robofsm: Remove publisher of ultrasonic estimated position

diff --git a/src/robofsm/robot_orte.c b/src/robofsm/robot_orte.c
index aa7aaeac41531686342382e0ead1d19a012276ce..8d07e75f73d9cfd234dd369f414bf586a09a191c 100644 (file)
--- a/src/robofsm/robot_orte.c
+++ b/src/robofsm/robot_orte.c
@@ -50,16 +50,6 @@ void send_ref_pos_cb(const ORTESendInfo *info, void *vinstance,
        ROBOT_UNLOCK(ref_pos);
 }
 
-void send_est_pos_uzv_cb(const ORTESendInfo *info, void *vinstance, 
-                       void *sendCallBackParam)
-{
-       struct robot_pos_type *instance = (struct robot_pos_type *)vinstance;
-       
-       ROBOT_LOCK(est_pos_uzv);
-       *instance = robot.est_pos_uzv;
-       ROBOT_UNLOCK(est_pos_uzv);
-}
-
 void send_est_pos_odo_cb(const ORTESendInfo *info, void *vinstance, 
                        void *sendCallBackParam)
 {
@@ -413,7 +403,6 @@ int robot_init_orte()
        /* creating publishers */
        robottype_publisher_motion_speed_create(&robot.orte, NULL, &robot.orte);
        robottype_publisher_ref_pos_create(&robot.orte, send_ref_pos_cb, &robot.orte);
-       robottype_publisher_est_pos_uzv_create(&robot.orte, send_est_pos_uzv_cb, &robot.orte);
        robottype_publisher_est_pos_odo_create(&robot.orte, send_est_pos_odo_cb, &robot.orte);
        robottype_publisher_est_pos_indep_odo_create(&robot.orte, send_est_pos_indep_odo_cb, &robot.orte);
        //???robottype_publisher_pwr_ctrl_create(&robot.orte, NULL, &robot.orte);

diff --git a/src/types/robottype.ortegen b/src/types/robottype.ortegen
index 87f80ce74b6cd0072365db45361fc278bba5f7ef..5e33d8ae9a3bb3c8380060120ac3219e808f258b 100644 (file)
--- a/src/types/robottype.ortegen
+++ b/src/types/robottype.ortegen
@@ -5,7 +5,6 @@ type=binary_data        topic=binary_data
 type=can_msg           topic=can_msg
 type=corr_distances    topic=corr_distances
 type=corr_trig         topic=corr_trig
-type=robot_pos         topic=est_pos_uzv
 type=robot_pos         topic=est_pos_odo
 type=robot_pos         topic=est_pos_indep_odo
 type=hokuyo_pitch      topic=hokuyo_pitch

diff --git a/src/uoled/uoled.c b/src/uoled/uoled.c
index ecd14c9a20f617d63e523ccec366fd34049fc702..5efeef5ebea18a005d31fab3b9f2aab8af7c3644 100644 (file)
--- a/src/uoled/uoled.c
+++ b/src/uoled/uoled.c
@@ -195,12 +195,6 @@ int uoled_send_status(struct robot *state)
                return -1;
        else
                idx += ret;
-       ret = oled_send_position(msg+idx, sizeof(msg)-idx, &(state->orte.est_pos_uzv));
-       if(ret==-1)
-               return -1;
-       else
-               idx += ret;
-
        ret = oled_send_fsm_state(msg+idx, sizeof(msg)-idx, (state->orte.fsm_act.state_name), 
                                  strlen(state->orte.fsm_act.state_name), FSM_STATE_MSG);
        if(ret==-1)