unexpected data length (expected {expected_len}, got {len(msg.data)})"
+                )
+                return
+
+        match msg.command_id:
+            case 53:  # REV SPARK MAX feedback
+                motorId = round(msg.data[0])
+                motor: RevMotorState | None = None
+                match motorId:
+                    case 1:
+                        motor = self.arm_feedback_new.axis1_motor
+                    case 2:
+                        motor = self.arm_feedback_new.axis2_motor
+                    case 3:
+                        motor = self.arm_feedback_new.axis3_motor
+                    case 4:
+                        motor = self.arm_feedback_new.axis0_motor
+
+                if motor:
+                    motor.temperature = float(msg.data[1]) / 10.0
+                    motor.voltage = float(msg.data[2]) / 10.0
+                    motor.current = float(msg.data[3]) / 10.0
+                    motor.header.stamp = msg.header.stamp
+
+                self.arm_feedback_pub_.publish(self.arm_feedback_new)
+            case 54:  # Board voltages
+                self.arm_feedback_new.socket_voltage.vbatt = float(msg.data[0]) / 100.0
+                self.arm_feedback_new.socket_voltage.v12 = float(msg.data[1]) / 100.0
+                self.arm_feedback_new.socket_voltage.v5 = float(msg.data[2]) / 100.0
+                self.arm_feedback_new.socket_voltage.v3 = float(msg.data[3]) / 100.0
+                self.arm_feedback_new.socket_voltage.header.stamp = msg.header.stamp
+            case 55:  # Arm joint positions
+                angles = [angle / 10.0 for angle in msg.data]  # VicCAN sends deg*10
+                # Joint state publisher for URDF visualization
+                self.saved_joint_state.position[0] = math.radians(angles[0])  # Axis 0
+                self.saved_joint_state.position[1] = math.radians(angles[1])  # Axis 1
+                self.saved_joint_state.position[2] = math.radians(angles[2])  # Axis 2
+                self.saved_joint_state.position[3] = math.radians(angles[3])  # Axis 3
+                # Wrist is handled by digit feedback
+                self.saved_joint_state.header.stamp = msg.header.stamp
+                self.joint_state_pub_.publish(self.saved_joint_state)
+            case 58:  # REV SPARK MAX position and velocity feedback
+                motorId = round(msg.data[0])
+                motor: RevMotorState | None = None
+                match motorId:
+                    case 1:
+                        motor = self.arm_feedback_new.axis1_motor
+                    case 2:
+                        motor = self.arm_feedback_new.axis2_motor
+                    case 3:
+                        motor = self.arm_feedback_new.axis3_motor
+                    case 4:
+                        motor = self.arm_feedback_new.axis0_motor
+
+                if motor:
+                    motor.position = float(msg.data[1])
+                    motor.velocity = float(msg.data[2])
+                    motor.header.stamp = msg.header.stamp
+
+                self.arm_feedback_pub_.publish(self.arm_feedback_new)
+            case 59:  # Arm joint velocities
+                velocities = [vel / 100.0 for vel in msg.data]  # VicCAN sends deg/s*100
+                self.saved_joint_state.velocity[0] = math.radians(
+                    velocities[0]
+                )  # Axis 0
+                self.saved_joint_state.velocity[1] = math.radians(
+                    velocities[1]
+                )  # Axis 1
+                self.saved_joint_state.velocity[2] = math.radians(
+                    velocities[2]
+                )  # Axis 2
+                self.saved_joint_state.velocity[3] = math.radians(
+                    velocities[3]
+                )  # Axis 3
+                # Wrist is handled by digit feedback
+                self.saved_joint_state.header.stamp = msg.header.stamp
+                self.joint_state_pub_.publish(self.saved_joint_state)
+
+    def process_fromvic_digit(self, msg: VicCAN):
+        assert msg.mcu_name == "digit"
+
+        # Check message len to prevent crashing on bad data
+        if msg.command_id in self.viccan_digit_msg_len_dict:
+            expected_len = self.viccan_digit_msg_len_dict[msg.command_id]
+            if len(msg.data) != expected_len:
+                self.get_logger().warning(
+                    f"Ignoring VicCAN message with id {msg.command_id} due to unexpected data length (expected {expected_len}, got {len(msg.data)})"
+                )
+                return
+
+        match msg.command_id:
+            case 54:  # Board voltages
+                self.arm_feedback_new.digit_voltage.vbatt = float(msg.data[0]) / 100.0
+                self.arm_feedback_new.digit_voltage.v12 = float(msg.data[1]) / 100.0
+                self.arm_feedback_new.digit_voltage.v5 = float(msg.data[2]) / 100.0
+            case 55:  # Arm joint positions
+                self.saved_joint_state.position[4] = math.radians(
+                    msg.data[0]
+                )  # Wrist roll
+                self.saved_joint_state.position[5] = math.radians(
+                    msg.data[1]
+                )  # Wrist yaw
+
+    @deprecated("Uses an old message type. Will be removed at some point.")
     def publish_feedback(self):
         self.socket_pub.publish(self.arm_feedback)
         self.digit_pub.publish(self.digit_feedback)
 
