From 5c4ae861b16cb1a41254276143cc575373ad92bf Mon Sep 17 00:00:00 2001
From: Robin Mueller <muellerr@irs.uni-stuttgart.de>
Date: Thu, 7 Apr 2022 11:11:37 +0200
Subject: [PATCH] exclude gps changes

---
 linux/devices/GPSHyperionLinuxController.cpp | 26 ++------------------
 linux/devices/GPSHyperionLinuxController.h   |  2 --
 2 files changed, 2 insertions(+), 26 deletions(-)

diff --git a/linux/devices/GPSHyperionLinuxController.cpp b/linux/devices/GPSHyperionLinuxController.cpp
index b892dc70..a811fbc5 100644
--- a/linux/devices/GPSHyperionLinuxController.cpp
+++ b/linux/devices/GPSHyperionLinuxController.cpp
@@ -9,16 +9,13 @@
 #include <fstream>
 #endif
 #include <cmath>
-#include <ctime>
 
 GPSHyperionLinuxController::GPSHyperionLinuxController(object_id_t objectId, object_id_t parentId,
                                                        bool debugHyperionGps)
     : ExtendedControllerBase(objectId, objects::NO_OBJECT),
       gpsSet(this),
       myGpsmm(GPSD_SHARED_MEMORY, nullptr),
-      debugHyperionGps(debugHyperionGps) {
-  timeUpdateCd.resetTimer();
-}
+      debugHyperionGps(debugHyperionGps) {}
 
 GPSHyperionLinuxController::~GPSHyperionLinuxController() {}
 
@@ -79,11 +76,9 @@ ReturnValue_t GPSHyperionLinuxController::initializeLocalDataPool(
   localDataPoolMap.emplace(GpsHyperion::SATS_IN_USE, new PoolEntry<uint8_t>());
   localDataPoolMap.emplace(GpsHyperion::SATS_IN_VIEW, new PoolEntry<uint8_t>());
   localDataPoolMap.emplace(GpsHyperion::FIX_MODE, new PoolEntry<uint8_t>());
-  bool enablePeriodicHk = false;
 #if OBSW_ENABLE_PERIODIC_HK == 1
-  enablePeriodicHk = true;
+  poolManager.subscribeForPeriodicPacket(gpsSet.getSid(), true, 2.0, false);
 #endif
-  poolManager.subscribeForPeriodicPacket(gpsSet.getSid(), enablePeriodicHk, 2.0, false);
   return HasReturnvaluesIF::RETURN_OK;
 }
 
@@ -177,20 +172,6 @@ void GPSHyperionLinuxController::readGpsDataFromGpsd() {
   timeval time = {};
   time.tv_sec = gpsSet.unixSeconds.value;
   time.tv_usec = gps->fix.time.tv_nsec / 1000;
-  std::time_t t = std::time(nullptr);
-  if (time.tv_sec == t) {
-    timeIsConstantCounter++;
-  } else {
-    timeIsConstantCounter = 0;
-  }
-  // If the received time does not change anymore for whatever reason, do not set it here
-  // to avoid stale times. Also, don't do it too often often to avoid jumping times
-  if (timeIsConstantCounter < 3 and timeUpdateCd.hasTimedOut()) {
-    // Update the system time here for now. NTP seems to be unable to do so for whatever reason
-    settimeofday(&time, nullptr);
-    timeUpdateCd.resetTimer();
-  }
-
   Clock::TimeOfDay_t timeOfDay = {};
   Clock::convertTimevalToTimeOfDay(&time, &timeOfDay);
   gpsSet.year = timeOfDay.year;
@@ -211,9 +192,6 @@ void GPSHyperionLinuxController::readGpsDataFromGpsd() {
     std::cout << "Longitude: " << gps->fix.longitude << std::endl;
     std::cout << "Altitude(MSL): " << gps->fix.altMSL << std::endl;
     std::cout << "Speed(m/s): " << gps->fix.speed << std::endl;
-    std::time_t t = std::time(nullptr);
-    std::tm tm = *std::gmtime(&t);
-    std::cout << "C Time: " << std::put_time(&tm, "%c") << std::endl;
   }
 }
 #endif
diff --git a/linux/devices/GPSHyperionLinuxController.h b/linux/devices/GPSHyperionLinuxController.h
index 46acb5fc..f0e4e6e0 100644
--- a/linux/devices/GPSHyperionLinuxController.h
+++ b/linux/devices/GPSHyperionLinuxController.h
@@ -51,8 +51,6 @@ class GPSHyperionLinuxController : public ExtendedControllerBase {
   bool modeCommanded = true;
   gpsmm myGpsmm;
   bool debugHyperionGps = false;
-  uint32_t timeIsConstantCounter = 0;
-  Countdown timeUpdateCd = Countdown(60);
 
   void readGpsDataFromGpsd();
 };