Clean up primitive executor unused members

src/software/embedded/primitive_executor.cpp

@@ -11,13 +11,8 @@
 #include "software/physics/velocity_conversion_util.h"
 
 PrimitiveExecutor::PrimitiveExecutor(
-    const Duration time_step, const robot_constants::RobotConstants& robot_constants,
-    const TeamColour friendly_team_colour, const RobotId robot_id)
-    : current_primitive_(),
-      friendly_team_colour_(friendly_team_colour),
-      robot_constants_(robot_constants),
-      time_step_(time_step),
-      robot_id_(robot_id)
+    const Duration time_step, const robot_constants::RobotConstants& robot_constants)
+    : current_primitive_(), robot_constants_(robot_constants), time_step_(time_step)
 {
 }
 
@@ -38,11 +33,6 @@ void PrimitiveExecutor::updatePrimitive(const TbotsProto::Primitive& primitive_m
     }
 }
 
-void PrimitiveExecutor::setStopPrimitive()
-{
-    current_primitive_ = *createStopPrimitiveProto();
-}
-
 void PrimitiveExecutor::updateVelocity(const Vector& local_velocity,
                                        const AngularVelocity& angular_velocity)
 {
@@ -145,8 +135,3 @@ std::unique_ptr<TbotsProto::DirectControlPrimitive> PrimitiveExecutor::stepPrimi
     }
     return std::make_unique<TbotsProto::DirectControlPrimitive>();
 }
-
-void PrimitiveExecutor::setRobotId(const RobotId robot_id)
-{
-    robot_id_ = robot_id;
-}

src/software/embedded/primitive_executor.h

@@ -17,25 +17,16 @@ class PrimitiveExecutor
      * @param time_step Time step which this primitive executor operates in
      * @param robot_constants The robot constants for the robot which uses this primitive
      * executor
-     * @param friendly_team_colour The colour of the friendly team
-     * @param robot_id The id of the robot which uses this primitive executor
      */
     explicit PrimitiveExecutor(const Duration time_step,
-                               const robot_constants::RobotConstants& robot_constants,
-                               const TeamColour friendly_team_colour,
-                               const RobotId robot_id);
+                               const robot_constants::RobotConstants& robot_constants);
 
     /**
      * Update primitive executor with a new Primitive
      * @param primitive_msg The primitive to start
      */
     void updatePrimitive(const TbotsProto::Primitive& primitive_msg);
 
-    /**
-     * Set the current primitive to the stop primitive
-     */
-    void setStopPrimitive();
-
     /**
      * Update primitive executor with the current velocity of the robot
      *
@@ -45,12 +36,6 @@ class PrimitiveExecutor
     void updateVelocity(const Vector& local_velocity,
                         const AngularVelocity& angular_velocity);
 
-    /**
-     * Set the robot id
-     * @param robot_id The id of the robot which uses this primitive executor
-     */
-    void setRobotId(RobotId robot_id);
-
     /**
      * Steps the current primitive and returns a direct control primitive with the
      * target wheel velocities
@@ -81,15 +66,13 @@ class PrimitiveExecutor
     Vector velocity_;
     AngularVelocity angular_velocity_;
     Angle orientation_;
-    TeamColour friendly_team_colour_;
     robot_constants::RobotConstants robot_constants_;
     std::optional<TrajectoryPath> trajectory_path_;
     std::optional<BangBangTrajectory1DAngular> angular_trajectory_;
 
     // TODO (#2855): Add dynamic time_step to `stepPrimitive` and remove this constant
     // time step to be used, in Seconds
     Duration time_step_;
-    RobotId robot_id_;
 
     // Estimated delay between a vision frame to AI processing to robot executing
     static constexpr double VISION_TO_ROBOT_DELAY_S = 0.03;

src/software/embedded/thunderloop.cpp

@@ -4,6 +4,7 @@
 #include <fstream>
 
 #include "proto/message_translation/tbots_protobuf.h"
+#include "proto/primitive/primitive_msg_factory.h"
 #include "proto/robot_crash_msg.pb.h"
 #include "proto/robot_status_msg.pb.h"
 #include "proto/tbots_software_msgs.pb.h"
@@ -71,7 +72,6 @@ extern "C"
 
 Thunderloop::Thunderloop(const robot_constants::RobotConstants& robot_constants,
                          bool enable_log_merging, const int loop_hz)
-    // TODO (#2495): Set the friendly team colour
     : toml_config_client_(std::make_unique<TomlConfigClient>(TOML_CONFIG_FILE_PATH)),
       motor_status_(std::nullopt),
       robot_constants_(robot_constants),
@@ -84,8 +84,7 @@ Thunderloop::Thunderloop(const robot_constants::RobotConstants& robot_constants,
       kick_constant_(std::stoi(toml_config_client_->get(ROBOT_KICK_CONSTANT_CONFIG_KEY))),
       chip_pulse_width_(
           std::stoi(toml_config_client_->get(ROBOT_CHIP_PULSE_WIDTH_CONFIG_KEY))),
-      primitive_executor_(Duration::fromSeconds(1.0 / loop_hz), robot_constants,
-                          TeamColour::YELLOW, robot_id_)
+      primitive_executor_(Duration::fromSeconds(1.0 / loop_hz), robot_constants)
 {
     waitForNetworkUp();
 
@@ -284,7 +283,7 @@ void Thunderloop::runLoop()
 
                 if (nanoseconds_elapsed_since_last_primitive > PACKET_TIMEOUT_NS)
                 {
-                    primitive_executor_.setStopPrimitive();
+                    primitive_executor_.updatePrimitive(*createStopPrimitiveProto());
                 }
 
                 direct_control_ =

src/software/simulation/er_force_simulator.cpp

@@ -281,15 +281,13 @@ void ErForceSimulator::setRobots(
         if (side == gameController::Team::BLUE)
         {
             auto robot_primitive_executor = std::make_shared<PrimitiveExecutor>(
-                Duration::fromSeconds(primitive_executor_time_step_s), robot_constants,
-                TeamColour::BLUE, id);
+                Duration::fromSeconds(primitive_executor_time_step_s), robot_constants);
             blue_primitive_executor_map.insert({id, robot_primitive_executor});
         }
         else
         {
             auto robot_primitive_executor = std::make_shared<PrimitiveExecutor>(
-                Duration::fromSeconds(primitive_executor_time_step_s), robot_constants,
-                TeamColour::YELLOW, id);
+                Duration::fromSeconds(primitive_executor_time_step_s), robot_constants);
             yellow_primitive_executor_map.insert({id, robot_primitive_executor});
         }
     }