+    @deprecated("Uses an old message type. Will be removed at some point.")
     def updateAngleFeedback(self, msg: str):
         # Angle feedbacks,
         # split the msg.data by commas
@@ -263,19 +410,10 @@ class SerialRelay(Node):
             self.arm_feedback.axis1_angle = angles[1]
             self.arm_feedback.axis2_angle = angles[2]
             self.arm_feedback.axis3_angle = angles[3]
-
-            # Joint state publisher for URDF visualization
-            self.joint_state.position[0] = math.radians(angles[0])  # Axis 0
-            self.joint_state.position[1] = math.radians(angles[1])  # Axis 1
-            self.joint_state.position[2] = math.radians(-angles[2])  # Axis 2 (inverted)
-            self.joint_state.position[3] = math.radians(-angles[3])  # Axis 3 (inverted)
-            # Wrist is handled by digit feedback
-            self.joint_state.header.stamp = self.get_clock().now().to_msg()
-            self.joint_state_pub.publish(self.joint_state)
-
         else:
             self.get_logger().info("Invalid angle feedback input format")
 
+    @deprecated("Uses an old message type. Will be removed at some point.")
     def updateBusVoltage(self, msg: str):
         # Bus Voltage feedbacks
         parts = msg.split(",")
@@ -290,6 +428,7 @@ class SerialRelay(Node):
         else:
             self.get_logger().info("Invalid voltage feedback input format")
 
+    @deprecated("Uses an old message type. Will be removed at some point.")
     def updateMotorFeedback(self, msg: str):
         parts = str(msg.strip()).split(",")
         motorId = round(float(parts[3]))
@@ -313,38 +452,28 @@ class SerialRelay(Node):
             self.arm_feedback.axis0_voltage = voltage
             self.arm_feedback.axis0_current = current
 
-    @staticmethod
-    def list_serial_ports():
-        return glob.glob("/dev/ttyUSB*") + glob.glob("/dev/ttyACM*")
-        # return glob.glob("/dev/tty[A-Za-z]*")
 
-    def cleanup(self):
+def exit_handler(signum, frame):
-        print("Cleaning up...")
+    print("Caught SIGTERM. Exiting...")
-        try:
+    rclpy.try_shutdown()
-            if self.ser.is_open:
+    sys.exit(0)
-                self.ser.close()
-        except Exception as e:
-            exit(0)
-
-
-def myexcepthook(type, value, tb):
-    print("Uncaught exception:", type, value)
-    if serial_pub:
-        serial_pub.cleanup()
 
 
 def main(args=None):
     rclpy.init(args=args)
-    sys.excepthook = myexcepthook
 
-    global serial_pub
+    # Catch termination signals and exit cleanly
-    serial_pub = SerialRelay()
+    signal.signal(signal.SIGTERM, exit_handler)
-    serial_pub.run()
+
+    arm_node = ArmNode()
+
+    try:
+        rclpy.spin(arm_node)
+    except (KeyboardInterrupt, ExternalShutdownException):
+        pass
+    finally:
+        rclpy.try_shutdown()
 
 
 if __name__ == "__main__":
-    # signal.signal(signal.SIGTSTP, lambda signum, frame: sys.exit(0))  # Catch Ctrl+Z and exit cleanly
-    signal.signal(
-        signal.SIGTERM, lambda signum, frame: sys.exit(0)
-    )  # Catch termination signals and exit cleanly
     main()

src/arm_pkg/setup.py

@@ -1,27 +1,22 @@
-from setuptools import find_packages, setup
+from setuptools import setup
-import os
-from glob import glob
 
 package_name = "arm_pkg"
 
 setup(
     name=package_name,
     version="1.0.0",
-    packages=find_packages(exclude=["test"]),
+    packages=[package_name],
     data_files=[
         ("share/ament_index/resource_index/packages", ["resource/" + package_name]),
         ("share/" + package_name, ["package.xml"]),
     ],
     install_requires=["setuptools"],
     zip_safe=True,
-    maintainer="tristan",
+    maintainer="David",
-    maintainer_email="tristanmcginnis26@gmail.com",
+    maintainer_email="ds0196@uah.edu",
-    description="TODO: Package description",
+    description="Relays topics related to the arm between VicCAN (through Anchor) and basestation.",
-    license="All Rights Reserved",
+    license="AGPL-3.0-only",
     entry_points={
-        "console_scripts": [
+        "console_scripts": ["arm = arm_pkg.arm_node:main"],
-            "arm = arm_pkg.arm_node:main",
-            "headless = arm_pkg.arm_headless:main",
-        ],
     },
 )

src/core_pkg/core_pkg/core_node.py

@@ -33,12 +33,12 @@ CORE_GEAR_RATIO = 100.0  # Clucky: 100:1, Testbed: 64:1
 control_qos = qos.QoSProfile(
     history=qos.QoSHistoryPolicy.KEEP_LAST,
     depth=2,
-    reliability=qos.QoSReliabilityPolicy.BEST_EFFORT,
+    reliability=qos.QoSReliabilityPolicy.BEST_EFFORT,  # Best Effort subscribers are still compatible with Reliable publishers
     durability=qos.QoSDurabilityPolicy.VOLATILE,
-    deadline=Duration(seconds=1),
+    # deadline=Duration(seconds=1),
-    lifespan=Duration(nanoseconds=500_000_000),  # 500ms
+    # lifespan=Duration(nanoseconds=500_000_000),  # 500ms
-    liveliness=qos.QoSLivelinessPolicy.SYSTEM_DEFAULT,
+    # liveliness=qos.QoSLivelinessPolicy.SYSTEM_DEFAULT,
-    liveliness_lease_duration=Duration(seconds=5),
+    # liveliness_lease_duration=Duration(seconds=5),
 )
 
