From 791d0acefef0bfbcd6ff064c1bca969662e9c9ab Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Fri, 18 Aug 2023 06:16:53 +1000
Subject: [PATCH] SITL: removed GPS FIFO

---
 libraries/SITL/SIM_GPS.cpp | 34 ----------------------------------
 libraries/SITL/SIM_GPS.h   | 11 +----------
 2 files changed, 1 insertion(+), 44 deletions(-)

diff --git a/libraries/SITL/SIM_GPS.cpp b/libraries/SITL/SIM_GPS.cpp
index 43ec4e8e31..eff6c11261 100644
--- a/libraries/SITL/SIM_GPS.cpp
+++ b/libraries/SITL/SIM_GPS.cpp
@@ -20,15 +20,6 @@
 #include <AP_Common/NMEA.h>
 #include <AP_HAL/utility/sparse-endian.h>
 
-// simulated CAN GPS devices get fed from our SITL estimates:
-#if HAL_SIM_GPS_EXTERNAL_FIFO_ENABLED
-#include <sys/types.h>
-#include <sys/stat.h>
-#include <errno.h>
-#include <AP_HAL_SITL/AP_HAL_SITL.h>
-extern const HAL_SITL& hal_sitl;
-#endif
-
 // the number of GPS leap seconds - copied from AP_GPS.h
 #define GPS_LEAPSECONDS_MILLIS 18000ULL
 
@@ -77,22 +68,6 @@ GPS::GPS(uint8_t _instance) :
     SerialDevice(8192, 2048),
     instance{_instance}
 {
-
-#if HAL_SIM_GPS_EXTERNAL_FIFO_ENABLED
-    const uint8_t num_gps = 2;
-    // pipe number is SITL instance number (e.g. -I argument to
-    // sim_vehicle.py) times the max number of GPSs + the gps instance
-    // number:
-    const uint8_t num = num_gps * hal_sitl.get_instance() + instance;
-    if (asprintf(&_gps_fifo, "/tmp/gps_fifo%u", (unsigned)num) == -1) {  // FIXME - needs to work with simulated periph-gps
-        AP_BoardConfig::allocation_error("gps_fifo filepath");
-    }
-    if (mkfifo(_gps_fifo, 0666) < 0) {
-        if (errno != EEXIST) {
-            printf("MKFIFO failed with %m\n");
-        }
-    }
-#endif
 }
 
 uint32_t GPS::device_baud() const
@@ -116,15 +91,6 @@ ssize_t GPS::write_to_autopilot(const char *p, size_t size) const
         return -1;
     }
 
-#if HAL_SIM_GPS_EXTERNAL_FIFO_ENABLED
-    // also write to external fifo
-    int fd = open(_gps_fifo, O_WRONLY | O_NONBLOCK);
-    if (fd >= 0) {
-        UNUSED_RESULT(write(fd, p, size));
-        close(fd);
-    }
-#endif
-
     const float byteloss = _sitl->gps_byteloss[instance];
 
     // shortcut if we're not doing byteloss:
diff --git a/libraries/SITL/SIM_GPS.h b/libraries/SITL/SIM_GPS.h
index 0be71724c4..746a5832a7 100644
--- a/libraries/SITL/SIM_GPS.h
+++ b/libraries/SITL/SIM_GPS.h
@@ -26,15 +26,11 @@ param set SERIAL5_PROTOCOL 5
 #include <AP_HAL/AP_HAL_Boards.h>
 
 #ifndef HAL_SIM_GPS_ENABLED
-#define HAL_SIM_GPS_ENABLED (AP_SIM_ENABLED && !defined(HAL_BUILD_AP_PERIPH))
+#define HAL_SIM_GPS_ENABLED AP_SIM_ENABLED
 #endif
 
 #if HAL_SIM_GPS_ENABLED
 
-#ifndef HAL_SIM_GPS_EXTERNAL_FIFO_ENABLED
-#define HAL_SIM_GPS_EXTERNAL_FIFO_ENABLED (CONFIG_HAL_BOARD == HAL_BOARD_SITL) && !defined(CYGWIN_BUILD)
-#endif
-
 #ifndef AP_SIM_GPS_FILE_ENABLED
 // really need to use AP_FileSystem for this.
 #define AP_SIM_GPS_FILE_ENABLED (CONFIG_HAL_BOARD == HAL_BOARD_SITL || CONFIG_HAL_BOARD == HAL_BOARD_LINUX)
@@ -246,11 +242,6 @@ private:
     // last 20 samples, allowing for up to 20 samples of delay
     GPS_Data _gps_history[20];
 
-#if HAL_SIM_GPS_EXTERNAL_FIFO_ENABLED
-    // this will be allocated if needed:
-    char *_gps_fifo;
-#endif
-
     bool _gps_has_basestation_position;
     GPS_Data _gps_basestation_data;