fix: removed buoy code, cuda kernels, and depracated vision code

Author: SarangaR

src/comms/auv_control_board/response.rs

@@ -105,7 +105,7 @@ where
         }
         */
 
-        #[cfg(all(feature = "logging", not(feature = "unblocked_logging")))]
+        #[cfg(all(feature = "logging"))]
         {
             write_log(&[buffer.clone()], dump_file).await;
         }

src/config/mod.rs

@@ -5,6 +5,7 @@ pub mod octagon;
 pub mod path_align;
 pub mod slalom;
 pub mod sonar;
+pub mod spin;
 
 use std::fs::read_to_string;
 
@@ -78,6 +79,7 @@ pub struct Missions {
     pub bin: bin::Config,
     pub octagon: octagon::Config,
     pub coinflip: coinflip::Config,
+    pub spin: spin::Config,
 }
 
 #[derive(Debug, Serialize, Deserialize)]

src/config/spin.rs

@@ -0,0 +1,20 @@
+use serde::{Deserialize, Serialize};
+
+#[derive(Debug, Serialize, Deserialize)]
+pub struct Config {
+    pub depth: f32,
+    pub spin_speed: f32,
+    pub num_spins: i32,
+    pub hysteresis: f32,
+}
+
+impl Default for Config {
+    fn default() -> Self {
+        Self {
+            depth: -1.25,
+            spin_speed: 1.0,
+            num_spins: 2,
+            hysteresis: 10.0,
+        }
+    }
+}

src/cuda_kernels/process_net.cu

@@ -3,15 +3,11 @@ use opencv::core::Mat;
 #[cfg(feature = "annotated_streams")]
 use opencv::mod_prelude::ToInputArray;
 use tokio::io::{AsyncWriteExt, WriteHalf};
-use tokio::sync::RwLock;
 use tokio_serial::SerialStream;
 
+use crate::comms::{control_board::ControlBoard, meb::MainElectronicsBoard};
 use crate::video_source::appsink::Camera;
 use crate::video_source::MatSource;
-use crate::{
-    comms::{control_board::ControlBoard, meb::MainElectronicsBoard},
-    vision::buoy::Target,
-};
 /**
  * Inherit this trait if you have a control board
  */
@@ -34,8 +30,6 @@ pub trait FrontCamIO {
     fn get_front_camera_mat(&self) -> impl std::future::Future<Output = Mat> + Send;
     #[cfg(feature = "annotated_streams")]
     async fn annotate_front_camera(&self, image: &impl ToInputArray);
-    async fn get_desired_buoy_gate(&self) -> Target;
-    async fn set_desired_buoy_gate(&mut self, value: Target) -> &Self;
 }
 
 /**
@@ -60,7 +54,6 @@ pub struct FullActionContext<'a, T: AsyncWriteExt + Unpin + Send> {
     main_electronics_board: &'a MainElectronicsBoard<WriteHalf<SerialStream>>,
     front_cam: &'a Camera,
     bottom_cam: &'a Camera,
-    desired_buoy_target: &'a RwLock<Target>,
 }
 
 impl<'a, T: AsyncWriteExt + Unpin + Send> FullActionContext<'a, T> {
@@ -69,14 +62,12 @@ impl<'a, T: AsyncWriteExt + Unpin + Send> FullActionContext<'a, T> {
         main_electronics_board: &'a MainElectronicsBoard<WriteHalf<SerialStream>>,
         front_cam: &'a Camera,
         bottom_cam: &'a Camera,
-        desired_buoy_target: &'a RwLock<Target>,
     ) -> Self {
         Self {
             control_board,
             main_electronics_board,
             front_cam,
             bottom_cam,
-            desired_buoy_target,
         }
     }
 }
@@ -101,14 +92,6 @@ impl<T: AsyncWriteExt + Unpin + Send> FrontCamIO for FullActionContext<'_, T> {
     async fn annotate_front_camera(&self, image: &impl ToInputArray) {
         self.front_cam.push_annotated_frame(image);
     }
-    async fn get_desired_buoy_gate(&self) -> Target {
-        let res = self.desired_buoy_target.read().await;
-        (*res).clone()
-    }
-    async fn set_desired_buoy_gate(&mut self, value: Target) -> &Self {
-        *self.desired_buoy_target.write().await = value;
-        self
-    }
 }
 
 impl<T: AsyncWriteExt + Unpin + Send> BottomCamIO for FullActionContext<'_, T> {
@@ -141,12 +124,6 @@ impl FrontCamIO for EmptyActionContext {
     async fn annotate_front_camera(&self, _image: &impl ToInputArray) {
         todo!();
     }
-    async fn get_desired_buoy_gate(&self) -> Target {
-        todo!()
-    }
-    async fn set_desired_buoy_gate(&mut self, _value: Target) -> &Self {
-        todo!()
-    }
 }
 
 impl BottomCamIO for EmptyActionContext {