remove spin_once and add processAllPackets()

whoenig · Nov 1, 2023 · e160121 · e160121
1 parent 87d0d73
commit e160121
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Showing 2 changed files with 9 additions and 5 deletions.
diff --git a/include/crazyflie_cpp/Crazyflie.h b/include/crazyflie_cpp/Crazyflie.h
@@ -199,7 +199,7 @@ class Crazyflie
  float qx, float qy, float qz, float qw);
 
  void sendPing();
- void spin_once();
+ void processAllPackets();
  void reboot();
 #if 0
  // returns new address

diff --git a/src/Crazyflie.cpp b/src/Crazyflie.cpp
@@ -217,11 +217,15 @@ void Crazyflie::sendPing()
  }
 }
 
-void Crazyflie::spin_once()
+void Crazyflie::processAllPackets()
 {
- auto p = m_connection.receive(bitcraze::crazyflieLinkCpp::Connection::TimeoutNone);
- if (p.valid()) {
- processPacket(p);
+ while (true) {
+ auto p = m_connection.receive(bitcraze::crazyflieLinkCpp::Connection::TimeoutNone);
+ if (p.valid()) {
+ processPacket(p);
+ } else {
+ break;
+ }
  }
 }