Remove heading messages from ArdupilotProtocol (#323)

huskyroboticsteam · May 13, 2024 · 862ae89 · 862ae89
1 parent 5a26ec4
commit 862ae89
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Showing 2 changed files with 0 additions and 41 deletions.
diff --git a/src/ardupilot/ArduPilotProtocol.cpp b/src/ardupilot/ArduPilotProtocol.cpp
@@ -32,9 +32,6 @@ void ArduPilotProtocol::initArduPilotServer(SingleClientWSServer& websocketServe
 	ardupilot_protocol->addMessageHandler(
 		"orientation", std::bind(&ArduPilotProtocol::handleIMURequest, this, _1),
 		validateIMURequest);
-	ardupilot_protocol->addMessageHandler(
-		"heading", std::bind(&ArduPilotProtocol::handleHeadingRequest, this, _1),
-		validateHeadingRequest);
 	ardupilot_protocol->addConnectionHandler(
 		std::bind(&ArduPilotProtocol::clientConnected, this));
 	ardupilot_protocol->addDisconnectionHandler(
@@ -89,16 +86,6 @@ void ArduPilotProtocol::handleIMURequest(const json& j) {
 	_lastOrientation = util::eulerAnglesToQuat(rpy);
 }
 
-bool ArduPilotProtocol::validateHeadingRequest(const json& j) {
-	return util::validateKey(j, "heading", val_t::number_float);
-}
-
-void ArduPilotProtocol::handleHeadingRequest(const json& j) {
-	int heading = j["heading"];
-	std::lock_guard lock(_lastHeadingMutex);
-	_lastHeading = heading;
-}
-
 DataPoint<gpscoords_t> ArduPilotProtocol::getGPS() {
 	std::unique_lock<std::mutex> lock(_lastGPSMutex);
 	return _lastGPS;
@@ -109,11 +96,6 @@ DataPoint<Eigen::Quaterniond> ArduPilotProtocol::getIMU() {
 	return _lastOrientation;
 }
 
-DataPoint<int> ArduPilotProtocol::getHeading() {
-	std::unique_lock<std::mutex> lock(_lastHeadingMutex);
-	return _lastHeading;
-}
-
 bool ArduPilotProtocol::isArduPilotConnected() {
 	std::unique_lock<std::mutex> lock(_connectionMutex);
 	return _arduPilotProtocolConnected;

diff --git a/src/ardupilot/ArduPilotProtocol.h b/src/ardupilot/ArduPilotProtocol.h
@@ -31,12 +31,6 @@ class ArduPilotProtocol {
 	 */
 	robot::types::DataPoint<Eigen::Quaterniond> getIMU();
 
-	/* @brief Gets the last reported heading (degrees)
-	 *
-	 * @return Last reported heading
-	 */
-	robot::types::DataPoint<int> getHeading();
-
 private:
 	/* @brief Validates GPS request
 	 *
@@ -54,14 +48,6 @@ class ArduPilotProtocol {
 	 */
 	static bool validateIMURequest(const nlohmann::json& j);
 
-	/* @brief Validates heading request
-	 *
-	 * @param json message
-	 *
-	 * @return True if message is valid, false otherwise
-	 */
-	static bool validateHeadingRequest(const nlohmann::json& j);
-
 	/* @brief Destructures GPS json message and updates last reported GPS values
 	 *
 	 * @param json message
@@ -74,12 +60,6 @@ class ArduPilotProtocol {
 	 */
 	void handleIMURequest(const nlohmann::json& j);
 
-	/* @brief Destructures heading json message and updates last reported GPS values
-	 *
-	 * @param json message
-	 */
-	void handleHeadingRequest(const nlohmann::json& j);
-
 	/* @brief Checks if the ArduPilotProtocol is connected
 	 *
 	 * @return True if connected, false if not connected
@@ -101,9 +81,6 @@ class ArduPilotProtocol {
 	std::mutex _connectionMutex;
 	bool _arduPilotProtocolConnected;
 
-	std::mutex _lastHeadingMutex;
-	robot::types::DataPoint<int> _lastHeading;
-
 	std::mutex _lastGPSMutex;
 	robot::types::DataPoint<navtypes::gpscoords_t> _lastGPS;