gps improvements

fsfw

@@ -1 +1 @@
-Subproject commit d61fe7db93b37dd6652dbfee5b7c93f400ac5a11
+Subproject commit 7f6c8b8b123a63546de0d73f0de35900d6c806bf

linux/devices/GPSHyperionLinuxController.cpp

@@ -107,6 +107,7 @@ ReturnValue_t GPSHyperionLinuxController::handleCommandMessage(CommandMessage *m
 }
 
 #ifdef FSFW_OSAL_LINUX
+
 void GPSHyperionLinuxController::readGpsDataFromGpsd() {
   gpsmm gpsmm("localhost", DEFAULT_GPSD_PORT);
   // The data from the device will generally be read all at once. Therefore, we
@@ -125,45 +126,45 @@ void GPSHyperionLinuxController::readGpsDataFromGpsd() {
   }
   // Stopwatch watch;
   gps_data_t *gps = nullptr;
-  gps = gpsmm.stream(WATCH_ENABLE | WATCH_JSON);
+  gpsmm.stream(WATCH_ENABLE | WATCH_JSON);
+  if(not gpsmm.waiting(50000000)) {
+    return;
+  }
+  gps = gpsmm.read();
   if (gps == nullptr) {
-    sif::warning << "GPSHyperionHandler::readGpsDataFromGpsd:: Setting GPSD watch "
+    if (gpsReadFailedSwitch) {
-                    "policy failed"
+      gpsReadFailedSwitch = false;
-                 << std::endl;
+      sif::warning << "GPSHyperionHandler::readGpsDataFromGpsd: Reading GPS data 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;
     }
+    return;
   }
-  gps = gpsmm.stream(WATCH_DISABLE);
+  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;
+  }
+  handleGpsRead(gps);
+}
+
+
+ReturnValue_t GPSHyperionLinuxController::handleGpsRead(gps_data_t* gps) {
   PoolReadGuard pg(&gpsSet);
   if (pg.getReadResult() != HasReturnvaluesIF::RETURN_OK) {
 #if FSFW_VERBOSE_LEVEL >= 1
     sif::warning << "GPSHyperionHandler::readGpsDataFromGpsd: Reading dataset failed" << std::endl;
 #endif
-    return;
+    return RETURN_FAILED;
   }
 
   bool validFix = false;
@@ -292,5 +293,7 @@ void GPSHyperionLinuxController::readGpsDataFromGpsd() {
     std::tm tm = *std::gmtime(&t);
     std::cout << "C Time: " << std::put_time(&tm, "%c") << std::endl;
   }
+  return RETURN_OK;
 }
+
 #endif

linux/devices/GPSHyperionLinuxController.h

@@ -47,6 +47,7 @@ class GPSHyperionLinuxController : public ExtendedControllerBase {
   ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
                                         LocalDataPoolManager& poolManager) override;
 
+  ReturnValue_t handleGpsRead(gps_data_t* gps);
  private:
   GpsPrimaryDataset gpsSet;
   Countdown maxTimeToReachFix = Countdown(MAX_SECONDS_TO_REACH_FIX * 1000);

tmtc

@@ -1 +1 @@
-Subproject commit 168b662288175f9db77a5796a02f38cb66911092
+Subproject commit 0a47c17fa699dc571d2d3e63ec08c9f4cf513f65