 # Used to verify the length of an incoming VicCAN feedback message

src/core_pkg/core_pkg/core_ptz.py

@@ -262,7 +262,7 @@ class PtzNode(Node):
             f"[{self.get_clock().now().nanoseconds / 1e9:.2f}] PTZ Node: {message_text}"
         )
         self.debug_pub.publish(msg)
-        self.get_logger().info(message_text)
+        self.get_logger().debug(message_text)
 
     def run_async_func(self, coro):
         """Run an async function in the event loop."""

src/headless_pkg/src/headless_node.py

@@ -1,23 +1,33 @@
 import rclpy
 from rclpy.node import Node
+from rclpy.executors import ExternalShutdownException
 from rclpy import qos
 from rclpy.duration import Duration
 
 import signal
 import time
-import atexit
 
 import os
 import sys
-import threading
+import pwd
-import glob
+import grp
 from math import copysign
 
-from std_msgs.msg import String
+from std_srvs.srv import Trigger
-from geometry_msgs.msg import Twist
+from std_msgs.msg import Header
+from geometry_msgs.msg import Twist, TwistStamped
+from control_msgs.msg import JointJog
 from astra_msgs.msg import CoreControl, ArmManual, BioControl
 from astra_msgs.msg import CoreCtrlState
 
+import warnings
+
+# Literally headless
+warnings.filterwarnings(
+    "ignore",
+    message="Your system is avx2 capable but pygame was not built with support for it.",
+)
+
 import pygame
 
 os.environ["SDL_VIDEODRIVER"] = "dummy"  # Prevents pygame from trying to open a display
@@ -31,26 +41,44 @@ CORE_STOP_TWIST_MSG = Twist()  # "
 ARM_STOP_MSG = ArmManual()  # "
 BIO_STOP_MSG = BioControl()  # "
 
+
 control_qos = qos.QoSProfile(
     history=qos.QoSHistoryPolicy.KEEP_LAST,
     depth=2,
     reliability=qos.QoSReliabilityPolicy.BEST_EFFORT,
     durability=qos.QoSDurabilityPolicy.VOLATILE,
-    deadline=Duration(seconds=1),
+    # deadline=Duration(seconds=1),
-    lifespan=Duration(nanoseconds=500_000_000),  # 500ms
+    # lifespan=Duration(nanoseconds=500_000_000),  # 500ms
-    liveliness=qos.QoSLivelinessPolicy.SYSTEM_DEFAULT,
+    # liveliness=qos.QoSLivelinessPolicy.SYSTEM_DEFAULT,
-    liveliness_lease_duration=Duration(seconds=5),
+    # liveliness_lease_duration=Duration(seconds=5),
 )
 
-CORE_MODE = "twist"  # "twist" or "duty"
+
+STICK_DEADZONE = float(os.getenv("STICK_DEADZONE", "0.05"))
+ARM_DEADZONE = float(os.getenv("ARM_DEADZONE", "0.2"))
 
 
 class Headless(Node):
+    # Every non-fixed joint defined in Arm's URDF
+    # Used for JointState and JointJog messsages
+    all_joint_names = [
+        "axis_0_joint",
+        "axis_1_joint",
+        "axis_2_joint",
+        "axis_3_joint",
+        "wrist_yaw_joint",
+        "wrist_roll_joint",
+        "ef_gripper_left_joint",
+    ]
+
     def __init__(self):
         # Initialize pygame first
         pygame.init()
         pygame.joystick.init()
-        super().__init__("headless")
+        super().__init__("headless_node")
+
+        ##################################################
+        # Preamble
 
         # Wait for anchor to start
         pub_info = self.get_publishers_info_by_topic("/anchor/from_vic/debug")
@@ -71,16 +99,88 @@ class Headless(Node):
             print("No gamepad found. Waiting...")
 
         # Initialize the gamepad
-        self.gamepad = pygame.joystick.Joystick(0)
+        id = 0
+        while True:
+            self.num_gamepads = pygame.joystick.get_count()
+            if id >= self.num_gamepads:
+                self.get_logger().fatal("Ran out of controllers to try")
+                sys.exit(1)
+
+            try:
+                self.gamepad = pygame.joystick.Joystick(id)
                 self.gamepad.init()
+            except Exception as e:
+                self.get_logger().error("Error when initializing gamepad")
+                self.get_logger().error(e)
+                id += 1
+                continue
             print(f"Gamepad Found: {self.gamepad.get_name()}")
 
-        self.create_timer(0.15, self.send_controls)
+            if self.gamepad.get_numhats() == 0 or self.gamepad.get_numaxes() < 5:
+                self.get_logger().error("Controller not correctly initialized.")
+                if not is_user_in_group("input"):
+                    self.get_logger().warning(
+                        "If using NixOS, you may need to add yourself to the 'input' group."
+                    )
+                if is_user_in_group("plugdev"):
+                    self.get_logger().warning(
+                        "If using NixOS, you may need to remove yourself from the 'plugdev' group."
+                    )
+            else:
+                break
+            id += 1
 
