From 9d7291eea2ceb8f93c33a9b2bd783c6c5c403437 Mon Sep 17 00:00:00 2001
From: Robin Mueller <muellerr@irs.uni-stuttgart.de>
Date: Mon, 6 Feb 2023 18:12:41 +0100
Subject: [PATCH] this works now

---
 linux/devices/GpsHyperionLinuxController.cpp | 20 ++++++++------------
 1 file changed, 8 insertions(+), 12 deletions(-)

diff --git a/linux/devices/GpsHyperionLinuxController.cpp b/linux/devices/GpsHyperionLinuxController.cpp
index 44038a09..6bbbcfb7 100644
--- a/linux/devices/GpsHyperionLinuxController.cpp
+++ b/linux/devices/GpsHyperionLinuxController.cpp
@@ -1,5 +1,6 @@
 #include "GpsHyperionLinuxController.h"
 
+#include <fsfw/tasks/TaskFactory.h>
 #include <fsfw/timemanager/Stopwatch.h>
 
 #include "OBSWConfig.h"
@@ -96,8 +97,8 @@ ReturnValue_t GpsHyperionLinuxController::performOperation(uint8_t opCode) {
   handleQueue();
   poolManager.performHkOperation();
   while (true) {
-    bool callAgain = readGpsDataFromGpsd();
-    if (not callAgain) {
+    bool callAgainImmediately = readGpsDataFromGpsd();
+    if (not callAgainImmediately) {
       handleQueue();
       poolManager.performHkOperation();
     }
@@ -126,6 +127,7 @@ ReturnValue_t GpsHyperionLinuxController::initialize() {
     if (retval != 0) {
       openError("Socket", retval);
     }
+    gps_stream(&gps, WATCH_ENABLE | WATCH_JSON, nullptr);
   } else if (readMode == ReadModes::SHM) {
     int retval = gps_open(GPSD_SHARED_MEMORY, "", &gps);
     if (retval != 0) {
@@ -142,25 +144,19 @@ ReturnValue_t GpsHyperionLinuxController::handleCommandMessage(CommandMessage *m
 void GpsHyperionLinuxController::performControlOperation() {}
 
 bool GpsHyperionLinuxController::readGpsDataFromGpsd() {
-  auto readError = [&](int error) {
+  auto readError = [&]() {
     if (gpsReadFailedSwitch) {
       gpsReadFailedSwitch = false;
       sif::warning << "GPSHyperionHandler::readGpsDataFromGpsd: Reading GPS data failed | "
                       "Error "
-                   << error << " | " << gps_errstr(error) << std::endl;
+                   << errno << " | " << gps_errstr(errno) << std::endl;
     }
   };
-  currentClientBuf = gps_data(&gps);
   if (readMode == ReadModes::SOCKET) {
-    gps_stream(&gps, WATCH_ENABLE | WATCH_JSON, nullptr);
     // Perform other necessary handling if not data seen for 0.2 seconds.
     if (gps_waiting(&gps, 200000)) {
-      int result = gps_read(&gps);
-      while (result > 0) {
-        result = gps_read(&gps);
-      }
-      if (result == -1) {
-        readError(result);
+      if (-1 == gps_read(&gps)) {
+        readError();
         return false;
       }
       if (MODE_SET != (MODE_SET & gps.set)) {