From e160121123b49cf6a45105c1fc1d478f2225d1e0 Mon Sep 17 00:00:00 2001
From: Wolfgang Hoenig <hoenig@tu-berlin.de>
Date: Wed, 1 Nov 2023 14:00:18 +0100
Subject: [PATCH] remove spin_once and add processAllPackets()

---
 include/crazyflie_cpp/Crazyflie.h |  2 +-
 src/Crazyflie.cpp                 | 12 ++++++++----
 2 files changed, 9 insertions(+), 5 deletions(-)

diff --git a/include/crazyflie_cpp/Crazyflie.h b/include/crazyflie_cpp/Crazyflie.h
index 77578ba..525bb44 100644
--- 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
index 0409dd0..8a5e052 100644
--- 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;
+    }
   }
 }