+        ##################################################
+        # Parameters
+
+        self.declare_parameter("use_old_topics", True)
+        self.use_old_topics = (
+            self.get_parameter("use_old_topics").get_parameter_value().bool_value
+        )
+
+        self.declare_parameter("use_bio", False)
+        self.use_bio = self.get_parameter("use_bio").get_parameter_value().bool_value
+
+        self.declare_parameter("use_arm_ik", False)
+        self.use_arm_ik = (
+            self.get_parameter("use_arm_ik").get_parameter_value().bool_value
+        )
+
+        # NOTE: only applicable if use_old_topics == True
+        self.declare_parameter("use_new_arm_manual_scheme", True)
+        self.use_new_arm_manual_scheme = (
+            self.get_parameter("use_new_arm_manual_scheme")
+            .get_parameter_value()
+            .bool_value
+        )
+
+        # Check parameter validity
+        if self.use_arm_ik and self.use_old_topics:
+            self.get_logger().fatal("Old topics do not support arm IK control.")
+            sys.exit(1)
+        if not self.use_new_arm_manual_scheme and not self.use_old_topics:
+            self.get_logger().warn(
+                f"New arm manual does not support old control scheme. Defaulting to new scheme."
+            )
+
+        self.ctrl_mode = "core"  # Start in core mode
+        self.core_brake_mode = False
+        self.core_max_duty = 0.5  # Default max duty cycle (walking speed)
+
+        ##################################################
+        # Old Topics
+
+        if self.use_old_topics:
             self.core_publisher = self.create_publisher(CoreControl, "/core/control", 2)
-        self.arm_publisher = self.create_publisher(ArmManual, "/arm/control/manual", 2)
+            self.arm_publisher = self.create_publisher(
+                ArmManual, "/arm/control/manual", 2
+            )
             self.bio_publisher = self.create_publisher(BioControl, "/bio/control", 2)
 
+        ##################################################
+        # New Topics
+
+        if not self.use_old_topics:
             self.core_twist_pub_ = self.create_publisher(
                 Twist, "/core/twist", qos_profile=control_qos
             )
@@ -88,24 +188,61 @@ class Headless(Node):
                 CoreCtrlState, "/core/control/state", qos_profile=control_qos
             )
 
-        self.ctrl_mode = "core"  # Start in core mode
+            self.arm_manual_pub_ = self.create_publisher(
-        self.core_brake_mode = False
+                JointJog, "/arm/manual_new", qos_profile=control_qos
-        self.core_max_duty = 0.5  # Default max duty cycle (walking speed)
+            )
+
+            self.arm_ik_twist_publisher = self.create_publisher(
+                TwistStamped, "/servo_node/delta_twist_cmds", qos_profile=control_qos
+            )
+            self.arm_ik_jointjog_publisher = self.create_publisher(
+                JointJog, "/servo_node/delta_joint_cmds", qos_profile=control_qos
+            )
+
+            # TODO: add new bio topics
+
+        ##################################################
+        # Timers
+
+        self.create_timer(0.1, self.send_controls)
+
+        ##################################################
+        # Services
+
+        # If using IK control, we have to "start" the servo node to enable it to accept commands
+        self.servo_start_client = None
+        if self.use_arm_ik:
+            self.get_logger().info("Starting servo node for IK control...")
+            self.servo_start_client = self.create_client(
+                Trigger, "/servo_node/start_servo"
+            )
+            timeout_counter = 0
+            while not self.servo_start_client.wait_for_service(timeout_sec=1.0):
+                self.get_logger().info("Waiting for servo_node/start_servo service...")
+                timeout_counter += 1
+                if timeout_counter >= 10:
+                    self.get_logger().error(
+                        "Servo's start service not available. IK control will not work."
+                    )
+                    break
+            if self.servo_start_client.service_is_ready():
+                self.servo_start_client.call_async(Trigger.Request())
 
         # Rumble when node is ready (returns False if rumble not supported)
         self.gamepad.rumble(0.7, 0.8, 150)
 
-    def run(self):
+    def stop_all(self):
-        # This thread makes all the update processes run in the background
+        if self.use_old_topics:
-        thread = threading.Thread(target=rclpy.spin, args={self}, daemon=True)
+            self.core_publisher.publish(CORE_STOP_MSG)
-        thread.start()
+            self.arm_publisher.publish(ARM_STOP_MSG)
-
+            self.bio_publisher.publish(BIO_STOP_MSG)
-        try:
+        else:
-            while rclpy.ok():
+            self.core_twist_pub_.publish(CORE_STOP_TWIST_MSG)
-                self.send_controls()
+            if self.use_arm_ik:
-                time.sleep(0.1)  # Small delay to avoid CPU hogging
+                self.arm_ik_twist_publisher.publish(self.arm_ik_twist_stop_msg())
-        except KeyboardInterrupt:
+            else:
-            sys.exit(0)
+                self.arm_manual_pub_.publish(self.arm_manual_stop_msg())
+            # TODO: add bio here after implementing new topics
 
     def send_controls(self):
         """Read the gamepad state and publish control messages"""
@@ -115,12 +252,10 @@ class Headless(Node):
                 sys.exit(0)
 
