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[BACKPORT 1.16] drivers/gps: prioritize non-blocking reads over injection #25697

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[BACKPORT 1.16] drivers/gps: prioritize non-blocking reads over injection #25697

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14 changes: 11 additions & 3 deletions src/drivers/gps/gps.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -472,10 +472,16 @@ int GPS::pollOrRead(uint8_t *buf, size_t buf_length, int timeout)
const int max_timeout = 50;
int timeout_adjusted = math::min(max_timeout, timeout);

handleInjectDataTopic();

if (_interface == GPSHelper::Interface::UART) {
ret = _uart.readAtLeast(buf, buf_length, math::min(character_count, buf_length), timeout_adjusted);

const ssize_t read_at_least = math::min(character_count, buf_length);

// handle injection data before read if caught up
if (_uart.bytesAvailable() < read_at_least) {
handleInjectDataTopic();
}

ret = _uart.readAtLeast(buf, buf_length, read_at_least, timeout_adjusted);

if (ret > 0) {
_num_bytes_read += ret;
Expand All @@ -486,6 +492,8 @@ int GPS::pollOrRead(uint8_t *buf, size_t buf_length, int timeout)

} else if ((_interface == GPSHelper::Interface::SPI) && (_spi_fd >= 0)) {

handleInjectDataTopic();

//Poll only for the SPI data. In the same thread we also need to handle orb messages,
//so ideally we would poll on both, the SPI fd and orb subscription. Unfortunately the
//two pollings use different underlying mechanisms (at least under posix), which makes this
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