From 02cf5d3c4e352821b7ce249c1ba71e79508abd19 Mon Sep 17 00:00:00 2001
From: Aaron Chong <aaronchongth@gmail.com>
Date: Fri, 6 Dec 2024 15:45:38 +0800
Subject: [PATCH] Removed abstracted RobotAdapter, to be added only after
 Nav1RobotAdapter is implemented

Signed-off-by: Aaron Chong <aaronchongth@gmail.com>
---
 free_fleet_adapter/CMakeLists.txt             |   1 -
 .../free_fleet_adapter/nav2_robot_adapter.py  |   8 +-
 .../free_fleet_adapter/robot_adapter.py       | 100 ------------------
 3 files changed, 5 insertions(+), 104 deletions(-)
 delete mode 100644 free_fleet_adapter/free_fleet_adapter/robot_adapter.py

diff --git a/free_fleet_adapter/CMakeLists.txt b/free_fleet_adapter/CMakeLists.txt
index a26f1c10..414011c5 100644
--- a/free_fleet_adapter/CMakeLists.txt
+++ b/free_fleet_adapter/CMakeLists.txt
@@ -8,7 +8,6 @@ ament_python_install_package(${PROJECT_NAME})
 
 install(PROGRAMS
   ${PROJECT_NAME}/fleet_adapter.py
-  ${PROJECT_NAME}/robot_adapter.py
   ${PROJECT_NAME}/nav2_robot_adapter.py
   DESTINATION lib/${PROJECT_NAME}
 )
diff --git a/free_fleet_adapter/free_fleet_adapter/nav2_robot_adapter.py b/free_fleet_adapter/free_fleet_adapter/nav2_robot_adapter.py
index ada63922..dd5602d4 100644
--- a/free_fleet_adapter/free_fleet_adapter/nav2_robot_adapter.py
+++ b/free_fleet_adapter/free_fleet_adapter/nav2_robot_adapter.py
@@ -37,7 +37,6 @@
     make_cancel_all_goals_request,
     namespacify,
 )
-from free_fleet_adapter.robot_adapter import RobotAdapter
 
 from geometry_msgs.msg import TransformStamped
 import numpy as np
@@ -96,7 +95,7 @@ def get_transform(self) -> TransformStamped | None:
         return None
 
 
-class Nav2RobotAdapter(RobotAdapter):
+class Nav2RobotAdapter:
 
     def __init__(
         self,
@@ -108,7 +107,10 @@ def __init__(
         fleet_handle,
         tf_buffer
     ):
-        RobotAdapter.__init__(self, name, node, fleet_handle)
+        self.name = name
+        self.node = node
+        self.fleet_handle = fleet_handle
+        self.update_handle = None
 
         self.execution = None
         self.configuration = configuration
diff --git a/free_fleet_adapter/free_fleet_adapter/robot_adapter.py b/free_fleet_adapter/free_fleet_adapter/robot_adapter.py
deleted file mode 100644
index 91a34261..00000000
--- a/free_fleet_adapter/free_fleet_adapter/robot_adapter.py
+++ /dev/null
@@ -1,100 +0,0 @@
-#!/usr/bin/env python3
-
-# Copyright 2024 Open Source Robotics Foundation, Inc.
-#
-# 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.
-
-from abc import ABC, abstractmethod
-from typing import Annotated
-
-import rmf_adapter.easy_full_control as rmf_easy
-from rmf_adapter.robot_update_handle import ActivityIdentifier
-
-
-class RobotAdapter(ABC):
-    """Abstract Robot Adapter to be used by the free fleet adapter."""
-
-    def __init__(
-        self,
-        name: str,
-        node,
-        fleet_handle
-    ):
-        self.name = name
-        self.node = node
-        self.fleet_handle = fleet_handle
-        self.update_handle = None
-
-    """
-    This method returns the battery state of charge as a float, with value
-    between 0 and 1.0.
-    """
-    @abstractmethod
-    def get_battery_soc(self) -> float:
-        ...
-
-    """
-    This method returns the name of the current map that the robot is
-    localized on.
-    """
-    @abstractmethod
-    def get_map_name(self) -> str:
-        ...
-
-    """
-    This method returns the last known 2D position in meters and orientation
-    (yaw) of the robot in radians as a list of 3 floats, in the form of
-    [x, y, yaw]. If the last known position of the robot is not available,
-    returns None.
-    """
-    @abstractmethod
-    def get_pose(self) -> Annotated[list[float], 3] | None:
-        ...
-
-    """
-    This method is called to update RMF with the latest robot state.
-    """
-    @abstractmethod
-    def update(self, state: rmf_easy.RobotState):
-        ...
-
-    """
-    This method is called to send a navigation command to the robot.
-    """
-    @abstractmethod
-    def navigate(
-        self,
-        destination: rmf_easy.Destination,
-        execution: rmf_easy.CommandExecution
-    ):
-        ...
-
-    """
-    This method is called to stop the execution/continuation of the provided
-    activity.
-    """
-    @abstractmethod
-    def stop(self, activity: ActivityIdentifier):
-        ...
-
-    """
-    This method is called to send a custom action command to the robot.
-    """
-    @abstractmethod
-    def execute_action(
-        self,
-        category: str,
-        description: dict,
-        execution: ActivityIdentifier
-    ):
-        ...