From 32995a5bc17500dd0915cf7dd55d4362674cf4c9 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Beat=20K=C3=BCng?= <beat-kueng@gmx.net>
Date: Thu, 9 Mar 2017 11:17:54 +0100
Subject: [PATCH] state_machine_helper: remove unneeded code to disable sensor
 publication

In HIL mode we do not start the sensors anymore, so this is not needed.

Also it did not work (I did not try to find the reason, just noticed the
sensors kept publishing in HIL mode)
---
 .../commander/state_machine_helper.cpp        | 130 ------------------
 1 file changed, 130 deletions(-)

diff --git a/src/modules/commander/state_machine_helper.cpp b/src/modules/commander/state_machine_helper.cpp
index 7457955107..ff096a54bf 100644
--- a/src/modules/commander/state_machine_helper.cpp
+++ b/src/modules/commander/state_machine_helper.cpp
@@ -493,138 +493,8 @@ transition_result_t hil_state_transition(hil_state_t new_state, orb_advert_t sta
 			    || current_status->arming_state == vehicle_status_s::ARMING_STATE_STANDBY
 			    || current_status->arming_state == vehicle_status_s::ARMING_STATE_STANDBY_ERROR) {
 
-#ifdef __PX4_NUTTX
-				/* Disable publication of all attached sensors */
-				/* list directory */
-				DIR		*d;
-				d = opendir("/dev");
-
-				if (d) {
-					struct dirent	*direntry;
-					char devname[24];
-
-					while ((direntry = readdir(d)) != NULL) {
-
-						/* skip serial ports */
-						if (!strncmp("tty", direntry->d_name, 3)) {
-							continue;
-						}
-
-						/* skip mtd devices */
-						if (!strncmp("mtd", direntry->d_name, 3)) {
-							continue;
-						}
-
-						/* skip ram devices */
-						if (!strncmp("ram", direntry->d_name, 3)) {
-							continue;
-						}
-
-						/* skip MMC devices */
-						if (!strncmp("mmc", direntry->d_name, 3)) {
-							continue;
-						}
-
-						/* skip mavlink */
-						if (!strcmp("mavlink", direntry->d_name)) {
-							continue;
-						}
-
-						/* skip console */
-						if (!strcmp("console", direntry->d_name)) {
-							continue;
-						}
-
-						/* skip null */
-						if (!strcmp("null", direntry->d_name)) {
-							continue;
-						}
-
-						snprintf(devname, sizeof(devname), "/dev/%s", direntry->d_name);
-
-						int sensfd = ::open(devname, 0);
-
-						if (sensfd < 0) {
-							warn("failed opening device %s", devname);
-							continue;
-						}
-
-						int block_ret = ::ioctl(sensfd, DEVIOCSPUBBLOCK, 1);
-						close(sensfd);
-
-						printf("Disabling %s: %s\n", devname, (block_ret == OK) ? "OK" : "ERROR");
-					}
-
-					closedir(d);
-
-					ret = TRANSITION_CHANGED;
-					mavlink_log_critical(mavlink_log_pub, "Switched to ON hil state");
-
-				} else {
-					/* failed opening dir */
-					mavlink_log_info(mavlink_log_pub, "FAILED LISTING DEVICE ROOT DIRECTORY");
-					ret = TRANSITION_DENIED;
-				}
-
-#else
-
-				// Handle VDev devices
-				const char *devname;
-				unsigned int handle = 0;
-
-				for (;;) {
-					devname = px4_get_device_names(&handle);
-
-					if (devname == nullptr) {
-						break;
-					}
-
-					/* skip mavlink */
-					if (!strcmp("/dev/mavlink", devname)) {
-						continue;
-					}
-
-
-					int sensfd = px4_open(devname, 0);
-
-					if (sensfd < 0) {
-						warn("failed opening device %s", devname);
-						continue;
-					}
-
-					int block_ret = px4_ioctl(sensfd, DEVIOCSPUBBLOCK, 1);
-					px4_close(sensfd);
-
-					printf("Disabling %s: %s\n", devname, (block_ret == OK) ? "OK" : "ERROR");
-				}
-
-
-				// Handle DF devices
-				const char *df_dev_path;
-				unsigned int index = 0;
-
-				for (;;) {
-					if (DevMgr::getNextDeviceName(index, &df_dev_path) < 0) {
-						break;
-					}
-
-					DevHandle h;
-					DevMgr::getHandle(df_dev_path, h);
-
-					if (!h.isValid()) {
-						warn("failed opening device %s", df_dev_path);
-						continue;
-					}
-
-					int block_ret = h.ioctl(DEVIOCSPUBBLOCK, 1);
-					DevMgr::releaseHandle(h);
-
-					printf("Disabling %s: %s\n", df_dev_path, (block_ret == OK) ? "OK" : "ERROR");
-				}
-
 				ret = TRANSITION_CHANGED;
 				mavlink_log_critical(mavlink_log_pub, "Switched to ON hil state");
-#endif
 
 			} else {
 				mavlink_log_critical(mavlink_log_pub, "Not switching to HIL when armed");