untested: fix reconnect stm32 if connection is lost

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"

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();
             }