switch gps ctrl to socket API

linux/devices/GPSHyperionLinuxController.cpp

@@ -1,5 +1,7 @@
 #include "GPSHyperionLinuxController.h"
 
+#include <fsfw/timemanager/Stopwatch.h>
+
 #include "OBSWConfig.h"
 #include "fsfw/FSFW.h"
 #include "fsfw/datapool/PoolReadGuard.h"
@@ -106,10 +108,10 @@ ReturnValue_t GPSHyperionLinuxController::handleCommandMessage(CommandMessage *m
 
 #ifdef FSFW_OSAL_LINUX
 void GPSHyperionLinuxController::readGpsDataFromGpsd() {
-  gpsmm myGpsmm("localhost", DEFAULT_GPSD_PORT);
+  gpsmm gpsmm("localhost", DEFAULT_GPSD_PORT);
   // The data from the device will generally be read all at once. Therefore, we
   // can set all field here
-  if (not myGpsmm.is_open()) {
+  if (not gpsmm.is_open()) {
     if (gpsNotOpenSwitch) {
       // Opening failed
 #if FSFW_VERBOSE_LEVEL >= 1
@@ -121,16 +123,41 @@ void GPSHyperionLinuxController::readGpsDataFromGpsd() {
     }
     return;
   }
+  // Stopwatch watch;
   gps_data_t *gps = nullptr;
-  gps = myGpsmm.read();
+  gps = gpsmm.stream(WATCH_ENABLE | WATCH_JSON);
   if (gps == nullptr) {
-    if (gpsReadFailedSwitch) {
-      gpsReadFailedSwitch = false;
-      sif::warning << "GPSHyperionHandler::readGpsDataFromGpsd: Reading GPS data failed"
-                   << std::endl;
-    }
-    return;
+    sif::warning << "GPSHyperionHandler::readGpsDataFromGpsd:: Setting GPSD watch "
+                    "policy failed"
+                 << std::endl;
   }
+  while (gpsmm.waiting(2000)) {
+    gps = gpsmm.read();
+    if (gps == nullptr) {
+      if (gpsReadFailedSwitch) {
+        gpsReadFailedSwitch = false;
+        sif::warning << "GPSHyperionHandler::readGpsDataFromGpsd: Reading GPS data failed"
+                     << std::endl;
+      }
+      return;
+    }
+    if (MODE_SET != (MODE_SET & gps->set)) {
+      if (noModeSetCntr >= 0) {
+        noModeSetCntr++;
+      }
+      if (noModeSetCntr == 10) {
+        // TODO: Trigger event here
+        sif::warning << "GPSHyperionHandler::readGpsDataFromGpsd: No mode could be "
+                        "read for 10 consecutive reads"
+                     << std::endl;
+        noModeSetCntr = -1;
+      }
+      return;
+    } else {
+      noModeSetCntr = 0;
+    }
+  }
+  gps = gpsmm.stream(WATCH_DISABLE);
   PoolReadGuard pg(&gpsSet);
   if (pg.getReadResult() != HasReturnvaluesIF::RETURN_OK) {
 #if FSFW_VERBOSE_LEVEL >= 1

linux/devices/GPSHyperionLinuxController.h

@@ -55,6 +55,7 @@ class GPSHyperionLinuxController : public ExtendedControllerBase {
   bool gpsNotOpenSwitch = true;
   bool gpsReadFailedSwitch = true;
   bool debugHyperionGps = false;
+  int32_t noModeSetCntr = 0;
   uint32_t timeIsConstantCounter = 0;
   Countdown timeUpdateCd = Countdown(60);