removed unused legacy code

ur_rtde_driver/src/ros/service_stopper.cpp

@@ -1,97 +0,0 @@
-/*
- * Copyright 2017, 2018 Simon Rasmussen (refactor)
- *
- * Copyright 2015, 2016 Thomas Timm Andersen (original version)
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *     http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-
-#include "ur_rtde_driver/ros/service_stopper.h"
-
-namespace ur_driver
-{
-ServiceStopper::ServiceStopper(std::vector<Service*> services)
-  : enable_service_(nh_.advertiseService("ur_driver/robot_enable", &ServiceStopper::enableCallback, this))
-  , services_(services)
-  , last_state_(RobotState::Error)
-  , activation_mode_(ActivationMode::Never)
-{
-  std::string mode;
-  ros::param::param("~require_activation", mode, std::string("Never"));
-  if (mode == "Always")
-  {
-    activation_mode_ = ActivationMode::Always;
-  }
-  else if (mode == "OnStartup")
-  {
-    activation_mode_ = ActivationMode::OnStartup;
-  }
-  else
-  {
-    if (mode != "Never")
-    {
-      LOG_WARN("Found invalid value for param require_activation: '%s'\nShould be one of Never, OnStartup, Always",
-               mode.c_str());
-      mode = "Never";
-    }
-    notify_all(RobotState::Running);
-  }
-
-  LOG_INFO("Service 'ur_driver/robot_enable' activation mode: %s", mode.c_str());
-}
-
-bool ServiceStopper::enableCallback(std_srvs::EmptyRequest& req, std_srvs::EmptyResponse& resp)
-{
-  // After the startup call OnStartup and Never behave the same
-  if (activation_mode_ == ActivationMode::OnStartup)
-    activation_mode_ = ActivationMode::Never;
-  notify_all(RobotState::Running);
-  return true;
-}
-
-void ServiceStopper::notify_all(RobotState state)
-{
-  if (last_state_ == state)
-    return;
-
-  for (auto const service : services_)
-  {
-    service->onRobotStateChange(state);
-  }
-
-  last_state_ = state;
-}
-
-bool ServiceStopper::handle(SharedRobotModeData& data, bool error)
-{
-  if (data.emergency_stopped)
-  {
-    notify_all(RobotState::EmergencyStopped);
-  }
-  else if (data.protective_stopped)
-  {
-    notify_all(RobotState::ProtectiveStopped);
-  }
-  else if (error)
-  {
-    notify_all(RobotState::Error);
-  }
-  else if (activation_mode_ == ActivationMode::Never)
-  {
-    // No error encountered, the user requested automatic reactivation
-    notify_all(RobotState::Running);
-  }
-
-  return true;
-}
-}  // namespace ur_driver