From bc27278ffbc5a3e2d36f9c351e089c259a748b2a Mon Sep 17 00:00:00 2001
From: Johannes Paehr <J.Paehr@gmx.de>
Date: Sun, 30 Dec 2018 22:41:10 +0100
Subject: [PATCH] untested: fix reconnect stm32 if connection is lost

---
 CMakeLists.txt    | 2 +-
 hardwaresetup.cpp | 7 +++++++
 2 files changed, 8 insertions(+), 1 deletion(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index ae2cd52..ca722b7 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -48,10 +48,10 @@ set(CMAKE_PREFIX_PATH  usr)
 
 find_library(LIBUSB_LIBRARY
   NAMES
+    "libusb-1.0.so"
     "usb"
     "libusb"
     "libusb-1.0"
-    "libusb-1.0.so"
   PATH_SUFFIXES
     "lib"
     "lib32"
diff --git a/hardwaresetup.cpp b/hardwaresetup.cpp
index f7d6a07..123f1c9 100644
--- a/hardwaresetup.cpp
+++ b/hardwaresetup.cpp
@@ -285,6 +285,8 @@ void HardwareSetup::run() {
             usleep(50000); // 150ms
 
             if (received->begin == '#' && received->end == '!') {
+                // flash data
+                tcflush(fd, TCIFLUSH);
                 for (int i = 0; i < 6; i++) {
                     cout << "i: " << i << " time: "
                          << static_cast<int>(received->data[i].time)
@@ -341,6 +343,11 @@ void HardwareSetup::run() {
             else {
                 // dataframe not ok
                 tcflush(fd, TCIFLUSH);
+                cout << "reconnect controller" << endl;
+                this->connectSTM32();
+            }
+            if (fd < 0) {
+                // connection lost
                 this->connectSTM32();
             }