Remove Quickfix for Lizard Issue 66 (#245)

With the next lizard version, 0.6.2, the issue is finally fixed. This PR
just reverts #213 and
#236.
Reconfiguring systems running on any older version than 0.6.2 will not
work anymore!

- [x] Wait for Lizard 0.6.2
- [x] Wait for Rosys 0.22.0 with
zauberzeug/rosys#235

field_friend/hardware/status_control.py

@@ -17,9 +17,6 @@ def __init__(self, robot_brain: RobotBrain, *,
         lizard_code = remove_indentation(f'''
             rdyp_status = Input({rdyp_pin})
             vdp_status = {expander.name + "."}Input({vdp_pin})
-            # TODO: remove when lizard issue 66 is fixed.
-            vdp_status.level = 0
-            vdp_status.active = false
         ''')
         core_message_fields = [
             'rdyp_status.level',

field_friend/hardware/tornado.py

@@ -159,21 +159,6 @@ def __init__(self, robot_brain: rosys.hardware.RobotBrain, *,
             {name}_ref_knife_stop.inverted = false
             {name}_ref_knife_ground = {expander.name + "." if (end_stops_on_expander or ref_knife_ground_pin_expander) and expander else ""}Input({ref_knife_ground_pin})
             {name}_ref_knife_ground.inverted = true
-
-            # TODO: remove when lizard issue 66 is fixed.
-            {name}_end_top.level = 0
-            {name}_end_top.active = false
-            {name}_end_bottom.level = 0
-            {name}_end_bottom.active = false
-            {name}_ref_motor.level = 0
-            {name}_ref_motor.active = false
-            {name}_ref_gear.level = 0
-            {name}_ref_gear.active = false
-            {name}_ref_knife_stop.level = 0
-            {name}_ref_knife_stop.active = false
-            {name}_ref_knife_ground.level = 0
-            {name}_ref_knife_ground.active = false
-
             {name}_z = {expander.name + "." if motors_on_expander and expander else ""}MotorAxis({name}_motor_z, {name + "_end_bottom" if is_z_reversed else name + "_end_top"}, {name + "_end_top" if is_z_reversed else name + "_end_bottom"})
 
             bool {name}_is_referencing = false

field_friend/hardware/y_axis_canopen_hardware.py

@@ -36,11 +36,6 @@ def __init__(self, robot_brain: rosys.hardware.RobotBrain, *,
             {name}_end_l.inverted = {str(end_stops_inverted).lower()}
             {name}_end_r = {expander.name + "." if end_stops_on_expander and expander else ""}Input({end_r_pin})
             {name}_end_r.inverted = {str(end_stops_inverted).lower()}
-            # TODO: remove when lizard issue 66 is fixed.
-            {name}_end_l.level = 0
-            {name}_end_l.active = false
-            {name}_end_r.level = 0
-            {name}_end_r.active = false
             {name} = {expander.name + "." if motor_on_expander and expander else ""}MotorAxis({name}_motor, {name + "_end_l" if reversed_direction else name + "_end_r"}, {name + "_end_r" if reversed_direction else name + "_end_l"})
         ''')
         core_message_fields = [

field_friend/hardware/y_axis_stepper_hardware.py

@@ -39,13 +39,6 @@ def __init__(self, robot_brain: rosys.hardware.RobotBrain, *,
             {name}_end_l.inverted = {str(end_stops_inverted).lower()}
             {name}_end_r = {expander.name + "." if end_stops_on_expander and expander else ""}Input({end_r_pin})
             {name}_end_r.inverted = {str(end_stops_inverted).lower()}
-            # TODO: remove when lizard issue 66 is fixed.
-            {name}_alarm.level = 0
-            {name}_alarm.active = false
-            {name}_end_l.level = 0
-            {name}_end_l.active = false
-            {name}_end_r.level = 0
-            {name}_end_r.active = false
             {name} = {expander.name + "." if motor_on_expander and expander else ""}MotorAxis({name}_motor, {name + "_end_l" if reversed_direction else name + "_end_r"}, {name + "_end_r" if reversed_direction else name + "_end_l"})
         ''')
         core_message_fields = [

field_friend/hardware/z_axis_canopen_hardware.py

@@ -35,11 +35,6 @@ def __init__(self, robot_brain: rosys.hardware.RobotBrain, *,
             {name}_end_t.inverted = {str(end_stops_inverted).lower()}
             {name}_end_b = {expander.name + "." if end_stops_on_expander and expander else ""}Input({end_b_pin})
             {name}_end_b.inverted = {str(end_stops_inverted).lower()}
-            # TODO: remove when lizard issue 66 is fixed.
-            {name}_end_t.level = 0
-            {name}_end_t.active = false
-            {name}_end_b.level = 0
-            {name}_end_b.active = false
             {name} = {expander.name + "." if motor_on_expander and expander else ""}MotorAxis({name}_motor, {name + "_end_t" if reversed_direction else name + "_end_b"}, {name + "_end_b" if reversed_direction else name + "_end_t"})
         ''')
         core_message_fields = [

field_friend/hardware/z_axis_stepper_hardware.py

@@ -38,11 +38,6 @@ def __init__(self, robot_brain: rosys.hardware.RobotBrain, *,
             {name}_end_t.inverted = {str(end_stops_inverted).lower()}
             {name}_end_b = {expander.name + "." if end_stops_on_expander and expander else ""}Input({end_b_pin})
             {name}_end_b.inverted = {str(end_stops_inverted).lower()}
-            # TODO: remove when lizard issue 66 is fixed.
-            {name}_end_t.level = 0
-            {name}_end_t.active = false
-            {name}_end_b.level = 0
-            {name}_end_b.active = false
             {name} =  {expander.name + "." if motor_on_expander and expander else ""}MotorAxis({name}_motor, {name + "_end_t" if reversed_direction else name + "_end_b"}, {name + "_end_b" if reversed_direction else name + "_end_t"})
         ''')
         core_message_fields = [

requirements.txt

@@ -5,7 +5,6 @@ icecream
 pillow
 prompt-toolkit # for lizard monitor
 pynmea2
-# rosys == v0.22.0
-git+https://github.com/zauberzeug/rosys.git@3b6103b6a87ecc31d61732c9e07403e409319f95#egg=rosys
+rosys == v0.22.0
 shapely
 uvicorn == 0.28.1