Remove AIS Ships from Local Transceiver

UBCSailbot · Jan 18, 2025 · 840fe26 · 840fe26
1 parent af15740
commit 840fe26
Show file tree

Hide file tree

Showing 3 changed files with 0 additions and 34 deletions.
diff --git a/src/network_systems/projects/local_transceiver/inc/local_transceiver.h b/src/network_systems/projects/local_transceiver/inc/local_transceiver.h
@@ -6,7 +6,6 @@
 #include "at_cmds.h"
 #include "boost/asio/io_service.hpp"
 #include "boost/asio/serial_port.hpp"
-#include "custom_interfaces/msg/ais_ships.hpp"
 #include "custom_interfaces/msg/batteries.hpp"
 #include "custom_interfaces/msg/generic_sensors.hpp"
 #include "custom_interfaces/msg/gps.hpp"
@@ -34,13 +33,6 @@ class LocalTransceiver
     */
     void updateSensor(msg::GPS gps);
 
-    /**
-    * @brief Update the sensor with new AIS Ships data
-    *
-    * @param ships custom_interfaces AISShips object
-    */
-    void updateSensor(msg::AISShips ships);
-
     /**
     * @brief Update the sensor with new Wind sensor data
     *

diff --git a/src/network_systems/projects/local_transceiver/src/local_transceiver.cpp b/src/network_systems/projects/local_transceiver/src/local_transceiver.cpp
@@ -8,7 +8,6 @@
 #include <boost/asio/streambuf.hpp>
 #include <boost/asio/write.hpp>
 #include <boost/system/error_code.hpp>
-#include <custom_interfaces/msg/ais_ships.hpp>
 #include <custom_interfaces/msg/batteries.hpp>
 #include <custom_interfaces/msg/generic_sensors.hpp>
 #include <custom_interfaces/msg/gps.hpp>
@@ -37,22 +36,6 @@ void LocalTransceiver::updateSensor(msg::GPS gps)
     sensors_.mutable_gps()->set_speed(gps.speed.speed);
 }
 
-void LocalTransceiver::updateSensor(msg::AISShips ships)
-{
-    sensors_.clear_ais_ships();
-    for (const msg::HelperAISShip & ship : ships.ships) {
-        Sensors::Ais * new_ship = sensors_.add_ais_ships();
-        new_ship->set_id(ship.id);
-        new_ship->set_cog(ship.cog.heading);
-        new_ship->set_latitude(ship.lat_lon.latitude);
-        new_ship->set_longitude(ship.lat_lon.longitude);
-        new_ship->set_sog(ship.sog.speed);
-        new_ship->set_rot(ship.rot.rot);
-        new_ship->set_width(ship.width.dimension);
-        new_ship->set_length(ship.length.dimension);
-    }
-}
-
 void LocalTransceiver::updateSensor(msg::WindSensors wind)
 {
     sensors_.clear_wind_sensors();

diff --git a/src/network_systems/projects/local_transceiver/src/local_transceiver_ros_intf.cpp b/src/network_systems/projects/local_transceiver/src/local_transceiver_ros_intf.cpp
@@ -71,9 +71,6 @@ class LocalTransceiverIntf : public NetNode
             sub_data_sensors = this->create_subscription<custom_interfaces::msg::GenericSensors>(
               ros_topics::DATA_SENSORS, ROS_Q_SIZE,
               std::bind(&LocalTransceiverIntf::sub_data_sensors_cb, this, std::placeholders::_1));
-            sub_ais_ships = this->create_subscription<custom_interfaces::msg::AISShips>(
-              ros_topics::AIS_SHIPS, ROS_Q_SIZE,
-              std::bind(&LocalTransceiverIntf::sub_ais_ships_cb, this, std::placeholders::_1));
             sub_gps = this->create_subscription<custom_interfaces::msg::GPS>(
               ros_topics::GPS, ROS_Q_SIZE, std::bind(&LocalTransceiverIntf::sub_gps_cb, this, std::placeholders::_1));
             sub_local_path_data = this->create_subscription<custom_interfaces::msg::LPathData>(
@@ -90,7 +87,6 @@ class LocalTransceiverIntf : public NetNode
     rclcpp::Subscription<custom_interfaces::msg::WindSensors>::SharedPtr    sub_wind_sensor;
     rclcpp::Subscription<custom_interfaces::msg::Batteries>::SharedPtr      sub_batteries;
     rclcpp::Subscription<custom_interfaces::msg::GenericSensors>::SharedPtr sub_data_sensors;
-    rclcpp::Subscription<custom_interfaces::msg::AISShips>::SharedPtr       sub_ais_ships;
     rclcpp::Subscription<custom_interfaces::msg::GPS>::SharedPtr            sub_gps;
     rclcpp::Subscription<custom_interfaces::msg::LPathData>::SharedPtr      sub_local_path_data;
 
@@ -119,11 +115,6 @@ class LocalTransceiverIntf : public NetNode
      */
     void sub_data_sensors_cb(custom_interfaces::msg::GenericSensors in_msg) { lcl_trns_->updateSensor(in_msg); }
 
-    /**
-     * @brief Callback function to subscribe to the onboard ROS network for ais ships
-     */
-    void sub_ais_ships_cb(custom_interfaces::msg::AISShips in_msg) { lcl_trns_->updateSensor(in_msg); }
-
     /**
      * @brief Callback function to subscribe to the onboard ROS network for GPS
      */