int GPS::callback(GPSCallbackType type, void *data1, int data2, void *user)
{
GPS *gps = (GPS *)user;
switch (type) {
case GPSCallbackType::readDeviceData: {
int num_read = gps->pollOrRead((uint8_t *)data1, data2, *((int *)data1));
if (num_read > 0 && gps->_dump_from_gps_device_fd >= 0) {
if (write(gps->_dump_from_gps_device_fd, data1, (size_t)num_read) != (size_t)num_read) {
PX4_WARN("gps dump failed");
}
}
return num_read;
}
case GPSCallbackType::writeDeviceData:
if (gps->_dump_to_gps_device_fd >= 0) {
if (write(gps->_dump_to_gps_device_fd, data1, (size_t)data2) != (size_t)data2) {
PX4_WARN("gps dump failed");
}
}
return write(gps->_serial_fd, data1, (size_t)data2);
case GPSCallbackType::setBaudrate:
return gps->setBaudrate(data2);
case GPSCallbackType::gotRTCMMessage:
/* not used */
break;
case GPSCallbackType::surveyInStatus:
/* not used */
break;
case GPSCallbackType::setClock:
px4_clock_settime(CLOCK_REALTIME, (timespec *)data1);
break;
}
return 0;
}
int GPS::callback(GPSCallbackType type, void *data1, int data2, void *user)
{
GPS *gps = (GPS *)user;
switch (type) {
case GPSCallbackType::readDeviceData: {
int num_read = gps->pollOrRead((uint8_t *)data1, data2, *((int *)data1));
if (num_read > 0) {
gps->dumpGpsData((uint8_t *)data1, (size_t)num_read, false);
}
return num_read;
}
case GPSCallbackType::writeDeviceData:
gps->dumpGpsData((uint8_t *)data1, (size_t)data2, true);
return write(gps->_serial_fd, data1, (size_t)data2);
case GPSCallbackType::setBaudrate:
return gps->setBaudrate(data2);
case GPSCallbackType::gotRTCMMessage:
/* not used */
break;
case GPSCallbackType::surveyInStatus:
/* not used */
break;
case GPSCallbackType::setClock:
px4_clock_settime(CLOCK_REALTIME, (timespec *)data1);
break;
}
return 0;
}