robofsm: mistaken hooks to inactive fsmloc reverted back, sorry

diff --git a/src/robofsm/roboevent.py b/src/robofsm/roboevent.py
index 326c87a730294ca90430df30420c9552924dab5e..c96d60c54562aa3acea2549a9127ecbd9ce48238 100644 (file)
--- a/src/robofsm/roboevent.py
+++ b/src/robofsm/roboevent.py
@@ -17,7 +17,6 @@ events = {
     "loc" : {
        #"EV_ODO_RECEIVED" : "Execute prediction step based on odometry data",
        #"EV_LASER_RECEIVED" : "Execute update step based on laser measurement",
-       "EV_DIST_RECEIVED" : "Ultrasound period: execute estimation & control step",
        "EV_SET_ESTIMATED" : "Sets the estimated position to the value from event parameter",
        "EV_RESET" : "Initialize MCL to uniform distribution on the whole playground",
     },

diff --git a/src/robofsm/robot.h b/src/robofsm/robot.h
index 00b02383e4b70d4c047d207f002512086dbac57b..be9ca5945189770cbbfc00a07acf658656c935be 100644 (file)
--- a/src/robofsm/robot.h
+++ b/src/robofsm/robot.h
@@ -54,7 +54,6 @@ enum robot_state {
 #define ROBOT_FSM_MOTION motion
 #define ROBOT_FSM_DISPLAY display
 #define ROBOT_FSM_ACT act
-#define ROBOT_FSM_LOC loc
 
 #define FSM_GET_BY_ID(fsm_id) (&robot.fsm.ROBOT_FSM_##fsm_id)
 
@@ -148,7 +147,6 @@ struct robot {
                struct robo_fsm motion;
                struct robo_fsm display;
                struct robo_fsm act;
-               struct robo_fsm loc;
        } fsm;
 
        /* actual position */

diff --git a/src/robofsm/robot_orte.c b/src/robofsm/robot_orte.c
index 8327a9b781ac8fb0035649f280718674c8acc6ff..58f60568bffd66eeca7810909edab16418d0e354 100644 (file)
--- a/src/robofsm/robot_orte.c
+++ b/src/robofsm/robot_orte.c
@@ -89,8 +89,6 @@ void rcv_corr_distances_cb(const ORTERecvInfo *info, void *vinstance,
                        robot.corr_distances = *instance;
                        ROBOT_UNLOCK(corr_distances);
 
-                       FSM_SIGNAL(LOC, EV_DIST_RECEIVED, NULL);
-
                        /*FIXME: is following OK? (pecam1) */
                        robot.hw_status[STATUS_MOTION] = HW_STATUS_OK;
                        break;