From d6aa6875ccb88c2cca7f9ffd9d50698b081d4526 Mon Sep 17 00:00:00 2001
From: Robin Mueller <muellerr@irs.uni-stuttgart.de>
Date: Tue, 7 Feb 2023 10:22:12 +0100
Subject: [PATCH] typos and other minor adaptions

---
 linux/devices/GpsHyperionLinuxController.cpp | 67 +++++++++++---------
 1 file changed, 38 insertions(+), 29 deletions(-)

diff --git a/linux/devices/GpsHyperionLinuxController.cpp b/linux/devices/GpsHyperionLinuxController.cpp
index c3e7bc73..7554b805 100644
--- a/linux/devices/GpsHyperionLinuxController.cpp
+++ b/linux/devices/GpsHyperionLinuxController.cpp
@@ -199,19 +199,17 @@ ReturnValue_t GpsHyperionLinuxController::handleGpsReadData() {
   }
 
   bool validFix = false;
-  static_cast<void>(validFix);
   // 0: Not seen, 1: No fix, 2: 2D-Fix, 3: 3D-Fix
-  int newFixMode = gps.fix.mode;
-  if (newFixMode == 2 or newFixMode == 3) {
+  if (gps.fix.mode == 2 or gps.fix.mode == 3) {
     validFix = true;
   }
-  if (gpsSet.fixMode.value != newFixMode) {
-    triggerEvent(GpsHyperion::GPS_FIX_CHANGE, gpsSet.fixMode.value, newFixMode);
+  if (gpsSet.fixMode.value != gps.fix.mode) {
+    triggerEvent(GpsHyperion::GPS_FIX_CHANGE, gpsSet.fixMode.value, gps.fix.mode);
   }
-  gpsSet.fixMode.value = newFixMode;
+  gpsSet.fixMode.value = gps.fix.mode;
   if (gps.fix.mode == 0 or gps.fix.mode == 1) {
     if (modeCommanded and maxTimeToReachFix.hasTimedOut()) {
-      // We are supposed to be on and functioning, but not fix was found
+      // We are supposed to be on and functioning, but no fix was found
       if (mode == MODE_ON or mode == MODE_NORMAL) {
         mode = MODE_OFF;
       }
@@ -229,7 +227,7 @@ ReturnValue_t GpsHyperionLinuxController::handleGpsReadData() {
   if (std::isfinite(gps.fix.latitude)) {
     // Negative latitude -> South direction
     gpsSet.latitude.value = gps.fix.latitude;
-    if(gps.fix.mode >= 2) {
+    if (gps.fix.mode >= 2) {
       latValid = true;
     }
   }
@@ -239,7 +237,7 @@ ReturnValue_t GpsHyperionLinuxController::handleGpsReadData() {
   if (std::isfinite(gps.fix.longitude)) {
     // Negative longitude -> West direction
     gpsSet.longitude.value = gps.fix.longitude;
-    if(gps.fix.mode >= 2) {
+    if (gps.fix.mode >= 2) {
       longValid = true;
     }
   }
@@ -248,7 +246,7 @@ ReturnValue_t GpsHyperionLinuxController::handleGpsReadData() {
   bool altitudeValid = false;
   if (std::isfinite(gps.fix.altitude)) {
     gpsSet.altitude.value = gps.fix.altitude;
-    if(gps.fix.mode == 3) {
+    if (gps.fix.mode == 3) {
       altitudeValid = true;
     }
   }
@@ -260,29 +258,40 @@ ReturnValue_t GpsHyperionLinuxController::handleGpsReadData() {
     gpsSet.speed.setValid(false);
   }
 
-  timeval time = {};
+  if (TIME_SET != (TIME_SET & gps.set)) {
+    timeval time = {};
 #if LIBGPS_VERSION_MINOR <= 17
-  gpsSet.unixSeconds.value = std::floor(gps.fix.time);
-  double fractionalPart = gps.fix.time - gpsSet.unixSeconds.value;
-  time.tv_usec = fractionalPart * 1000.0 * 1000.0;
+    gpsSet.unixSeconds.value = std::floor(gps.fix.time);
+    double fractionalPart = gps.fix.time - gpsSet.unixSeconds.value;
+    time.tv_usec = fractionalPart * 1000.0 * 1000.0;
 #else
-  gpsSet.unixSeconds.value = gps.fix.time.tv_sec;
-  time.tv_usec = gps.fix.time.tv_nsec / 1000;
+    gpsSet.unixSeconds.value = gps.fix.time.tv_sec;
+    time.tv_usec = gps.fix.time.tv_nsec / 1000;
 #endif
-  time.tv_sec = gpsSet.unixSeconds.value;
-  // If the time is totally wrong (e.g. year 2000 after system reset because we do not have a RTC
-  // and no time file available) we set it with the roughly valid time from the GPS.
-  // NTP might only work if the time difference between sys time and current time is not too large.
-  overwriteTimeIfNotSane(time, validFix);
+    time.tv_sec = gpsSet.unixSeconds.value;
+    // If the time is totally wrong (e.g. year 2000 after system reset because we do not have a RTC
+    // and no time file available) we set it with the roughly valid time from the GPS.
+    // NTP might only work if the time difference between sys time and current time is not too
+    // large.
+    overwriteTimeIfNotSane(time, validFix);
+    Clock::TimeOfDay_t timeOfDay = {};
+    Clock::convertTimevalToTimeOfDay(&time, &timeOfDay);
+    gpsSet.year = timeOfDay.year;
+    gpsSet.month = timeOfDay.month;
+    gpsSet.day = timeOfDay.day;
+    gpsSet.hours = timeOfDay.hour;
+    gpsSet.minutes = timeOfDay.minute;
+    gpsSet.seconds = timeOfDay.second;
+  } else {
+    gpsSet.unixSeconds.setValid(false);
+    gpsSet.year.setValid(false);
+    gpsSet.month.setValid(false);
+    gpsSet.day.setValid(false);
+    gpsSet.hours.setValid(false);
+    gpsSet.minutes.setValid(false);
+    gpsSet.seconds.setValid(false);
+  }
 
-  Clock::TimeOfDay_t timeOfDay = {};
-  Clock::convertTimevalToTimeOfDay(&time, &timeOfDay);
-  gpsSet.year = timeOfDay.year;
-  gpsSet.month = timeOfDay.month;
-  gpsSet.day = timeOfDay.day;
-  gpsSet.hours = timeOfDay.hour;
-  gpsSet.minutes = timeOfDay.minute;
-  gpsSet.seconds = timeOfDay.second;
   if (debugHyperionGps) {
     sif::info << "-- Hyperion GPS Data --" << std::endl;
 #if LIBGPS_VERSION_MINOR <= 17