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] 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() {