         # Check if controller is still connected
-        if pygame.joystick.get_count() == 0:
+        if pygame.joystick.get_count() != self.num_gamepads:
             print("Gamepad disconnected. Exiting...")
-            # Send one last zero control message
+            # Stop the rover if controller disconnected
-            self.core_publisher.publish(CORE_STOP_MSG)
+            self.stop_all()
-            self.arm_publisher.publish(ARM_STOP_MSG)
-            self.bio_publisher.publish(BIO_STOP_MSG)
             self.get_logger().info("Final stop commands sent. Shutting down.")
             # Clean up
             pygame.quit()
@@ -136,20 +271,51 @@ class Headless(Node):
             new_ctrl_mode = "core"
 
         if new_ctrl_mode != self.ctrl_mode:
+            self.stop_all()
             self.gamepad.rumble(0.6, 0.7, 75)
             self.ctrl_mode = new_ctrl_mode
             self.get_logger().info(f"Switched to {self.ctrl_mode} control mode")
+            if self.ctrl_mode == "arm" and self.use_bio:
+                self.get_logger().warning("NOTE: Using bio instead of arm.")
 
-        # CORE
+        # Actually send the controls
-        if self.ctrl_mode == "core" and CORE_MODE == "duty":
+        if self.ctrl_mode == "core":
+            self.send_core()
+            if self.use_old_topics:
+                if self.use_bio:
+                    self.bio_publisher.publish(BIO_STOP_MSG)
+                else:
+                    self.arm_publisher.publish(ARM_STOP_MSG)
+            # New topics shouldn't need to constantly send zeroes imo
+        else:
+            if self.use_bio:
+                self.send_bio()
+            else:
+                self.send_arm()
+            if self.use_old_topics:
+                self.core_publisher.publish(CORE_STOP_MSG)
+            # Ditto
+
+    def send_core(self):
+        # Collect controller state
+        left_stick_x = stick_deadzone(self.gamepad.get_axis(0))
+        left_stick_y = stick_deadzone(self.gamepad.get_axis(1))
+        left_trigger = stick_deadzone(self.gamepad.get_axis(2))
+        right_stick_x = stick_deadzone(self.gamepad.get_axis(3))
+        right_stick_y = stick_deadzone(self.gamepad.get_axis(4))
+        right_trigger = stick_deadzone(self.gamepad.get_axis(5))
+        button_a = self.gamepad.get_button(0)
+        button_b = self.gamepad.get_button(1)
+        button_x = self.gamepad.get_button(2)
+        button_y = self.gamepad.get_button(3)
+        left_bumper = self.gamepad.get_button(4)
+        right_bumper = self.gamepad.get_button(5)
+        dpad_input = self.gamepad.get_hat(0)
+
+        if self.use_old_topics:
             input = CoreControl()
             input.max_speed = 90
 
-            # Collect controller state
-            left_stick_y = deadzone(self.gamepad.get_axis(1))
-            right_stick_y = deadzone(self.gamepad.get_axis(4))
-            right_trigger = deadzone(self.gamepad.get_axis(5))
-
             # Right wheels
             input.right_stick = float(round(-1 * right_stick_y, 2))
 
@@ -164,19 +330,10 @@ class Headless(Node):
             self.get_logger().info(f"[Ctrl] {output}")
 
             self.core_publisher.publish(input)
-            self.arm_publisher.publish(ARM_STOP_MSG)
-            # self.bio_publisher.publish(BIO_STOP_MSG)
 
-        elif self.ctrl_mode == "core" and CORE_MODE == "twist":
+        else:  # New topics
             input = Twist()
 
-            # Collect controller state
-            left_stick_y = deadzone(self.gamepad.get_axis(1))
-            right_stick_x = deadzone(self.gamepad.get_axis(3))
-            button_a = self.gamepad.get_button(0)
-            left_bumper = self.gamepad.get_button(4)
-            right_bumper = self.gamepad.get_button(5)
-
             # Forward/back and Turn
             input.linear.x = -1.0 * left_stick_y
             input.angular.z = -1.0 * copysign(
@@ -185,8 +342,6 @@ class Headless(Node):
 
             # Publish
             self.core_twist_pub_.publish(input)
-            self.arm_publisher.publish(ARM_STOP_MSG)
-            # self.bio_publisher.publish(BIO_STOP_MSG)
             self.get_logger().info(
                 f"[Core Ctrl] Linear: {round(input.linear.x, 2)}, Angular: {round(input.angular.z, 2)}"
             )
@@ -211,25 +366,36 @@ class Headless(Node):
                 state_msg = CoreCtrlState()
                 state_msg.brake_mode = bool(self.core_brake_mode)
                 state_msg.max_duty = float(self.core_max_duty)
+
                 self.core_state_pub_.publish(state_msg)
                 self.get_logger().info(
                     f"[Core State] Brake: {self.core_brake_mode}, Max Duty: {self.core_max_duty}"
                 )
 
