From 35005a0e5442a5650c50f25891e80b1ac8a30d2a Mon Sep 17 00:00:00 2001
From: SonOfGib <sean.home.gibson@gmail.com>
Date: Thu, 24 Oct 2024 22:46:07 -0400
Subject: [PATCH] Readme notes about building. * Libgps version update

---
 Readme.md                             | 19 +++++++++++++++++++
 src/autoapp/Service/SensorService.cpp |  5 ++---
 2 files changed, 21 insertions(+), 3 deletions(-)

diff --git a/Readme.md b/Readme.md
index 2deb2eb..d59e159 100644
--- a/Readme.md
+++ b/Readme.md
@@ -48,5 +48,24 @@ Copyrights (c) 2018 f1x.studio (Michal Szwaj)
  - Broadcom ilclient from RaspberryPI 3 firmware
  - OpenMAX IL API
 
+### Building
+#### Amd64
+Install the packages specified in the [prebuilts](https://github.com/opencardev/prebuilts) repository. Qt5 is required, versions packaged in modern Ubuntu and Debian
+seem to work fine.
+
+You will also likely need to install the udev rules from `prebuilts`
+
+You need to point some CMAKE variables at your `aasdk` files.
+```text
+-DAASDK_INCLUDE_DIRS=<path_to_aasdk_repo>/include
+-DAASDK_LIBRARIES=<path_to_aasdk_repo>/lib/libaasdk.so
+ DAASDK_PROTO_INCLUDE_DIRS=<path_to_aasdk_build>
+-DAASDK_PROTO_LIBRARIES=<path_to_aasdk_repo>/lib/libaasdk_proto.so
+```
+
+#### Raspberry Pi
+Just run the scripts in the `prebuilts` repository for `aasdk` and `openauto`. It is possible to cross compile if your raspberry pi is too slow to compile the code itself.
+However, its easiest to just develop on a more capable `amd64` device.
+
 ### Remarks
 **This software is not certified by Google Inc. It is created for R&D purposes and may not work as expected by the original authors. Do not use while driving. You use this software at your own risk.**
diff --git a/src/autoapp/Service/SensorService.cpp b/src/autoapp/Service/SensorService.cpp
index 851744e..7a47d6c 100644
--- a/src/autoapp/Service/SensorService.cpp
+++ b/src/autoapp/Service/SensorService.cpp
@@ -188,7 +188,7 @@ void SensorService::sendGPSLocationData()
     auto * locInd = indication.add_gps_location();
 
     // epoch seconds
-    locInd->set_timestamp(this->gpsData_.fix.time * 1e3);
+    locInd->set_timestamp(this->gpsData_.fix.time.tv_sec);
     // degrees
     locInd->set_latitude(this->gpsData_.fix.latitude * 1e7);
     locInd->set_longitude(this->gpsData_.fix.longitude * 1e7);
@@ -229,8 +229,7 @@ void SensorService::sensorPolling()
 
             if ((this->gpsEnabled_) &&
                (gps_waiting(&this->gpsData_, 0)) &&
-               (gps_read(&this->gpsData_) > 0) &&
-               (this->gpsData_.status != STATUS_NO_FIX) &&
+               (gps_read(&this->gpsData_, nullptr, 0) > 0) &&
                (this->gpsData_.fix.mode == MODE_2D || this->gpsData_.fix.mode == MODE_3D) &&
                (this->gpsData_.set & TIME_SET) &&
                (this->gpsData_.set & LATLON_SET))