RSDK-6444 - Delete MoveOnMapNew (#3554)

Author: nicksanford

go.mod

@@ -83,7 +83,7 @@ require (
 	go.uber.org/atomic v1.10.0
 	go.uber.org/multierr v1.11.0
 	go.uber.org/zap v1.24.0
-	go.viam.com/api v0.1.258
+	go.viam.com/api v0.1.266
 	go.viam.com/test v1.1.1-0.20220913152726-5da9916c08a2
 	go.viam.com/utils v0.1.60
 	goji.io v2.0.2+incompatible

go.sum

@@ -1489,8 +1489,8 @@ go.uber.org/zap v1.18.1/go.mod h1:xg/QME4nWcxGxrpdeYfq7UvYrLh66cuVKdrbD1XF/NI=
 go.uber.org/zap v1.23.0/go.mod h1:D+nX8jyLsMHMYrln8A0rJjFt/T/9/bGgIhAqxv5URuY=
 go.uber.org/zap v1.24.0 h1:FiJd5l1UOLj0wCgbSE0rwwXHzEdAZS6hiiSnxJN/D60=
 go.uber.org/zap v1.24.0/go.mod h1:2kMP+WWQ8aoFoedH3T2sq6iJ2yDWpHbP0f6MQbS9Gkg=
-go.viam.com/api v0.1.258 h1:2m2uTNhr2EiOs3HCjG+enz/LwL2gr1lmwFVoTT/23gM=
-go.viam.com/api v0.1.258/go.mod h1:msa4TPrMVeRDcG4YzKA/S6wLEUC7GyHQE973JklrQ10=
+go.viam.com/api v0.1.266 h1:MRpHv1dvmxLkRKBzWqEe0XiY98w7tOc56bjjaPat6UY=
+go.viam.com/api v0.1.266/go.mod h1:msa4TPrMVeRDcG4YzKA/S6wLEUC7GyHQE973JklrQ10=
 go.viam.com/test v1.1.1-0.20220913152726-5da9916c08a2 h1:oBiK580EnEIzgFLU4lHOXmGAE3MxnVbeR7s1wp/F3Ps=
 go.viam.com/test v1.1.1-0.20220913152726-5da9916c08a2/go.mod h1:XM0tej6riszsiNLT16uoyq1YjuYPWlRBweTPRDanIts=
 go.viam.com/utils v0.1.60 h1:Q1EtxJbTbdvFwDBj4M7uZ/3lLjY63JBrCLlZlYL9VBQ=

services/motion/builtin/builtin.go

@@ -271,25 +271,6 @@ func (ms *builtIn) MoveOnMap(ctx context.Context, req motion.MoveOnMapReq) (moti
 	return id, nil
 }
 
-func (ms *builtIn) MoveOnMapNew(ctx context.Context, req motion.MoveOnMapReq) (motion.ExecutionID, error) {
-	if err := ctx.Err(); err != nil {
-		return uuid.Nil, err
-	}
-	ms.mu.RLock()
-	defer ms.mu.RUnlock()
-	ms.logger.CDebugf(ctx, "MoveOnMapNew called with %s", req)
-
-	// TODO: Deprecated: remove once no motion apis use the opid system
-	operation.CancelOtherWithLabel(ctx, builtinOpLabel)
-
-	id, err := state.StartExecution(ctx, ms.state, req.ComponentName, req, ms.newMoveOnMapRequest)
-	if err != nil {
-		return uuid.Nil, err
-	}
-
-	return id, nil
-}
-
 type validatedExtra struct {
 	maxReplans       int
 	replanCostFactor float64