`TxAlarmBroadcaster` and `TxAlarmListener` should be cleaned up

[cbrxyz]

Assignee

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Deadline

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What needs to change?

These two important classes, found in the ros_alarms package are a little out of date, and are still using some old Twisted-style practices. We should update these classes to use more modern asynchronous features, such as __aenter__ and __aexit__, using setup() over the init() method, support async callbacks, etc.

This issue can be closed when the classes are updated (shouldn't take too long), and the instances of the classes (aka, where the classes are used) are updated as well.

How would this task be tested?

1. If desired, write tests in ros_alarms showing that the basic async alarm functionality is working and proper. Show that a mission is able to complete its desired functionality while using the newly updated async alarm handlers.

Contacts

• [ ] We need help from the mechanical team.
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• [ ] We need help from a company or an organization.
• [ ] We need help from another UF staff member or organization (ex, facilities).