pigeond: power cycle on reinit (#35684)

* pigeond: power cycle on reinit

* fix

* one more

system/ubloxd/pigeond.py

@@ -157,7 +157,7 @@ def init_baudrate(pigeon: TTYPigeon):
   pigeon.set_baud(460800)
 
 
-def initialize_pigeon(pigeon: TTYPigeon) -> bool:
+def init_pigeon(pigeon: TTYPigeon) -> bool:
   # try initializing a few times
   for _ in range(10):
     try:
@@ -250,8 +250,6 @@ def initialize_pigeon(pigeon: TTYPigeon) -> bool:
   return True
 
 def deinitialize_and_exit(pigeon: TTYPigeon | None):
-  cloudlog.warning("Storing almanac in ublox flash")
-
   if pigeon is not None:
     # controlled GNSS stop
     pigeon.send(b"\xB5\x62\x06\x04\x04\x00\x00\x00\x08\x00\x16\x74")
@@ -260,12 +258,9 @@ def deinitialize_and_exit(pigeon: TTYPigeon | None):
   set_power(False)
   sys.exit(0)
 
-def create_pigeon() -> tuple[TTYPigeon, messaging.PubMaster]:
+def init(pigeon: TTYPigeon) -> None:
-  pigeon = None
-
   # register exit handler
   signal.signal(signal.SIGINT, lambda sig, frame: deinitialize_and_exit(pigeon))
-  pm = messaging.PubMaster(['ubloxRaw'])
 
   # power cycle ublox
   set_power(False)
@@ -273,23 +268,23 @@ def create_pigeon() -> tuple[TTYPigeon, messaging.PubMaster]:
   set_power(True)
   time.sleep(0.5)
 
-  pigeon = TTYPigeon()
+  init_baudrate(pigeon)
-  return pigeon, pm
+  init_pigeon(pigeon)
 
-def run_receiving(pigeon: TTYPigeon, pm: messaging.PubMaster, duration: int = 0):
+def run_receiving(duration: int = 0):
+  pm = messaging.PubMaster(['ubloxRaw'])
 
-  start_time = time.monotonic()
+  pigeon = TTYPigeon()
-  def end_condition():
+  init(pigeon)
-    return True if duration == 0 else time.monotonic() - start_time < duration
 
+  start_time = time.monotonic()
   last_almanac_save = time.monotonic()
-  while end_condition():
+  while (duration == 0) or (time.monotonic() - start_time < duration):
     dat = pigeon.receive()
     if len(dat) > 0:
       if dat[0] == 0x00:
         cloudlog.warning("received invalid data from ublox, re-initing!")
-        init_baudrate(pigeon)
+        init(pigeon)
-        initialize_pigeon(pigeon)
         continue
 
       # send out to socket
@@ -308,13 +303,7 @@ def run_receiving(pigeon: TTYPigeon, pm: messaging.PubMaster, duration: int = 0)
 
 def main():
   assert TICI, "unsupported hardware for pigeond"
-
+  run_receiving()
-  pigeon, pm = create_pigeon()
-  init_baudrate(pigeon)
-  initialize_pigeon(pigeon)
-
-  # start receiving data
-  run_receiving(pigeon, pm)
 
 if __name__ == "__main__":
   main()