From b5d18c613181f0935890aef91cbc1da4d06e00c3 Mon Sep 17 00:00:00 2001 From: Matthias Grob Date: Wed, 13 Nov 2024 02:11:20 +0100 Subject: [PATCH] Remove unused collision_report message --- msg/CMakeLists.txt | 1 - msg/CollisionReport.msg | 8 --- src/modules/mavlink/mavlink_messages.cpp | 1 - src/modules/mavlink/mavlink_receiver.cpp | 24 ------- src/modules/mavlink/mavlink_receiver.h | 2 - src/modules/mavlink/streams/COLLISION.hpp | 84 ----------------------- src/modules/zenoh/Kconfig.topics | 4 -- 7 files changed, 124 deletions(-) delete mode 100644 msg/CollisionReport.msg delete mode 100644 src/modules/mavlink/streams/COLLISION.hpp diff --git a/msg/CMakeLists.txt b/msg/CMakeLists.txt index c8c8518bb8..c87e75fb69 100644 --- a/msg/CMakeLists.txt +++ b/msg/CMakeLists.txt @@ -61,7 +61,6 @@ set(msg_files CanInterfaceStatus.msg CellularStatus.msg CollisionConstraints.msg - CollisionReport.msg ConfigOverrides.msg ControlAllocatorStatus.msg Cpuload.msg diff --git a/msg/CollisionReport.msg b/msg/CollisionReport.msg deleted file mode 100644 index 1ad7ce7265..0000000000 --- a/msg/CollisionReport.msg +++ /dev/null @@ -1,8 +0,0 @@ -uint64 timestamp # time since system start (microseconds) -uint8 src -uint32 id -uint8 action -uint8 threat_level -float32 time_to_minimum_delta -float32 altitude_minimum_delta -float32 horizontal_minimum_delta diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp index 60f021a5b1..72b5b49123 100644 --- a/src/modules/mavlink/mavlink_messages.cpp +++ b/src/modules/mavlink/mavlink_messages.cpp @@ -65,7 +65,6 @@ #include "streams/BATTERY_STATUS.hpp" #include "streams/CAMERA_IMAGE_CAPTURED.hpp" #include "streams/CAMERA_TRIGGER.hpp" -#include "streams/COLLISION.hpp" #include "streams/COMMAND_LONG.hpp" #include "streams/COMPONENT_INFORMATION.hpp" #include "streams/COMPONENT_METADATA.hpp" diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp index 7a1d3b3df7..fdb6e9fee4 100644 --- a/src/modules/mavlink/mavlink_receiver.cpp +++ b/src/modules/mavlink/mavlink_receiver.cpp @@ -224,10 +224,6 @@ MavlinkReceiver::handle_message(mavlink_message_t *msg) handle_message_adsb_vehicle(msg); break; - case MAVLINK_MSG_ID_COLLISION: - handle_message_collision(msg); - break; - case MAVLINK_MSG_ID_GPS_RTCM_DATA: handle_message_gps_rtcm_data(msg); break; @@ -2628,26 +2624,6 @@ MavlinkReceiver::handle_message_adsb_vehicle(mavlink_message_t *msg) _transponder_report_pub.publish(t); } -void -MavlinkReceiver::handle_message_collision(mavlink_message_t *msg) -{ - mavlink_collision_t collision; - mavlink_msg_collision_decode(msg, &collision); - - collision_report_s collision_report{}; - - collision_report.timestamp = hrt_absolute_time(); - collision_report.src = collision.src; - collision_report.id = collision.id; - collision_report.action = collision.action; - collision_report.threat_level = collision.threat_level; - collision_report.time_to_minimum_delta = collision.time_to_minimum_delta; - collision_report.altitude_minimum_delta = collision.altitude_minimum_delta; - collision_report.horizontal_minimum_delta = collision.horizontal_minimum_delta; - - _collision_report_pub.publish(collision_report); -} - void MavlinkReceiver::handle_message_gps_rtcm_data(mavlink_message_t *msg) { diff --git a/src/modules/mavlink/mavlink_receiver.h b/src/modules/mavlink/mavlink_receiver.h index 040c7d314e..326d0ee19e 100644 --- a/src/modules/mavlink/mavlink_receiver.h +++ b/src/modules/mavlink/mavlink_receiver.h @@ -67,7 +67,6 @@ #include #include #include -#include #include #include #include @@ -302,7 +301,6 @@ private: uORB::Publication _battery_pub{ORB_ID(battery_status)}; uORB::Publication _camera_status_pub{ORB_ID(camera_status)}; uORB::Publication _cellular_status_pub{ORB_ID(cellular_status)}; - uORB::Publication _collision_report_pub{ORB_ID(collision_report)}; uORB::Publication _differential_pressure_pub{ORB_ID(differential_pressure)}; uORB::Publication _follow_target_pub{ORB_ID(follow_target)}; uORB::Publication _gimbal_manager_set_attitude_pub{ORB_ID(gimbal_manager_set_attitude)}; diff --git a/src/modules/mavlink/streams/COLLISION.hpp b/src/modules/mavlink/streams/COLLISION.hpp deleted file mode 100644 index a3469c62d9..0000000000 --- a/src/modules/mavlink/streams/COLLISION.hpp +++ /dev/null @@ -1,84 +0,0 @@ -/**************************************************************************** - * - * Copyright (c) 2020 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. - * - ****************************************************************************/ - -#ifndef COLLISION_HPP -#define COLLISION_HPP - -#include - -class MavlinkStreamCollision : public MavlinkStream -{ -public: - static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamCollision(mavlink); } - - static constexpr const char *get_name_static() { return "COLLISION"; } - static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_COLLISION; } - - const char *get_name() const override { return get_name_static(); } - uint16_t get_id() override { return get_id_static(); } - - unsigned get_size() override - { - return _collision_sub.advertised() ? MAVLINK_MSG_ID_COLLISION_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES : 0; - } - -private: - explicit MavlinkStreamCollision(Mavlink *mavlink) : MavlinkStream(mavlink) {} - - uORB::Subscription _collision_sub{ORB_ID(collision_report)}; - - bool send() override - { - collision_report_s report; - bool sent = false; - - while ((_mavlink->get_free_tx_buf() >= get_size()) && _collision_sub.update(&report)) { - mavlink_collision_t msg = {}; - - msg.src = report.src; - msg.id = report.id; - msg.action = report.action; - msg.threat_level = report.threat_level; - msg.time_to_minimum_delta = report.time_to_minimum_delta; - msg.altitude_minimum_delta = report.altitude_minimum_delta; - msg.horizontal_minimum_delta = report.horizontal_minimum_delta; - - mavlink_msg_collision_send_struct(_mavlink->get_channel(), &msg); - sent = true; - } - - return sent; - } -}; - -#endif // COLLISION_HPP diff --git a/src/modules/zenoh/Kconfig.topics b/src/modules/zenoh/Kconfig.topics index 19e0be635a..cf4be643ae 100644 --- a/src/modules/zenoh/Kconfig.topics +++ b/src/modules/zenoh/Kconfig.topics @@ -97,10 +97,6 @@ menu "Zenoh publishers/subscribers" bool "collision_constraints" default n - config ZENOH_PUBSUB_COLLISION_REPORT - bool "collision_report" - default n - config ZENOH_PUBSUB_CONFIG_OVERRIDES bool "config_overrides" default n