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Revert "[SW-949] Add Mission Client in spot_wrapper" #108

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merged 1 commit into from
May 14, 2024
Merged

Revert "[SW-949] Add Mission Client in spot_wrapper" #108

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192 changes: 0 additions & 192 deletions spot_wrapper/spot_mission_wrapper.py
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21 changes: 1 addition & 20 deletions spot_wrapper/wrapper.py
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Original file line number Diff line number Diff line change
Expand Up @@ -55,7 +55,6 @@
from bosdyn.client.time_sync import TimeSyncEndpoint
from bosdyn.client.world_object import WorldObjectClient
from bosdyn.geometry import EulerZXY
from bosdyn.mission.client import MissionClient
from google.protobuf.timestamp_pb2 import Timestamp

from .spot_arm import SpotArm
Expand All @@ -65,7 +64,6 @@
from .spot_eap import SpotEAP
from .spot_graph_nav import SpotGraphNav
from .spot_images import SpotImages
from .spot_mission_wrapper import SpotMission
from .spot_world_objects import SpotWorldObjects
from .wrapper_helpers import ClaimAndPowerDecorator, RobotCommandData, RobotState

Expand Down Expand Up @@ -394,9 +392,7 @@ def __init__(
self._command_data = RobotCommandData()

try:
self._sdk = create_standard_sdk(
SPOT_CLIENT_NAME, service_clients=[MissionClient], cert_resource_glob=cert_resource_glob
)
self._sdk = create_standard_sdk(SPOT_CLIENT_NAME, cert_resource_glob=cert_resource_glob)
except Exception as e:
self._logger.error("Error creating SDK object: %s", e)
self._valid = False
Expand Down Expand Up @@ -441,7 +437,6 @@ def __init__(
self._estop_client = self._robot.ensure_client(EstopClient.default_service_name)
self._docking_client = self._robot.ensure_client(DockingClient.default_service_name)
self._spot_check_client = self._robot.ensure_client(SpotCheckClient.default_service_name)
self._mission_client = self._robot.ensure_client(MissionClient.default_service_name)
self._license_client = self._robot.ensure_client(LicenseClient.default_service_name)
if self._robot.has_arm():
self._gripper_cam_param_client = self._robot.ensure_client(
Expand Down Expand Up @@ -526,15 +521,6 @@ def __init__(
self._lease_client,
)

self._spot_mission = SpotMission(
self._robot,
self._logger,
self._state,
self._mission_client,
self._robot_command_client,
self._lease_client,
)

if self._robot.has_arm():
self._spot_arm = SpotArm(
self._robot,
Expand Down Expand Up @@ -740,11 +726,6 @@ def spot_check(self) -> SpotCheck:
"""Return SpotCheck instance"""
return self._spot_check

@property
def spot_mission(self) -> SpotMission:
"""Return SpotMission instance"""
return self._spot_mission

@property
def spot_eap_lidar(self) -> typing.Optional[SpotEAP]:
"""Return SpotEAP instance"""
Expand Down