From 468667f5bbc64a2c6aed5206be5096cf691e3aca Mon Sep 17 00:00:00 2001
From: Yu Asabe <yuasabe@g.ecc.u-tokyo.ac.jp>
Date: Mon, 28 Mar 2022 11:16:33 +0900
Subject: [PATCH] Remove cpm_receiver since it is not used

---
 include/autoware_v2x/cpm_receiver.hpp |   0
 src/cpm_receiver.cpp                  | 123 --------------------------
 2 files changed, 123 deletions(-)
 delete mode 100644 include/autoware_v2x/cpm_receiver.hpp
 delete mode 100644 src/cpm_receiver.cpp

diff --git a/include/autoware_v2x/cpm_receiver.hpp b/include/autoware_v2x/cpm_receiver.hpp
deleted file mode 100644
index e69de29..0000000
diff --git a/src/cpm_receiver.cpp b/src/cpm_receiver.cpp
deleted file mode 100644
index 3727d00..0000000
--- a/src/cpm_receiver.cpp
+++ /dev/null
@@ -1,123 +0,0 @@
-#include "autoware_v2x/cpm_sender.hpp"
-#include "autoware_v2x/time_trigger.hpp"
-#include "autoware_v2x/router_context.hpp"
-#include "autoware_v2x/positioning.hpp"
-#include "autoware_v2x/security.hpp"
-#include "autoware_v2x/link_layer.hpp"
-#include "autoware_v2x/cpm_application.hpp"
-
-#include "rclcpp/rclcpp.hpp"
-#include "std_msgs/msg/string.hpp"
-
-#include <vanetza/asn1/cpm.hpp>
-#include <vanetza/facilities/cpm_functions.hpp>
-#include <sstream>
-#include <memory>
-#include <GeographicLib/UTMUPS.hpp>
-#include <GeographicLib/MGRS.hpp>
-
-namespace gn = vanetza::geonet;
-
-using namespace vanetza;
-using namespace vanetza::facilities;
-using namespace std::chrono;
-
-namespace v2x
-{
-  V2XNode::V2XNode(const rclcpp::NodeOptions &node_options) : 
-    rclcpp::Node("autoware_v2x_node", node_options),
-    io_service_(),
-    trigger_(io_service_),
-    device_name_("wlp4s0"),
-    device_(device_name_),
-    mac_address_(device_.address()),
-    link_layer_(create_link_layer(io_service_, device_, "ethernet")),
-    positioning_(create_position_provider(io_service_, trigger_.runtime())),
-    security_(create_security_entity(trigger_.runtime(), *positioning_)),
-    mib_(),
-    context_(mib_, trigger_, *positioning_, security_.get()),
-    cp_(new CpmApplication(this)),
-    app_()
-  {
-    using std::placeholders::_1;
-    subscription_ = this->create_subscription<autoware_perception_msgs::msg::DynamicObjectArray>("/perception/object_recognition/detection/objects", 10, std::bind(&V2XNode::objectsCallback, this, _1));
-
-    subscription_pos_ = this->create_subscription<tf2_msgs::msg::TFMessage>("/tf", 10, std::bind(&V2XNode::tfCallback, this, _1));
-    RCLCPP_INFO(get_logger(), "V2X Node Launched");
-
-    // device_name_ = "wlp4s0";
-    // device_(device_name_);
-    // mac_address_ = device_.address();
-
-    std::stringstream sout;
-    sout << mac_address_;
-    RCLCPP_INFO(get_logger(), "MAC Address: '%s'", sout.str().c_str());
-
-    // trigger_(io_service_);
-
-    // link_layer_ = create_link_layer(io_service_, device_, "ethernet");
-    mib_.itsGnLocalGnAddr.mid(mac_address_);
-    mib_.itsGnLocalGnAddr.is_manually_configured(true);
-    mib_.itsGnLocalAddrConfMethod = geonet::AddrConfMethod::Managed;
-    mib_.itsGnSecurity = false;
-    mib_.itsGnProtocolVersion = 1;
-
-    // context_.router_.set_address(mib_.itsGnLocalGnAddr);
-    context_.updateMIB(mib_);
-
-    // positioning_ = create_position_provider(io_service_, trigger_.runtime());
-    // security_ = create_security_entity(trigger_.runtime(), *positioning_);
-
-    // RouterContext context(mib_, trigger_, *positioning_, security_.get());
-    // RouterContext context_(mib_, trigger_, *positioning_, security_.get());
-    context_.set_link_layer(link_layer_.get());
-
-    // std::unique_ptr<CpmApplication> cp_ { new CpmApplication(this) };
-    // app_ = std::move(cp_);
-
-    context_.enable(cp_.get());
-
-
-    // io_service_.run();
-
-    // // Print MAC Address to logger
-    // std::stringstream sout;
-    // sout << mac_address;
-    // RCLCPP_INFO(get_logger(), "MAC Address: '%s'", sout.str().c_str());
-  }
-
-  void V2XNode::objectsCallback(const autoware_perception_msgs::msg::DynamicObjectArray::ConstSharedPtr msg)
-  {
-    // RCLCPP_INFO(get_logger(), "I heard: '%s'", msg->data.c_str());
-    RCLCPP_INFO(get_logger(), "V2X: %d objects detected!", msg->objects.size());
-    // Send CPM
-    cp_->send(msg, this, pos_lat_, pos_lon_);
-  }
-
-  void V2XNode::tfCallback(const tf2_msgs::msg::TFMessage::ConstSharedPtr msg) {
-    // RCLCPP_INFO(get_logger(), "Ego Position: (%f, %f, %f)", msg->transforms[0].transform.translation.x, msg->transforms[0].transform.translation.y, msg->transforms[0].transform.translation.z);
-
-    float x = msg->transforms[0].transform.translation.x;
-    float y = msg->transforms[0].transform.translation.y;
-    float z = msg->transforms[0].transform.translation.z;
-
-    char mgrs[20];
-    int zone, prec;
-    bool northp;
-    double x_mgrs, y_mgrs;
-    double lat, lon;
-    sprintf(mgrs, "54SVE%.5d%.5d", (int)x, (int)y);
-    RCLCPP_INFO(get_logger(), "MGRS: %s", mgrs);
-
-    GeographicLib::MGRS::Reverse(mgrs, zone, northp, x_mgrs, y_mgrs, prec);
-    GeographicLib::UTMUPS::Reverse(zone, northp, x_mgrs, y_mgrs, lat, lon);
-
-    pos_lat_ = lat;
-    pos_lon_ = lon;
-
-    RCLCPP_INFO(get_logger(), "Ego Position Lat/Lon: %f, %f", lat, lon);
-  }
-}
-
-#include "rclcpp_components/register_node_macro.hpp"
-RCLCPP_COMPONENTS_REGISTER_NODE(v2x::V2XNode)
\ No newline at end of file