ekf2: SensorRangeFinder purge unused Sensor interface

src/modules/ekf2/EKF/aid_sources/range_finder/Sensor.hpp

@@ -1,84 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2020-2023 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file Sensor.hpp
- * Abstract class for sensors
- *
- * @author Mathieu Bresciani <brescianimathieu@gmail.com>
- *
- */
-
-#ifndef EKF_SENSOR_HPP
-#define EKF_SENSOR_HPP
-
-#include <cstdint>
-
-namespace estimator
-{
-namespace sensor
-{
-
-class Sensor
-{
-public:
-	virtual ~Sensor() {};
-
-	/*
-	 * run sanity checks on the current data
-	 * this has to be called immediately after
-	 * setting new data
-	 */
-	virtual void runChecks() {};
-
-	/*
-	 * return true if the sensor is healthy
-	 */
-	virtual bool isHealthy() const = 0;
-
-	/*
-	 * return true if the delayed sample is healthy
-	 * and can be fused in the estimator
-	 */
-	virtual bool isDataHealthy() const = 0;
-
-	/*
-	 * return true if the sensor data rate is
-	 * stable and high enough
-	 */
-	virtual bool isRegularlySendingData() const = 0;
-};
-
-} // namespace sensor
-} // namespace estimator
-#endif // !EKF_SENSOR_HPP

src/modules/ekf2/EKF/aid_sources/range_finder/sensor_range_finder.hpp

@@ -41,8 +41,6 @@
 #ifndef EKF_SENSOR_RANGE_FINDER_HPP
 #define EKF_SENSOR_RANGE_FINDER_HPP
 
-#include "Sensor.hpp"
-
 #include <matrix/math.hpp>
 #include <lib/mathlib/math/filter/MedianFilter.hpp>
 
@@ -60,17 +58,17 @@ struct rangeSample {
 static constexpr uint64_t RNG_MAX_INTERVAL =
 	200e3;  ///< Maximum allowable time interval between range finder measurements (uSec)
 
-class SensorRangeFinder : public Sensor
+class SensorRangeFinder
 {
 public:
 	SensorRangeFinder() = default;
-	~SensorRangeFinder() override = default;
+	~SensorRangeFinder() = default;
 
 	void runChecks(uint64_t current_time_us, const matrix::Dcmf &R_to_earth);
-	bool isHealthy() const override { return _is_sample_valid; }
+	bool isHealthy() const { return _is_sample_valid; }
-	bool isDataHealthy() const override { return _is_sample_ready && _is_sample_valid; }
+	bool isDataHealthy() const { return _is_sample_ready && _is_sample_valid; }
 	bool isDataReady() const { return _is_sample_ready; }
-	bool isRegularlySendingData() const override { return _is_regularly_sending_data; }
+	bool isRegularlySendingData() const { return _is_regularly_sending_data; }
 	bool isStuckDetectorEnabled() const { return _stuck_threshold > 0.f; }
 
 	void setSample(const rangeSample &sample)