-        # ARM and BIO
+    def send_arm(self):
-        if self.ctrl_mode == "arm":
-            arm_input = ArmManual()
-
         # Collect controller state
-            left_stick_x = deadzone(self.gamepad.get_axis(0))
+        left_stick_x = stick_deadzone(self.gamepad.get_axis(0))
-            left_stick_y = deadzone(self.gamepad.get_axis(1))
+        left_stick_y = stick_deadzone(self.gamepad.get_axis(1))
-            left_trigger = deadzone(self.gamepad.get_axis(2))
+        left_trigger = stick_deadzone(self.gamepad.get_axis(2))
-            right_stick_x = deadzone(self.gamepad.get_axis(3))
+        right_stick_x = stick_deadzone(self.gamepad.get_axis(3))
-            right_stick_y = deadzone(self.gamepad.get_axis(4))
+        right_stick_y = stick_deadzone(self.gamepad.get_axis(4))
-            right_trigger = deadzone(self.gamepad.get_axis(5))
+        right_trigger = stick_deadzone(self.gamepad.get_axis(5))
+        button_a = self.gamepad.get_button(0)
+        button_b = self.gamepad.get_button(1)
+        button_x = self.gamepad.get_button(2)
+        button_y = self.gamepad.get_button(3)
+        left_bumper = self.gamepad.get_button(4)
         right_bumper = self.gamepad.get_button(5)
         dpad_input = self.gamepad.get_hat(0)
 
+        # OLD MANUAL
+        # ==========
+
+        if not self.use_arm_ik and self.use_old_topics:
+            arm_input = ArmManual()
+
+            # OLD ARM MANUAL CONTROL SCHEME
+            if not self.use_new_arm_manual_scheme:
                 # EF Grippers
                 if left_trigger > 0 and right_trigger > 0:
                     arm_input.gripper = 0
@@ -272,39 +438,276 @@ class Headless(Node):
                     if abs(right_stick_y) > 0.15:
                         arm_input.axis3 = -1 * round(right_stick_y)
 
