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47 lines
917 B
47 lines
917 B
#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 "messaging.hpp"
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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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Message * poll_ubloxraw_msg(Poller * poller) {
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auto p = poller->poll(ZMQ_POLL_TIMEOUT);
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if (p.size()) {
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return p[0]->receive();
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} else {
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return NULL;
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}
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}
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int send_gps_event(PubSocket *s, const void *buf, size_t len) {
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return s->send((char*)buf, len);
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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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