Feature/delete offsets

.gitmodules

@@ -1,6 +1,3 @@
 [submodule "third_party/args"]
 	path = third_party/args
 	url = https://github.com/Taywee/args.git
-[submodule "third_party/toml11"]
-	path = third_party/toml11
-	url = https://github.com/ToruNiina/toml11.git

CMakeLists.txt

@@ -18,14 +18,13 @@ if(APPLE)
   set(CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE)
 endif()
 
-find_package(servoarray 0.1 REQUIRED)
+find_package(servoarray 0.8 REQUIRED)
 include_directories(${SERVOARRAY_INCLUDE_DIR})
 
 find_package(flom 0.3 REQUIRED)
 include_directories(${flom_INCLUDE_DIR})
 
 include_directories(SYSTEM third_party/args)
-include_directories(SYSTEM third_party/toml11)
 
 include(cmake/compile-options.cmake)
 

bin/runner.cpp

@@ -11,7 +11,6 @@
 #include <servoarray/servomap.h>
 
 #include <args.hxx>
-#include <toml.hpp>
 
 static std::atomic<bool> quit(false);
 
@@ -47,8 +46,6 @@ int main(int argc, char *argv[]) {
   register_signal(SIGQUIT);
   register_signal(SIGTERM);
 
-  auto offsets = retrieve_offsets();
-
   std::ifstream f(args::get(arg_motion), std::ios::binary);
   auto const motion = flom::Motion::load(f);
 
@@ -61,7 +58,7 @@ int main(int argc, char *argv[]) {
   for (auto const& [t, frame] : motion.frames(fps)) {
     for (auto const& [name, pos] : frame.positions()) {
       if (servos.has_name(name)) {
-        servos.write(name, offsets[name] + pos);
+        servos.write(name, pos);
       } else if (!ignore_unknown) {
         std::cerr << "Unknown joint \"" << name << "\"" << std::endl;
         return -1;
@@ -84,18 +81,3 @@ void register_signal(int signal) {
 void quit_handler(int) {
   quit.store(true);
 }
-
-std::unordered_map<std::string, double> retrieve_offsets() {
-  const char* home = std::getenv("HOME");
-  if (!home) {
-    return {};
-  }
-
-  std::ifstream ifs(std::string{home} + "/.flomrunner.toml");
-  if (!ifs) {
-    return {};
-  }
-
-  auto const config = toml::parse(ifs);
-  return toml::find<std::unordered_map<std::string, double>>(config, "offsets");
-}