E-Comms: Post track week updates (async CAN rx, dataclass>tuple, update states)#38
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LelsersLasers merged 11 commits intomainfrom Apr 27, 2026
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Use a can.Notifier background thread + callback + executor.create_task
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Pull request overview
Updates the ECOMMS ROS2 integration to use asynchronous CAN reception and a structured status object, while aligning published/subscribed topic names with updated electrical stack naming.
Changes:
- Replace polling CAN RX with
can.Notifiercallback-driven RX and main-thread handling. - Change status unpacking from a tuple to an
AdcbStatusdataclass and add the newRECOVERINGlogic mode mapping. - Rename/status topics (ADB → ADCB) and update metrics collection subscriptions accordingly.
Reviewed changes
Copilot reviewed 3 out of 3 changed files in this pull request and generated 3 comments.
| File | Description |
|---|---|
src/autonomous_kart/autonomous_kart/nodes/metrics/metrics_node.py |
Updates subscribed ECOMMS topics/types to match the renamed ADCB/status publishers. |
src/autonomous_kart/autonomous_kart/nodes/e_comms/e_comms_node.py |
Switches CAN RX to can.Notifier, publishes renamed topics, and refactors status handling. |
src/autonomous_kart/autonomous_kart/nodes/e_comms/e_comms.py |
Introduces AdcbStatus dataclass, adds RECOVERING state mapping, and updates unpack API. |
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ShayManor
approved these changes
Apr 16, 2026
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can.Notifierbackground thread + callback +executor.create_task)