void GPS::handleInjectDataTopic()
{
if (_orb_inject_data_fd == -1) {
return;
}
bool updated = false;
do {
orb_check(_orb_inject_data_fd, &updated);
if (updated) {
struct gps_inject_data_s msg;
orb_copy(ORB_ID(gps_inject_data), _orb_inject_data_fd, &msg);
/* Write the message to the gps device. Note that the message could be fragmented.
* But as we don't write anywhere else to the device during operation, we don't
* need to assemble the message first.
*/
injectData(msg.data, msg.len);
++_last_rate_rtcm_injection_count;
}
} while (updated);
}
void GPS::handleInjectDataTopic()
{
if (_orb_inject_data_fd[0] == -1) {
return;
}
bool updated = false;
do {
int orb_inject_data_cur_fd = _orb_inject_data_fd[_orb_inject_data_next];
orb_check(orb_inject_data_cur_fd, &updated);
if (updated) {
struct gps_inject_data_s msg;
orb_copy(ORB_ID(gps_inject_data), orb_inject_data_cur_fd, &msg);
injectData(msg.data, msg.len);
_orb_inject_data_next = (_orb_inject_data_next + 1) % _orb_inject_data_fd_count;
++_last_rate_rtcm_injection_count;
}
} while (updated);
}
