cand, robottype.idl, robottype.ortegen, actlib: "picker" related functions removed

diff --git a/src/cand/cand.cc b/src/cand/cand.cc
index ade7b35b9981ede90785e586f5ed7f6868d530e2..25ffea41ecb13fce9eba63331f888fc5c68adac3 100644 (file)
--- a/src/cand/cand.cc
+++ b/src/cand/cand.cc
@@ -142,30 +142,6 @@ int set_lift(struct robottype_orte_data *orte_data)
        return 0;
 }
 
-/**
- * FIXME: this function is temporary, just for time LPCs are not ready
- * Sends #CAN_PICKER message.
- * 
- * - data[0] = orte_data->picker.rightchela;
- * - data[1] = orte_data->picker.leftchela;
- * - data[2] = orte_data->picker.leftbelt;
- * - data[3] = orte_data->picker.rightbelt;
- * - data[4] = orte_data->picker.timeout;
- */
-int set_picker(struct robottype_orte_data *orte_data)
-{
-       unsigned char data[5];
-
-       data[0] = orte_data->picker.rightchela;
-       data[1] = orte_data->picker.leftchela;
-       data[2] = orte_data->picker.leftbelt;
-       data[3] = orte_data->picker.rightbelt;
-       data[4] = orte_data->picker.timeout;
-       can_send(CAN_PICKER, sizeof(data), data);
-
-       return 0;
-}
-
 /**
  * Sends #CAN_CHELAE message.
  * 
@@ -437,21 +413,6 @@ void rcv_lift_cb (const ORTERecvInfo *info, void *vinstance,
        }
 }
 
-void rcv_picker_cb (const ORTERecvInfo *info, void *vinstance, 
-                       void *recvCallBackParam) 
-{
-       struct robottype_orte_data *orte_data = (struct robottype_orte_data *)recvCallBackParam;
-
-       switch (info->status) {
-               case NEW_DATA:
-                       set_picker(orte_data);  
-                       break;
-               case DEADLINE:
-//                     printf("ORTE deadline occurred - chelae receive\n");
-                       break;
-       }
-}
-
 void rcv_chelae_cb (const ORTERecvInfo *info, void *vinstance, 
                        void *recvCallBackParam) 
 {
@@ -559,7 +520,6 @@ int main(int argc, char *argv[])
        robottype_subscriber_lift_create(&orte, rcv_lift_cb, &orte);
        robottype_subscriber_chelae_create(&orte, rcv_chelae_cb, &orte);
        robottype_subscriber_belts_create(&orte, rcv_belts_cb, &orte);
-       robottype_subscriber_picker_create(&orte, rcv_picker_cb, &orte); // FIXME: temporary (LPCs not ready)
        robottype_subscriber_holder_create(&orte, rcv_holder_cb, &orte);
        robottype_subscriber_pusher_create(&orte, rcv_pusher_cb, &orte);
 

diff --git a/src/robofsm/actuators.c b/src/robofsm/actuators.c
index 24df9e4aed15248f69e572e4363de9d4f5d264d5..5e341ce778ecae2e4f3c49a027b3d617ebb1c040 100644 (file)
--- a/src/robofsm/actuators.c
+++ b/src/robofsm/actuators.c
@@ -52,16 +52,3 @@ void act_pusher(unsigned short int position)
        ORTEPublicationSend(orte->publication_pusher);
 }
 
-/* FIXME: temporary function (LPCs not ready yet) */
-void act_picker(unsigned char leftchela, unsigned char rightchela, 
-               unsigned char leftbelt, unsigned char rightbelt, 
-               unsigned char timeout)
-{
-       orte->picker.leftchela = leftchela;
-       orte->picker.rightchela = rightchela;
-       orte->picker.leftbelt = leftbelt;
-       orte->picker.rightbelt = rightbelt;
-       orte->picker.timeout = timeout;
-       ORTEPublicationSend(orte->publication_picker);
-}
-

diff --git a/src/robofsm/actuators.h b/src/robofsm/actuators.h
index 7f6d053657e856614e6f241fe7f95833a8d6cecc..8a8931fde73cecd77136602fdfadb406ba58be48 100644 (file)
--- a/src/robofsm/actuators.h
+++ b/src/robofsm/actuators.h
@@ -66,10 +66,6 @@ void act_chelae(unsigned char left, unsigned char right);
 void act_belts(unsigned char left, unsigned char right);
 void act_holder(unsigned char position);
 void act_pusher(unsigned short int position);
-/* FIXME: temporary function (LPCs not ready yet) */
-void act_picker(unsigned char leftchela, unsigned char rightchela, 
-               unsigned char leftbelt, unsigned char rightbelt, 
-               unsigned char timeout);
 
 #ifdef __cplusplus
 }

diff --git a/src/types/robottype.idl b/src/types/robottype.idl
index b3bcfe08c281c36e9203acbe14160ba8cd1e9480..42609533b802e8c520615c728a81d56cd24f1028 100644 (file)
--- a/src/types/robottype.idl
+++ b/src/types/robottype.idl
@@ -166,17 +166,6 @@ struct holder {
        octet pos;
 };
 
-/** Filip: temporary structure, LPCs are not ready yet
-    FIXME: this structure has to be deleted,
-           need to use belts and chelae structures instead */
-struct picker {
-       octet leftchela;
-       octet rightchela;
-       octet leftbelt;
-       octet rightbelt;
-       octet timeout;
-};
-
 // FIXME: What's this??? M.S.
 struct binary_data {
     octet data;

diff --git a/src/types/robottype.ortegen b/src/types/robottype.ortegen
index cb031ca5f3e055fb47f492705346f6fda3f160fe..aff8b88926fd2e822c8488cdce15876bfb95a29f 100644 (file)
--- a/src/types/robottype.ortegen
+++ b/src/types/robottype.ortegen
@@ -15,7 +15,6 @@ type=lift             topic=lift
 type=motion_irc                topic=motion_irc
 type=motion_speed      topic=motion_speed
 type=motion_status     topic=motion_status
-type=picker            topic=picker
 type=puck_distance     topic=puck_distance
 type=pusher            topic=pusher
 type=pwr_alert         topic=pwr_alert