From 79577e4dcaed6a4a2d4b55aabb5208ebdb2c191f Mon Sep 17 00:00:00 2001
From: Willem Melching <willem.melching@gmail.com>
Date: Wed, 12 Jan 2022 15:00:46 +0100
Subject: [PATCH] boardd: remove ublox timestamp logging (#23498)

* boardd: remove ublox timestamp logging

* more cleanup

* add cmath
---
 selfdrive/boardd/boardd.cc      | 36 +--------------------------------
 selfdrive/locationd/ublox_msg.h |  5 -----
 2 files changed, 1 insertion(+), 40 deletions(-)

diff --git a/selfdrive/boardd/boardd.cc b/selfdrive/boardd/boardd.cc
index 1178b4cafa8823..914cb06756edee 100644
--- a/selfdrive/boardd/boardd.cc
+++ b/selfdrive/boardd/boardd.cc
@@ -10,12 +10,12 @@
 #include <cassert>
 #include <cerrno>
 #include <chrono>
+#include <cmath>
 #include <cstdint>
 #include <cstdio>
 #include <cstdlib>
 #include <future>
 #include <thread>
-#include <unordered_map>
 
 #include <libusb-1.0/libusb.h>
 
@@ -26,7 +26,6 @@
 #include "selfdrive/common/timing.h"
 #include "selfdrive/common/util.h"
 #include "selfdrive/hardware/hw.h"
-#include "selfdrive/locationd/ublox_msg.h"
 
 #include "selfdrive/boardd/panda.h"
 #include "selfdrive/boardd/pigeon.h"
@@ -552,38 +551,11 @@ void pigeon_thread(Panda *panda) {
 
   std::unique_ptr<Pigeon> pigeon(Hardware::TICI() ? Pigeon::connect("/dev/ttyHS0") : Pigeon::connect(panda));
 
-  std::unordered_map<char, uint64_t> last_recv_time;
-  std::unordered_map<char, int64_t> cls_max_dt = {
-    {(char)ublox::CLASS_NAV, int64_t(900000000ULL)}, // 0.9s
-    {(char)ublox::CLASS_RXM, int64_t(900000000ULL)}, // 0.9s
-  };
-
   while (!do_exit && panda->connected) {
     bool need_reset = false;
     bool ignition_local = ignition;
     std::string recv = pigeon->receive();
 
-    // Parse message header
-    if (ignition_local && recv.length() >= 3) {
-      if (recv[0] == (char)ublox::PREAMBLE1 && recv[1] == (char)ublox::PREAMBLE2) {
-        const char msg_cls = recv[2];
-        uint64_t t = nanos_since_boot();
-        if (t > last_recv_time[msg_cls]) {
-          last_recv_time[msg_cls] = t;
-        }
-      }
-    }
-
-    // Check based on message frequency
-    for (const auto& [msg_cls, max_dt] : cls_max_dt) {
-      int64_t dt = (int64_t)nanos_since_boot() - (int64_t)last_recv_time[msg_cls];
-      if (ignition_last && ignition_local && dt > max_dt) {
-        LOGD("ublox receive timeout, msg class: 0x%02x, dt %llu", msg_cls, dt);
-        // TODO: turn on reset after verification of logs
-        // need_reset = true;
-      }
-    }
-
     // Check based on null bytes
     if (ignition_local && recv.length() > 0 && recv[0] == (char)0x00) {
       need_reset = true;
@@ -599,12 +571,6 @@ void pigeon_thread(Panda *panda) {
     if((ignition_local && !ignition_last) || need_reset) {
       pigeon_active = true;
       pigeon->init();
-
-      // Set receive times to current time
-      uint64_t t = nanos_since_boot() + 10000000000ULL; // Give ublox 10 seconds to start
-      for (const auto& [msg_cls, dt] : cls_max_dt) {
-        last_recv_time[msg_cls] = t;
-      }
     } else if (!ignition_local && ignition_last) {
       // power off on falling edge of ignition
       LOGD("powering off pigeon\n");
diff --git a/selfdrive/locationd/ublox_msg.h b/selfdrive/locationd/ublox_msg.h
index b8a48ad2da6636..da1c180c0b5264 100644
--- a/selfdrive/locationd/ublox_msg.h
+++ b/selfdrive/locationd/ublox_msg.h
@@ -23,11 +23,6 @@ namespace ublox {
   const int UBLOX_CHECKSUM_SIZE = 2;
   const int UBLOX_MAX_MSG_SIZE = 65536;
 
-  // Boardd still uses these:
-  const uint8_t CLASS_NAV = 0x01;
-  const uint8_t CLASS_RXM = 0x02;
-  const uint8_t CLASS_MON = 0x0A;
-
   struct ubx_mga_ini_time_utc_t {
     uint8_t type;
     uint8_t version;