Revert "More orange! (#29)"

This reverts commit 198727e.

Author: Fyor

crates/control/src/led_status.rs

@@ -3,7 +3,7 @@ use std::time::{Duration, SystemTime, UNIX_EPOCH};
 use color_eyre::Result;
 use context_attribute::context;
 use framework::{MainOutput, PerceptionInput};
-use types::{Ball, CycleTime, Eye, FilteredWhistle, Leds, PrimaryState, Rgb, SensorData};
+use types::{Ball, CycleTime, Eye, FilteredWhistle, Leds, PrimaryState, Rgb};
 
 pub struct LedStatus {
     blink_state: bool,
@@ -17,7 +17,6 @@ pub struct CreationContext {}
 
 #[context]
 pub struct CycleContext {
-    pub sensor_data: Input<SensorData, "sensor_data">,
     pub primary_state: Input<PrimaryState, "primary_state">,
     pub cycle_time: Input<CycleTime, "cycle_time">,
     pub filtered_whistle: Input<FilteredWhistle, "filtered_whistle">,
@@ -148,7 +147,6 @@ impl LedStatus {
             at_least_one_ball_data_bottom,
             last_ball_data_top_too_old,
             last_ball_data_bottom_too_old,
-            context.sensor_data,
         );
 
         let ears = if context.filtered_whistle.is_detected {
@@ -162,8 +160,8 @@ impl LedStatus {
             left_ear: ears,
             right_ear: ears,
             chest,
-            left_foot: Rgb::DNT_ORANGE,
-            right_foot: Rgb::DNT_ORANGE,
+            left_foot: Rgb::GREEN,
+            right_foot: Rgb::GREEN,
             left_eye,
             right_eye,
         };
@@ -178,7 +176,6 @@ impl LedStatus {
         at_least_one_ball_data_bottom: bool,
         last_ball_data_top_too_old: bool,
         last_ball_data_bottom_too_old: bool,
-        sensor_data: &SensorData,
     ) -> (Eye, Eye) {
         match primary_state {
             PrimaryState::Unstiff => {
@@ -202,9 +199,6 @@ impl LedStatus {
                 } else {
                     None
                 };
-
-                let battery_charge = sensor_data.battery.charge;
-
                 (
                     Eye {
                         color_at_0: ball_color_top
@@ -222,7 +216,7 @@ impl LedStatus {
                         color_at_315: ball_color_top
                             .unwrap_or_else(|| ball_background_color.unwrap_or(Rgb::BLACK)),
                     },
-                    get_filled_eye(battery_charge, Rgb::DNT_ORANGE),
+                    Eye::default(),
                 )
             }
         }
@@ -286,32 +280,3 @@ impl LedStatus {
         }
     }
 }
-
-fn get_filled_eye(battery_charge: f32, color: Rgb) -> Eye {
-    let mut eye = Eye::default();
-
-    eye.color_at_0 = color;
-    if battery_charge >= 0.125 {
-        eye.color_at_45 = color;
-    }
-    if battery_charge >= 0.250 {
-        eye.color_at_90 = color;
-    }
-    if battery_charge >= 0.375 {
-        eye.color_at_135 = color;
-    }
-    if battery_charge >= 0.5 {
-        eye.color_at_180 = color;
-    }
-    if battery_charge >= 0.625 {
-        eye.color_at_225 = color;
-    }
-    if battery_charge >= 0.750 {
-        eye.color_at_270 = color;
-    }
-    if battery_charge >= 0.875 {
-        eye.color_at_315 = color;
-    }
-
-    eye
-}

crates/hulk/src/nao/hula.rs

@@ -145,17 +145,6 @@ impl From<TouchSensors> for types::TouchSensors {
     }
 }
 
-impl From<Battery> for types::Battery {
-    fn from(from: Battery) -> Self {
-        types::Battery {
-            charge: from.charge,
-            status: from.status,
-            current: from.current,
-            temperature: from.temperature,
-        }
-    }
-}
-
 #[derive(Clone, Copy, Debug, Default)]
 #[repr(C)]
 pub struct SonarSensors {

crates/hulk/src/nao/hula_wrapper.rs

@@ -55,15 +55,13 @@ impl HulaWrapper {
         let sonar_sensors = state_storage.sonar_sensors.into();
         let force_sensitive_resistors = state_storage.force_sensitive_resistors.into();
         let touch_sensors = state_storage.touch_sensors.into();
-        let battery = state_storage.battery.into();
 
         Ok(SensorData {
             positions,
             inertial_measurement_unit,
             sonar_sensors,
             force_sensitive_resistors,
             touch_sensors,
-            battery,
         })
     }
 

crates/hulk/src/webots/interface.rs

@@ -23,7 +23,7 @@ use types::{
     messages::{IncomingMessage, OutgoingMessage},
     samples::Samples,
     ycbcr422_image::YCbCr422Image,
-    Battery, CameraPosition, Joints, Leds, SensorData,
+    CameraPosition, Joints, Leds, SensorData,
 };
 use webots::Robot;
 
@@ -180,12 +180,6 @@ impl hardware::Interface for Interface {
             sonar_sensors,
             force_sensitive_resistors,
             touch_sensors,
-            battery: Battery {
-                charge: 1.0,
-                status: 0.0,
-                current: 0.0,
-                temperature: 0.0,
-            },
         })
     }
 

crates/types/src/color.rs

@@ -129,7 +129,6 @@ impl Rgb {
     pub const YELLOW: Rgb = Rgb::new(255, 220, 0);
     pub const PURPLE: Rgb = Rgb::new(255, 0, 255);
     pub const WHITE: Rgb = Rgb::new(255, 255, 255);
-    pub const DNT_ORANGE: Rgb = Rgb::new(255, 103, 0);
 
     pub const fn new(r: u8, g: u8, b: u8) -> Self {
         Self { r, g, b }

crates/types/src/lib.rs

@@ -122,7 +122,7 @@ pub use robot_kinematics::RobotKinematics;
 pub use robot_masses::RobotMass;
 pub use roles::Role;
 pub use sensor_data::{
-    Battery, Foot, ForceSensitiveResistors, InertialMeasurementUnitData, SensorData, SonarSensors,
+    Foot, ForceSensitiveResistors, InertialMeasurementUnitData, SensorData, SonarSensors,
     TouchSensors,
 };
 pub use sole_pressure::SolePressure;

crates/types/src/sensor_data.rs

@@ -56,20 +56,11 @@ pub struct TouchSensors {
     pub right_hand_right: bool,
 }
 
-#[derive(Clone, Debug, Default, Deserialize, Serialize, SerializeHierarchy)]
-pub struct Battery {
-    pub charge: f32,
-    pub status: f32,
-    pub current: f32,
-    pub temperature: f32,
-}
-
 #[derive(Clone, Debug, Default, Deserialize, Serialize, SerializeHierarchy)]
 pub struct SensorData {
     pub positions: Joints,
     pub inertial_measurement_unit: InertialMeasurementUnitData,
     pub sonar_sensors: SonarSensors,
     pub force_sensitive_resistors: ForceSensitiveResistors,
     pub touch_sensors: TouchSensors,
-    pub battery: Battery,
 }