Merge pull request #544 from Dronecode/remove-lock

core: remove communication lock
mavlink · Sep 17, 2018 · 7f8209f · 7f8209f
2 parents 72badf0 + dedbedd
commit 7f8209f
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Showing 2 changed files with 0 additions and 26 deletions.
diff --git a/core/system_impl.cpp b/core/system_impl.cpp
@@ -113,10 +113,6 @@ void SystemImpl::unregister_timeout_handler(const void *cookie)
 
 void SystemImpl::process_mavlink_message(const mavlink_message_t &message)
 {
-    if (_communication_locked) {
-        return;
-    }
-
     _mavlink_handler_table_mutex.lock();
 
 #if MESSAGE_DEBUGGING == 1
@@ -407,10 +403,6 @@ void SystemImpl::send_heartbeat()
 
 bool SystemImpl::send_message(const mavlink_message_t &message)
 {
-    if (_communication_locked) {
-        return false;
-    }
-
 #if MESSAGE_DEBUGGING == 1
     LogDebug() << "Sending msg " << size_t(message.msgid);
 #endif
@@ -974,14 +966,4 @@ void SystemImpl::call_user_callback(const std::function<void()> &func)
     _thread_pool.enqueue(func);
 }
 
-void SystemImpl::lock_communication()
-{
-    _communication_locked = true;
-}
-
-void SystemImpl::unlock_communication()
-{
-    _communication_locked = false;
-}
-
 } // namespace dronecode_sdk
diff --git a/core/system_impl.h b/core/system_impl.h
@@ -169,12 +169,6 @@ class SystemImpl {
     void register_plugin(PluginImplBase *plugin_impl);
     void unregister_plugin(PluginImplBase *plugin_impl);
 
-    // This allows a plugin to lock and unlock all mavlink communication.
-    // The functionality is currently not used by a plugin included here
-    // but nevertheless there for other plugins that can be added from external.
-    void lock_communication();
-    void unlock_communication();
-
     void call_user_callback(const std::function<void()> &func);
 
     // Non-copyable
@@ -266,8 +260,6 @@ class SystemImpl {
 
     Time _time{};
 
-    std::atomic<bool> _communication_locked{false};
-
     std::mutex _plugin_impls_mutex{};
     std::vector<PluginImplBase *> _plugin_impls{};