Clean up outdated reference to brain-time field

vulp/spine/Spine.cpp

@@ -33,16 +33,6 @@ namespace vulp::spine {
 using observation::ObserverError;
 using palimpsest::Dictionary;
 
-/*! Expect a timestamp in the action dictionary.
- *
- * \note We expect action/brain_time to be present so that we can run combine
- * brain and spine logs. NB: this operation has been deprecated. However the
- * mapping could still be useful for database purposes. Keeping it for now.
- */
-inline void expect_timestamp(Dictionary& action) {
-  action("brain_time") = std::numeric_limits<double>::quiet_NaN();
-}
-
 Spine::Spine(const Parameters& params, actuation::Interface& actuation,
              observation::ObserverPipeline& observers)
     : frequency_(params.frequency),
@@ -80,7 +70,6 @@ Spine::Spine(const Parameters& params, actuation::Interface& actuation,
 void Spine::reset(const Dictionary& config) {
   actuation_.reset(config);
   dict_("action").clear();
-  expect_timestamp(dict_("action"));
   actuation_.initialize_action(dict_("action"));
   observer_pipeline_.reset(config);
 }

vulp/spine/tests/SpineTest.cpp

@@ -195,7 +195,6 @@ TEST_F(SpineTest, ResetConfiguresAction) {
   spine_->reset(config);
   ASSERT_TRUE(spine_->dict().has("action"));
   const Dictionary& action = spine_->dict()("action");
-  ASSERT_TRUE(action.has("brain_time"));
   ASSERT_TRUE(action.has("servo"));
 }
 

vulp/utils/realtime.h

@@ -50,8 +50,8 @@ inline void configure_cpu(int cpu) {
 /*! Configure the scheduler policy to round-robin for this thread.
  *
  * \param priority Priority of this thread for the scheduler, ranging from 1
- *     (low) to 99 (high). See `man sched`. For the brain, this priority should
- *     be lower than that of the spine.
+ *     (low) to 99 (high). See `man sched`. For agents, this priority should be
+ *     lower than that of the spine.
  *
  * \throw std::runtime_error If the operation failed.
  */