From 388dc0a813c93fadcf9ce5a2fb7ceb6db3cc8405 Mon Sep 17 00:00:00 2001
From: meggert <eggertm@irs.uni-stuttgart.de>
Date: Wed, 2 Aug 2023 13:40:51 +0200
Subject: [PATCH 1/3] gps event spam fix?

---
 linux/acs/GpsHyperionLinuxController.cpp | 17 ++++++++---------
 linux/acs/GpsHyperionLinuxController.h   |  1 -
 2 files changed, 8 insertions(+), 10 deletions(-)

diff --git a/linux/acs/GpsHyperionLinuxController.cpp b/linux/acs/GpsHyperionLinuxController.cpp
index 900de0aa..afa73f77 100644
--- a/linux/acs/GpsHyperionLinuxController.cpp
+++ b/linux/acs/GpsHyperionLinuxController.cpp
@@ -169,18 +169,17 @@ bool GpsHyperionLinuxController::readGpsDataFromGpsd() {
   if (readMode == ReadModes::SOCKET) {
     // Poll the GPS.
     if (gps_waiting(&gps, 0)) {
-      if (-1 == gps_read(&gps)) {
+      int retval = gps_read(&gps);
+      if (retval < 0) {
         readError();
         return false;
+      } else if (retval == 0) {
+        oneShotSwitches.gpsReadFailedSwitch = true;
+        ReturnValue_t result = handleGpsReadData();
+        if (result != returnvalue::OK) {
+          return false;
+        }
       }
-      oneShotSwitches.gpsReadFailedSwitch = true;
-      ReturnValue_t result = handleGpsReadData();
-      if (result == returnvalue::OK) {
-        return true;
-      } else {
-        return false;
-      }
-      noModeSetCntr = 0;
     } else {
       return false;
     }
diff --git a/linux/acs/GpsHyperionLinuxController.h b/linux/acs/GpsHyperionLinuxController.h
index d5b1f637..5a8494dd 100644
--- a/linux/acs/GpsHyperionLinuxController.h
+++ b/linux/acs/GpsHyperionLinuxController.h
@@ -81,7 +81,6 @@ class GpsHyperionLinuxController : public ExtendedControllerBase {
   } oneShotSwitches;
 
   bool debugHyperionGps = false;
-  int32_t noModeSetCntr = 0;
 
   // Returns true if the function should be called again or false if other
   // controller handling can be done.

From 8441c49fe67616512882bd73300eb0baa48d08da Mon Sep 17 00:00:00 2001
From: Robin Mueller <muellerr@irs.uni-stuttgart.de>
Date: Wed, 2 Aug 2023 16:00:27 +0200
Subject: [PATCH 2/3] big gps victory

---
 linux/acs/GpsHyperionLinuxController.cpp | 23 +++++++++++++----------
 1 file changed, 13 insertions(+), 10 deletions(-)

diff --git a/linux/acs/GpsHyperionLinuxController.cpp b/linux/acs/GpsHyperionLinuxController.cpp
index afa73f77..b451c112 100644
--- a/linux/acs/GpsHyperionLinuxController.cpp
+++ b/linux/acs/GpsHyperionLinuxController.cpp
@@ -166,29 +166,32 @@ bool GpsHyperionLinuxController::readGpsDataFromGpsd() {
   if (mode == MODE_OFF) {
     return false;
   }
+  unsigned int readIdx = 0;
   if (readMode == ReadModes::SOCKET) {
     // Poll the GPS.
-    if (gps_waiting(&gps, 0)) {
+    while (gps_waiting(&gps, 0)) {
       int retval = gps_read(&gps);
       if (retval < 0) {
         readError();
         return false;
-      } else if (retval == 0) {
-        oneShotSwitches.gpsReadFailedSwitch = true;
-        ReturnValue_t result = handleGpsReadData();
-        if (result != returnvalue::OK) {
-          return false;
-        }
       }
-    } else {
-      return false;
+      readIdx++;
+      if (readIdx >= 40) {
+        sif::warning << "GpsHyperionLinuxController: Received " << readIdx
+                     << " GPSD message consecutively" << std::endl;
+        break;
+      }
+    }
+    if (readIdx > 0) {
+      oneShotSwitches.gpsReadFailedSwitch = true;
+      handleGpsReadData();
     }
   } else if (readMode == ReadModes::SHM) {
     sif::error << "GpsHyperionLinuxController::readGpsDataFromGpsdPermanentLoop: "
                   "SHM read not implemented"
                << std::endl;
   }
-  return true;
+  return false;
 }
 
 ReturnValue_t GpsHyperionLinuxController::handleGpsReadData() {

From 8f8c3fd4a26b4d45953e5f1b15efe65879f3e099 Mon Sep 17 00:00:00 2001
From: meggert <eggertm@irs.uni-stuttgart.de>
Date: Mon, 7 Aug 2023 17:00:19 +0200
Subject: [PATCH 3/3] changelog

---
 CHANGELOG.md | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/CHANGELOG.md b/CHANGELOG.md
index 18ba4097..7f1f275c 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -16,6 +16,10 @@ will consitute of a breaking change warranting a new major release:
 
 # [unreleased]
 
+## Fixed
+- The handling function of the GPS data is only called once per GPS read. This should remove
+  the fake fix-has-changed events.
+
 # [v6.3.0] 2023-08-03
 
 ## Fixed