From bd87c73d694695e75ea7335fb7b2926336a7d80f Mon Sep 17 00:00:00 2001
From: Davide Mor <davide.mor@skywarder.eu>
Date: Mon, 26 Feb 2024 10:39:46 +0100
Subject: [PATCH] [RIGv2] Removed all stop methods

---
 src/boards/RIGv2/Actuators/Actuators.cpp | 35 ++++--------------------
 src/boards/RIGv2/Actuators/Actuators.h   |  2 --
 src/boards/RIGv2/Radio/Radio.cpp         |  9 ------
 src/boards/RIGv2/Radio/Radio.h           |  2 --
 src/boards/RIGv2/Sensors/Sensors.cpp     |  6 ----
 src/boards/RIGv2/Sensors/Sensors.h       |  2 --
 6 files changed, 6 insertions(+), 50 deletions(-)

diff --git a/src/boards/RIGv2/Actuators/Actuators.cpp b/src/boards/RIGv2/Actuators/Actuators.cpp
index 73e81f65a..62a214341 100644
--- a/src/boards/RIGv2/Actuators/Actuators.cpp
+++ b/src/boards/RIGv2/Actuators/Actuators.cpp
@@ -119,42 +119,19 @@ bool Actuators::start()
     infos[8].servo->enable();
     infos[9].servo->enable();
 
-    if (updatePositionTaskId == 0)
-    {
-        updatePositionTaskId =
-            scheduler.addTask([this]() { updatePositionsTask(); },
-                              Config::Servos::SERVO_TIMINGS_CHECK_PERIOD);
+    updatePositionTaskId =
+        scheduler.addTask([this]() { updatePositionsTask(); },
+                          Config::Servos::SERVO_TIMINGS_CHECK_PERIOD);
 
-        if (updatePositionTaskId == 0)
-        {
-            LOG_ERR(logger, "Failed to add updatePositionsTask");
-            return false;
-        }
-    }
-    else
+    if (updatePositionTaskId == 0)
     {
-        scheduler.enableTask(updatePositionTaskId);
+        LOG_ERR(logger, "Failed to add updatePositionsTask");
+        return false;
     }
 
     return true;
 }
 
-void Actuators::stop()
-{
-    infos[0].servo->disable();
-    infos[1].servo->disable();
-    infos[2].servo->disable();
-    infos[3].servo->disable();
-    // infos[4].servo->disable();
-    infos[5].servo->disable();
-    infos[6].servo->disable();
-    // infos[7].servo->disable();
-    infos[8].servo->disable();
-    infos[9].servo->disable();
-
-    scheduler.disableTask(updatePositionTaskId);
-}
-
 bool Actuators::wiggleServo(ServosList servo)
 {
     // Wiggle means open the servo for 1s
diff --git a/src/boards/RIGv2/Actuators/Actuators.h b/src/boards/RIGv2/Actuators/Actuators.h
index f8fe6edc2..f443cf348 100644
--- a/src/boards/RIGv2/Actuators/Actuators.h
+++ b/src/boards/RIGv2/Actuators/Actuators.h
@@ -62,8 +62,6 @@ public:
 
     [[nodiscard]] bool start();
 
-    void stop();
-
     bool wiggleServo(ServosList servo);
     bool toggleServo(ServosList servo);
     bool closeServo(ServosList servo);
diff --git a/src/boards/RIGv2/Radio/Radio.cpp b/src/boards/RIGv2/Radio/Radio.cpp
index 8e5f5d3f1..b0f341f7e 100644
--- a/src/boards/RIGv2/Radio/Radio.cpp
+++ b/src/boards/RIGv2/Radio/Radio.cpp
@@ -105,15 +105,6 @@ bool Radio::start()
     return true;
 }
 
-void Radio::stop()
-{
-    // Remove global radio instance
-    setIRQRadio(nullptr);
-
-    mavDriver->stop();
-    started = false;
-}
-
 void Radio::enqueuePacket(const mavlink_message_t& msg)
 {
     queuedPackets.put(msg);
diff --git a/src/boards/RIGv2/Radio/Radio.h b/src/boards/RIGv2/Radio/Radio.h
index 0a9090eec..4796e7f83 100644
--- a/src/boards/RIGv2/Radio/Radio.h
+++ b/src/boards/RIGv2/Radio/Radio.h
@@ -44,8 +44,6 @@ public:
 
     [[nodiscard]] bool start();
 
-    void stop();
-
     bool isStarted();
 
     Boardcore::MavlinkStatus getMavStatus();
diff --git a/src/boards/RIGv2/Sensors/Sensors.cpp b/src/boards/RIGv2/Sensors/Sensors.cpp
index fabc78951..1add36cc4 100644
--- a/src/boards/RIGv2/Sensors/Sensors.cpp
+++ b/src/boards/RIGv2/Sensors/Sensors.cpp
@@ -50,12 +50,6 @@ bool Sensors::start()
     return true;
 }
 
-void Sensors::stop()
-{
-    manager->stop();
-    started = false;
-}
-
 ADS131M08Data Sensors::getADC1LastSample()
 {
     PauseKernelLock l;
diff --git a/src/boards/RIGv2/Sensors/Sensors.h b/src/boards/RIGv2/Sensors/Sensors.h
index 43d614ee7..794213747 100644
--- a/src/boards/RIGv2/Sensors/Sensors.h
+++ b/src/boards/RIGv2/Sensors/Sensors.h
@@ -40,8 +40,6 @@ public:
 
     [[nodiscard]] bool start();
 
-    void stop();
-
     bool isStarted();
 
     Boardcore::ADS131M08Data getADC1LastSample();
-- 
GitLab