Method threadMain

Tactility/Source/hal/gps/GpsDevice.cpp:18–123

static const auto LOGGER = Logger("GpsDevice");

int32_t GpsDevice::threadMain() {
    uint8_t buffer[GPS_UART_BUFFER_SIZE];

    auto* uart = device_find_by_name(configuration.uartName);
    if (uart == nullptr) {
        LOGGER.error("Failed to find UART {}", configuration.uartName);
        return -1;
    }

    struct UartConfig uartConfig = {
        .baud_rate = configuration.baudRate,
        .data_bits = UART_CONTROLLER_DATA_8_BITS,
        .parity = UART_CONTROLLER_PARITY_DISABLE,
        .stop_bits = UART_CONTROLLER_STOP_BITS_1
    };

    error_t error = uart_controller_set_config(uart, &uartConfig);
    if (error != ERROR_NONE) {
        LOGGER.error("Failed to configure UART {}: {}", configuration.uartName, error_to_string(error));
        return -1;
    }

    error = uart_controller_open(uart);
    if (error != ERROR_NONE) {
        LOGGER.error("Failed to open UART {}: {}", configuration.uartName, error_to_string(error));
        return -1;
    }

    GpsModel model = configuration.model;
    if (model == GpsModel::Unknown) {
        model = probe(uart);
        if (model == GpsModel::Unknown) {
            LOGGER.error("Probe failed");
            setState(State::Error);
            return -1;
        }
    }
    mutex.lock();
    this->model = model;
    mutex.unlock();

    if (!init(uart, model)) {
        LOGGER.error("Init failed");
        setState(State::Error);
        return -1;
    }

    setState(State::On);

    // Reference: https://gpsd.gitlab.io/gpsd/NMEA.html
    while (!isThreadInterrupted()) {
        size_t bytes_read = 0;
        uart_controller_read_until(uart, buffer, GPS_UART_BUFFER_SIZE, '\n', true, &bytes_read, 100 / portTICK_PERIOD_MS);

        // Thread might've been interrupted in the meanwhile
        if (isThreadInterrupted()) {
            break;
        }