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remove unused file

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acki
2025-10-14 17:53:50 +02:00
parent a64fe3a717
commit a4b80a7ab5
1 changed files with 0 additions and 83 deletions
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83
src/modelec_strat/src/missions/test.go_home_mission.cpp
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@@ -1,83 +0,0 @@
#include <modelec_strat/missions/go_home_mission.hpp>
#include <modelec_utils/config.hpp>
namespace Modelec
{
GoHomeMission::GoHomeMission(const std::shared_ptr<NavigationHelper>& nav, const rclcpp::Time& start_time) :
step_(GO_FRONT), status_(MissionStatus::READY), nav_(nav), start_time_(start_time)
{
}
void GoHomeMission::Start(rclcpp::Node::SharedPtr node)
{
node_ = node;
mission_score_ = Config::get<int>("config.mission_score.go_home", 0);
score_pub_ = node_->create_publisher<std_msgs::msg::Int64>("/strat/score", 10);
auto curr = nav_->GetCurrentPos();
RCLCPP_INFO(node_->get_logger(), "GoHomeMission: Starting at position (%f, %f)", curr->x, curr->y);
auto spawn_pos = nav_->GetSpawn();
nav_->GoTo(spawn_pos.x, 1300, -M_PI_2, true, Pathfinding::FREE | Pathfinding::WALL | Pathfinding::OBSTACLE);
go_home_time_ = node_->now();
status_ = MissionStatus::RUNNING;
}
void GoHomeMission::Update()
{
/*if (!nav_->HasArrived())
{
return;
}*/
switch (step_)
{
case GO_FRONT:
{
if ((node_->now() - go_home_time_).seconds() >= 95)
{
step_ = AWAIT_95S;
}
}
break;
case AWAIT_95S:
{
auto spawn_pos = nav_->GetSpawn();
nav_->GoTo(spawn_pos.x, 1500, -M_PI_2, true, Pathfinding::FREE | Pathfinding::WALL | Pathfinding::OBSTACLE);
step_ = GO_HOME;
}
break;
case GO_HOME:
{
std_msgs::msg::Int64 msg;
msg.data = mission_score_;
score_pub_->publish(msg);
step_ = DONE;
status_ = MissionStatus::DONE;
}
break;
default:
break;
}
}
void GoHomeMission::Clear()
{
}
MissionStatus GoHomeMission::GetStatus() const
{
return status_;
}
}