From a1c3b1786f073e20e65ce177d47b2aad6c807c61 Mon Sep 17 00:00:00 2001
From: Robin Mueller <muellerr@irs.uni-stuttgart.de>
Date: Thu, 28 Apr 2022 10:07:42 +0200
Subject: [PATCH 1/3] bump submodules

---
 fsfw | 2 +-
 tmtc | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/fsfw b/fsfw
index 24ef96d1..d61fe7db 160000
--- a/fsfw
+++ b/fsfw
@@ -1 +1 @@
-Subproject commit 24ef96d1b802e768d395f94b69f9f81a3c6d1e66
+Subproject commit d61fe7db93b37dd6652dbfee5b7c93f400ac5a11
diff --git a/tmtc b/tmtc
index 28983d38..76da8042 160000
--- a/tmtc
+++ b/tmtc
@@ -1 +1 @@
-Subproject commit 28983d387b82578a73fbfe052cb53dec1910d021
+Subproject commit 76da8042a4601087e99fa856af241afe9e43695d

From 584700a2ba089224ddd08a5f025ba544b936c293 Mon Sep 17 00:00:00 2001
From: Robin Mueller <muellerr@irs.uni-stuttgart.de>
Date: Thu, 28 Apr 2022 10:21:04 +0200
Subject: [PATCH 2/3] do not add ETL lib

---
 CMakeLists.txt                               | 6 ------
 linux/devices/GPSHyperionLinuxController.cpp | 2 +-
 2 files changed, 1 insertion(+), 7 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 9291e0db..79017dda 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -301,12 +301,6 @@ target_include_directories(${WATCHDOG_NAME} PUBLIC
 #unittests
 add_executable(${UNITTEST_NAME} EXCLUDE_FROM_ALL)
 
-
-
-if(EIVE_ADD_ETL_LIB)
-    add_subdirectory(${LIB_ETL_PATH})
-endif()
-
 if(EIVE_ADD_JSON_LIB)
     add_subdirectory(${LIB_JSON_PATH})
 endif()
diff --git a/linux/devices/GPSHyperionLinuxController.cpp b/linux/devices/GPSHyperionLinuxController.cpp
index 9c762842..669438b9 100644
--- a/linux/devices/GPSHyperionLinuxController.cpp
+++ b/linux/devices/GPSHyperionLinuxController.cpp
@@ -106,7 +106,7 @@ ReturnValue_t GPSHyperionLinuxController::handleCommandMessage(CommandMessage *m
 
 #ifdef FSFW_OSAL_LINUX
 void GPSHyperionLinuxController::readGpsDataFromGpsd() {
-  gpsmm myGpsmm(GPSD_SHARED_MEMORY, nullptr);
+  gpsmm myGpsmm("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()) {

From 234a6b7ac351de2beed25f18124604315fdb91d3 Mon Sep 17 00:00:00 2001
From: Robin Mueller <muellerr@irs.uni-stuttgart.de>
Date: Thu, 28 Apr 2022 10:50:39 +0200
Subject: [PATCH 3/3] switch gps ctrl to socket API

---
 linux/devices/GPSHyperionLinuxController.cpp | 45 ++++++++++++++++----
 linux/devices/GPSHyperionLinuxController.h   |  1 +
 2 files changed, 37 insertions(+), 9 deletions(-)

diff --git a/linux/devices/GPSHyperionLinuxController.cpp b/linux/devices/GPSHyperionLinuxController.cpp
index 669438b9..5a7d9808 100644
--- a/linux/devices/GPSHyperionLinuxController.cpp
+++ b/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
diff --git a/linux/devices/GPSHyperionLinuxController.h b/linux/devices/GPSHyperionLinuxController.h
index 42e9741b..8d0ec0cd 100644
--- a/linux/devices/GPSHyperionLinuxController.h
+++ b/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);