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46 lines
1.1 KiB
46 lines
1.1 KiB
7 years ago
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#include <stdio.h>
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#include <stdlib.h>
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#include <string.h>
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#include <signal.h>
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#include <unistd.h>
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#include <sched.h>
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#include <sys/time.h>
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#include <sys/cdefs.h>
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#include <sys/types.h>
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#include <sys/time.h>
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#include <assert.h>
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#include <math.h>
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#include <ctime>
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#include <chrono>
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#include <map>
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#include <vector>
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#include <zmq.h>
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#include <capnp/serialize.h>
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#include "cereal/gen/cpp/log.capnp.h"
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#include "common/params.h"
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#include "common/swaglog.h"
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#include "common/timing.h"
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#include "ublox_msg.h"
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const long ZMQ_POLL_TIMEOUT = 1000; // In miliseconds
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int poll_ubloxraw_msg(void *gpsLocationExternal, void *ubloxGnss, void *subscriber, zmq_msg_t *msg) {
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int err;
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zmq_pollitem_t item = {.socket = subscriber, .events = ZMQ_POLLIN};
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err = zmq_poll (&item, 1, ZMQ_POLL_TIMEOUT);
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if(err <= 0)
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return err;
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return zmq_msg_recv(msg, subscriber, 0);
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}
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int send_gps_event(uint8_t msg_cls, uint8_t msg_id, void *s, const void *buf, size_t len, int flags) {
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return zmq_send(s, buf, len, flags);
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}
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int main() {
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return ubloxd_main(poll_ubloxraw_msg, send_gps_event);
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}
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