-            # BIO
+            # NEW ARM MANUAL CONTROL SCHEME
+            if self.use_new_arm_manual_scheme:
+                # Right stick: EF yaw and axis 3
+                # Left stick: axis 1 and 2
+                # D-pad: axis 0 and _
+                # Triggers: EF grippers
+                # Bumpers: EF roll
+                # A: brake
+                # B: linear actuator in
+                # X: _
+                # Y: linear actuator out
+
+                # Right stick: EF yaw and axis 3
+                arm_input.effector_yaw = stick_to_arm_direction(right_stick_x)
+                arm_input.axis3 = -1 * stick_to_arm_direction(right_stick_y)
+
+                # Left stick: axis 1 and 2
+                arm_input.axis1 = stick_to_arm_direction(left_stick_x)
+                arm_input.axis2 = -1 * stick_to_arm_direction(left_stick_y)
+
+                # D-pad: axis 0 and _
+                arm_input.axis0 = int(dpad_input[0])
+
+                # Triggers: EF Grippers
+                if left_trigger > 0 and right_trigger > 0:
+                    arm_input.gripper = 0
+                elif left_trigger > 0:
+                    arm_input.gripper = -1
+                elif right_trigger > 0:
+                    arm_input.gripper = 1
+
+                # Bumpers: EF roll
+                if left_bumper > 0 and right_bumper > 0:
+                    arm_input.effector_roll = 0
+                elif left_bumper > 0:
+                    arm_input.effector_roll = -1
+                elif right_bumper > 0:
+                    arm_input.effector_roll = 1
+
+                # A: brake
+                if button_a:
+                    arm_input.brake = True
+
+                # Y: linear actuator
+                if button_y and not button_b:
+                    arm_input.linear_actuator = 1
+                elif button_b and not button_y:
+                    arm_input.linear_actuator = -1
+                else:
+                    arm_input.linear_actuator = 0
+
+            self.arm_publisher.publish(arm_input)
+
+        # NEW MANUAL
+        # ==========
+
+        elif not self.use_arm_ik and not self.use_old_topics:
+            arm_input = JointJog()
+            arm_input.header.frame_id = "base_link"
+            arm_input.header.stamp = self.get_clock().now().to_msg()
+            arm_input.joint_names = self.all_joint_names
+            arm_input.velocities = [0.0] * len(self.all_joint_names)
+
+            # Right stick: EF yaw and axis 3
+            # Left stick: axis 1 and 2
+            # D-pad: axis 0 and _
+            # Triggers: EF grippers
+            # Bumpers: EF roll
+            # A: brake
+            # B: linear actuator in
+            # X: _
+            # Y: linear actuator out
+
+            # Right stick: EF yaw and axis 3
+            arm_input.velocities[self.all_joint_names.index("wrist_yaw_joint")] = float(
+                stick_to_arm_direction(right_stick_x)
+            )
+            arm_input.velocities[self.all_joint_names.index("axis_3_joint")] = float(
+                stick_to_arm_direction(right_stick_y)
+            )
+
+            # Left stick: axis 1 and 2
+            arm_input.velocities[self.all_joint_names.index("axis_1_joint")] = float(
+                stick_to_arm_direction(left_stick_x)
+            )
+            arm_input.velocities[self.all_joint_names.index("axis_2_joint")] = float(
+                stick_to_arm_direction(left_stick_y)
+            )
+
+            # D-pad: axis 0 and _
+            arm_input.velocities[self.all_joint_names.index("axis_0_joint")] = float(
+                dpad_input[0]
+            )
+
+            # Triggers: EF Grippers
+            if left_trigger > 0 and right_trigger > 0:
+                arm_input.velocities[
+                    self.all_joint_names.index("ef_gripper_left_joint")
+                ] = 0.0
+            elif left_trigger > 0:
+                arm_input.velocities[
+                    self.all_joint_names.index("ef_gripper_left_joint")
+                ] = -1.0
+            elif right_trigger > 0:
+                arm_input.velocities[
+                    self.all_joint_names.index("ef_gripper_left_joint")
+                ] = 1.0
+
+            # Bumpers: EF roll
+            arm_input.velocities[self.all_joint_names.index("wrist_roll_joint")] = (
+                right_bumper - left_bumper
+            )
+
+            # A: brake
+            # TODO: Brake mode
+
+            # Y: linear actuator
+            # TODO: linear actuator
+
+            self.arm_manual_pub_.publish(arm_input)
+
+        # IK (ONLY NEW)
+        # =============
+
+        elif self.use_arm_ik:
+            arm_twist = TwistStamped()
+            arm_twist.header.frame_id = "base_link"
+            arm_twist.header.stamp = self.get_clock().now().to_msg()
+            arm_jointjog = JointJog()
+            arm_jointjog.header.frame_id = "base_link"
+            arm_jointjog.header.stamp = self.get_clock().now().to_msg()
+
+            # Right stick: linear y and linear x
+            # Left stick: angular z and linear z
+            # D-pad: angular y and _
+            # Triggers: EF grippers
+            # Bumpers: angular x
+            # A: brake
+            # B: IK mode
+            # X: manual mode
+            # Y: linear actuator
+
+            # Right stick: linear y and linear x
+            arm_twist.twist.linear.y = float(right_stick_x)
+            arm_twist.twist.linear.x = float(right_stick_y)
+
+            # Left stick: angular z and linear z
+            arm_twist.twist.angular.z = float(-1 * left_stick_x)
+            arm_twist.twist.linear.z = float(-1 * left_stick_y)
+            # D-pad: angular y and _
+            arm_twist.twist.angular.y = (
+                float(0)
+                if dpad_input[0] == 0
+                else float(-1 * copysign(0.75, dpad_input[0]))
+            )
+
+            # Triggers: EF Grippers
+            if left_trigger > 0 or right_trigger > 0:
+                arm_jointjog.joint_names.append("ef_gripper_left_joint")  # type: ignore
+                arm_jointjog.velocities.append(float(right_trigger - left_trigger))
+
+            # Bumpers: angular x
+            if left_bumper > 0 and right_bumper > 0:
+                arm_twist.twist.angular.x = float(0)
+            elif left_bumper > 0:
+                arm_twist.twist.angular.x = float(1)
+            elif right_bumper > 0:
+                arm_twist.twist.angular.x = float(-1)
+
+            self.arm_ik_twist_publisher.publish(arm_twist)
+            # self.arm_ik_jointjog_publisher.publish(arm_jointjog)  # TODO: Figure this shit out
+
+    def send_bio(self):
+        # Collect controller state
+        left_stick_x = stick_deadzone(self.gamepad.get_axis(0))
+        left_stick_y = stick_deadzone(self.gamepad.get_axis(1))
+        left_trigger = stick_deadzone(self.gamepad.get_axis(2))
+        right_stick_x = stick_deadzone(self.gamepad.get_axis(3))
+        right_stick_y = stick_deadzone(self.gamepad.get_axis(4))
+        right_trigger = stick_deadzone(self.gamepad.get_axis(5))
+        button_a = self.gamepad.get_button(0)
+        button_b = self.gamepad.get_button(1)
+        button_x = self.gamepad.get_button(2)
+        button_y = self.gamepad.get_button(3)
+        left_bumper = self.gamepad.get_button(4)
+        right_bumper = self.gamepad.get_button(5)
+        dpad_input = self.gamepad.get_hat(0)
+
+        if self.use_old_topics:
             bio_input = BioControl(
                 bio_arm=int(left_stick_y * -100),
                 drill_arm=int(round(right_stick_y) * -100),
             )
 
             # Drill motor (FAERIE)
-            if deadzone(left_trigger) > 0 or deadzone(right_trigger) > 0:
+            if left_trigger > 0 or right_trigger > 0:
                 bio_input.drill = int(
                     30 * (right_trigger - left_trigger)
                 )  # Max duty cycle 30%
 
-            self.core_publisher.publish(CORE_STOP_MSG)
+            self.bio_publisher.publish(bio_input)
-            self.arm_publisher.publish(arm_input)
+
-            # self.bio_publisher.publish(bio_input)
+        else:
+            pass  # TODO: implement new bio control topics
+
+    def arm_manual_stop_msg(self):
+        return JointJog(
+            header=Header(frame_id="base_link", stamp=self.get_clock().now().to_msg()),
+            joint_names=self.all_joint_names,
+            velocities=[0.0] * len(self.all_joint_names),
+        )
+
+    def arm_ik_twist_stop_msg(self):
+        return TwistStamped(
+            header=Header(frame_id="base_link", stamp=self.get_clock().now().to_msg())
+        )
 
 
-def deadzone(value: float, threshold=0.05) -> float:
+def stick_deadzone(value: float, threshold=STICK_DEADZONE) -> float:
     """Apply a deadzone to a joystick input so the motors don't sound angry"""
     if abs(value) < threshold:
         return 0
     return value
 
