From de8a0703b2c07842edb9506561dd7ad03fe98c58 Mon Sep 17 00:00:00 2001
From: JohnN193 <92045055+JohnN193@users.noreply.github.com>
Date: Wed, 26 Oct 2022 13:09:56 -0400
Subject: [PATCH] [DATA-277] Update date/time format to match datamanager
 (#1504)

---
 services/slam/builtin/builtin.go           | 4 +---
 services/slam/builtin/orbslam_yaml.go      | 1 -
 services/slam/builtin/orbslam_yaml_test.go | 2 +-
 3 files changed, 2 insertions(+), 5 deletions(-)

diff --git a/services/slam/builtin/builtin.go b/services/slam/builtin/builtin.go
index b76117b1853..154f885a2a0 100644
--- a/services/slam/builtin/builtin.go
+++ b/services/slam/builtin/builtin.go
@@ -55,9 +55,8 @@ const (
 	defaultMapRateSec           = 60
 	cameraValidationIntervalSec = 1.
 	parsePortMaxTimeoutSec      = 60
-	// TODO change time format to .Format(time.RFC3339Nano) https://viam.atlassian.net/browse/DATA-277
 	// time format for the slam service.
-	slamTimeFormat        = "2006-01-02T15_04_05.0000"
+	slamTimeFormat        = time.RFC3339Nano
 	opTimeoutErrorMessage = "bad scan: OpTimeout"
 	localhost0            = "localhost:0"
 )
@@ -958,7 +957,6 @@ func (slamSvc *builtIn) getAndSaveDataDense(ctx context.Context, cams []camera.C
 // Creates a file for camera data with the specified sensor name and timestamp written into the filename.
 // For RGBD cameras, two filenames are created with the same timestamp in different directories.
 func createTimestampFilenames(cameraName, dataDirectory, fileType string, slamMode slam.Mode) ([]string, error) {
-	// TODO change time format to .Format(time.RFC3339Nano) https://viam.atlassian.net/browse/DATA-277
 	timeStamp := time.Now()
 
 	switch slamMode {
diff --git a/services/slam/builtin/orbslam_yaml.go b/services/slam/builtin/orbslam_yaml.go
index f392db09660..f5d3a2ef13a 100644
--- a/services/slam/builtin/orbslam_yaml.go
+++ b/services/slam/builtin/orbslam_yaml.go
@@ -150,7 +150,6 @@ func (slamSvc *builtIn) orbGenYAML(ctx context.Context, cam camera.Camera) error
 		slamSvc.logger.Debugf("Error occurred while parsing %s for maps, building map from scratch", slamSvc.dataDirectory)
 	}
 	if loadMapTimeStamp == "" {
-		// TODO change time format to .Format(time.RFC3339Nano) https://viam.atlassian.net/browse/DATA-277
 		loadMapTimeStamp = time.Now().UTC().Format(slamTimeFormat)
 	} else {
 		orbslam.LoadMapLoc = "\"" + loadMapName + "\""
diff --git a/services/slam/builtin/orbslam_yaml_test.go b/services/slam/builtin/orbslam_yaml_test.go
index 3aeb2164d71..dc14b4ff3b5 100644
--- a/services/slam/builtin/orbslam_yaml_test.go
+++ b/services/slam/builtin/orbslam_yaml_test.go
@@ -23,7 +23,7 @@ import (
 
 const (
 	yamlFilePrefixBytes = "%YAML:1.0\n"
-	slamTimeFormat      = "2006-01-02T15_04_05.0000"
+	slamTimeFormat      = time.RFC3339Nano
 )
 
 // function to search a SLAM data dir for a .yaml file. returns the timestamp and filepath.