From ef7ab2c041333324b4b3801fb0306dbeb0d5e87e Mon Sep 17 00:00:00 2001
From: Tomas Baca <klaxalk@gmail.com>
Date: Sat, 6 Jan 2024 10:08:05 +0100
Subject: [PATCH] ControlManager: removed automatic shutdown method

---
 config/public/control_manager.yaml      |  4 ----
 launch/control_manager.launch           |  1 -
 src/control_manager/control_manager.cpp | 27 -------------------------
 3 files changed, 32 deletions(-)

diff --git a/config/public/control_manager.yaml b/config/public/control_manager.yaml
index 8684fe24..52b08ab9 100644
--- a/config/public/control_manager.yaml
+++ b/config/public/control_manager.yaml
@@ -118,10 +118,6 @@ mrs_uav_managers:
       vertical:
         threshold_distance: 1.2 # [m]
 
-    automatic_pc_shutdown:
-
-      enabled: false
-
     joystick:
 
       enabled: true
diff --git a/launch/control_manager.launch b/launch/control_manager.launch
index 12f13f25..4e26d22f 100644
--- a/launch/control_manager.launch
+++ b/launch/control_manager.launch
@@ -162,7 +162,6 @@
       <remap from="~failsafe_escalating_in" to="~failsafe_escalating" />
       <remap from="~eland_out" to="~landoff_tracker/eland" />
       <remap from="~land_out" to="~landoff_tracker/land" />
-      <remap from="~shutdown_out" to="~shutdown" />
       <remap from="~pirouette_in" to="~pirouette" />
       <remap from="~bumper_in" to="~bumper" />
       <remap from="~bumper_repulsion_in" to="~bumper_repulsion" />
diff --git a/src/control_manager/control_manager.cpp b/src/control_manager/control_manager.cpp
index bd7af46f..f0b26996 100644
--- a/src/control_manager/control_manager.cpp
+++ b/src/control_manager/control_manager.cpp
@@ -765,9 +765,6 @@ class ControlManager : public nodelet::Nodelet {
   mrs_lib::Profiler profiler_;
   bool              _profiler_enabled_ = false;
 
-  // automatic pc shutdown (DARPA specific)
-  bool _automatic_pc_shutdown_enabled_ = false;
-
   // diagnostics publishing
   void       publishDiagnostics(void);
   std::mutex mutex_diagnostics_;
@@ -878,7 +875,6 @@ class ControlManager : public nodelet::Nodelet {
 
   mrs_msgs::ReferenceStamped velocityReferenceToReference(const mrs_msgs::VelocityReferenceStamped& vel_reference);
 
-  void                          shutdown();
   void                          setCallbacks(bool in);
   bool                          isOffboard(void);
   bool                          elandSrv(void);
@@ -1212,8 +1208,6 @@ void ControlManager::initialize(void) {
   param_loader.loadParam("rc_joystick/channels/heading", _rc_channel_heading_);
   param_loader.loadParam("rc_joystick/channels/throttle", _rc_channel_throttle_);
 
-  param_loader.loadParam("automatic_pc_shutdown/enabled", _automatic_pc_shutdown_enabled_);
-
   param_loader.loadParam("pirouette/speed", _pirouette_speed_);
   param_loader.loadParam("pirouette/timer_rate", _pirouette_timer_rate_);
 
@@ -2928,8 +2922,6 @@ void ControlManager::timerEland(const ros::TimerEvent& event) {
         arming(false);
       }
 
-      shutdown();
-
       changeLandingState(IDLE_STATE);
 
       ROS_WARN("[ControlManager]: emergency landing finished");
@@ -7744,8 +7736,6 @@ std::tuple<bool, std::string> ControlManager::arming(const bool input) {
         ROS_DEBUG("[ControlManager]: stopping the eland timer");
         timer_eland_.stop();
         ROS_DEBUG("[ControlManager]: eland timer stopped");
-
-        shutdown();
       }
 
     } else {
@@ -7814,23 +7804,6 @@ bool ControlManager::elandSrv(void) {
 
 //}
 
-/* shutdown() //{ */
-
-void ControlManager::shutdown() {
-  // copy member variables
-  auto uav_state = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
-
-  if (_automatic_pc_shutdown_enabled_) {
-
-    ROS_INFO("[ControlManager]: calling service for PC shutdown");
-
-    std_srvs::Trigger shutdown_out;
-    sch_shutdown_.call(shutdown_out);
-  }
-}
-
-//}
-
 /* parachuteSrv() //{ */
 
 bool ControlManager::parachuteSrv(void) {