 
+def stick_to_arm_direction(value: float, threshold=ARM_DEADZONE) -> int:
+    """Apply a larger deadzone to a stick input and make digital/binary instead of analog"""
+    if abs(value) < threshold:
+        return 0
+    return int(copysign(1, value))
+
+
+def is_user_in_group(group_name: str) -> bool:
+    # Copied from https://zetcode.com/python/os-getgrouplist/
+    try:
+        username = os.getlogin()
+
+        # Get group ID from name
+        group_info = grp.getgrnam(group_name)
+        target_gid = group_info.gr_gid
+
+        # Get user's groups
+        user_info = pwd.getpwnam(username)
+        user_groups = os.getgrouplist(username, user_info.pw_gid)
+
+        return target_gid in user_groups
+    except KeyError:
+        return False
+
+
+def exit_handler(signum, frame):
+    print("Caught SIGTERM. Exiting...")
+    rclpy.try_shutdown()
+    sys.exit(0)
+
+
 def main(args=None):
+    try:
         rclpy.init(args=args)
+
+        # Catch termination signals and exit cleanly
+        signal.signal(signal.SIGTERM, exit_handler)
+
         node = Headless()
         rclpy.spin(node)
-    rclpy.shutdown()
+    except (KeyboardInterrupt, ExternalShutdownException):
+        print("Caught shutdown signal. Exiting...")
+    finally:
+        rclpy.try_shutdown()
 
 
 if __name__ == "__main__":
-    signal.signal(
-        signal.SIGTERM, lambda signum, frame: sys.exit(0)
-    )  # Catch termination signals and exit cleanly
     main()

src/latency_tester/src/embedded_ping.cpp

@@ -26,7 +26,7 @@ class LatencyTester : public rclcpp::Node
 {
 public:
     LatencyTester()
-    : Node("latency_tester"), count_(0), target_mcu_("core")
+    : Node("latency_tester"), count_(0)
     {
         publisher_ = this->create_publisher<std_msgs::msg::String>("/anchor/relay", 10);
         timer_ = this->create_wall_timer(
@@ -35,6 +35,8 @@ public:
             "/anchor/debug",
             10,
             std::bind(&LatencyTester::response_callback, this, std::placeholders::_1));
+
+        target_mcu_ = this->declare_parameter<std::string>("target_mcu", "core");
     }
 
 private:

src/moveit_servo/CMakeLists.txt

@@ -1,26 +0,0 @@
-cmake_minimum_required(VERSION 3.8)
-project(moveit_servo)
-
-if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-  add_compile_options(-Wall -Wextra -Wpedantic)
-endif()
-
-# find dependencies
-find_package(ament_cmake REQUIRED)
-# uncomment the following section in order to fill in
-# further dependencies manually.
-# find_package(<dependency> REQUIRED)
-
-if(BUILD_TESTING)
-  find_package(ament_lint_auto REQUIRED)
-  # the following line skips the linter which checks for copyrights
-  # comment the line when a copyright and license is added to all source files
-  set(ament_cmake_copyright_FOUND TRUE)
-  # the following line skips cpplint (only works in a git repo)
-  # comment the line when this package is in a git repo and when
-  # a copyright and license is added to all source files
-  set(ament_cmake_cpplint_FOUND TRUE)
-  ament_lint_auto_find_test_dependencies()
-endif()
-
-ament_package()

src/moveit_servo/config/kinematics.yaml

@@ -1,4 +0,0 @@
-panda_arm:
-  kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
-  kinematics_solver_search_resolution: 0.005
-  kinematics_solver_timeout: 0.05

src/moveit_servo/launch/servo.launch.py

@@ -1,25 +0,0 @@
-from launch import LaunchDescription
-from launch_ros.actions import Node
-from moveit_configs_utils import MoveItConfigsBuilder
-
-def generate_launch_description():
-    moveit_config = (
-        MoveItConfigsBuilder("astra_descriptions")
-        .robot_description(file_path="config/robot.urdf.xacro")
-        .to_moveit_configs()
-    )
-
-    servo_node = Node(
-        package="moveit_servo",
-        executable="servo_node",
-        name="servo_node",
-        parameters=[
-            "config/servo_parameters.yaml",
-            moveit_config.robot_description,
-            moveit_config.robot_description_semantic,
-            moveit_config.robot_description_kinematics,
-        ],
-        output="screen",
-    )
-
-    return LaunchDescription([servo_node])

src/moveit_servo/package.xml

@@ -1,18 +0,0 @@
-<?xml version="1.0"?>
-<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
-<package format="3">
-  <name>moveit_servo</name>
-  <version>0.0.0</version>
-  <description>TODO: Package description</description>
-  <maintainer email="aaron.m.davis@comcast.net">aaron</maintainer>
-  <license>TODO: License declaration</license>
-
-  <buildtool_depend>ament_cmake</buildtool_depend>
-
-  <test_depend>ament_lint_auto</test_depend>
-  <test_depend>ament_lint_common</test_depend>
-
-  <export>
-    <build_type>ament_cmake</build_type>
-  </export>
-</package>

treefmt.nix

@@ -0,0 +1,9 @@
+{ ... }:
+{
+  projectRootFile = "flake.nix";
+  programs = {
+    nixfmt.enable = true;
+    black.enable = true;
+    shfmt.enable = true;
+  };
+}