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big gps victory
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This commit is contained in:
Robin Müller 2023-08-02 16:00:27 +02:00
parent ff6cb2a2e3
commit 8441c49fe6
Signed by: muellerr
GPG Key ID: 407F9B00F858F270
1 changed files with 13 additions and 10 deletions
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23
linux/acs/GpsHyperionLinuxController.cpp
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@ -166,29 +166,32 @@ bool GpsHyperionLinuxController::readGpsDataFromGpsd() {
if (mode == MODE_OFF) { if (mode == MODE_OFF) {
return false; return false;
} }
unsigned int readIdx = 0;
if (readMode == ReadModes::SOCKET) { if (readMode == ReadModes::SOCKET) {
// Poll the GPS. // Poll the GPS.
if (gps_waiting(&gps, 0)) { while (gps_waiting(&gps, 0)) {
int retval = gps_read(&gps); int retval = gps_read(&gps);
if (retval < 0) { if (retval < 0) {
readError(); readError();
return false; return false;
} else if (retval == 0) { }
readIdx++;
if (readIdx >= 40) {
sif::warning << "GpsHyperionLinuxController: Received " << readIdx
<< " GPSD message consecutively" << std::endl;
break;
}
}
if (readIdx > 0) {
oneShotSwitches.gpsReadFailedSwitch = true; oneShotSwitches.gpsReadFailedSwitch = true;
ReturnValue_t result = handleGpsReadData(); handleGpsReadData();
if (result != returnvalue::OK) {
return false;
}
}
} else {
return false;
} }
} else if (readMode == ReadModes::SHM) { } else if (readMode == ReadModes::SHM) {
sif::error << "GpsHyperionLinuxController::readGpsDataFromGpsdPermanentLoop: " sif::error << "GpsHyperionLinuxController::readGpsDataFromGpsdPermanentLoop: "
"SHM read not implemented" "SHM read not implemented"
<< std::endl; << std::endl;
} }
return true; return false;
} }
ReturnValue_t GpsHyperionLinuxController::handleGpsReadData() { ReturnValue_t GpsHyperionLinuxController::handleGpsReadData() {