pigeond: power cycle on reinit

[adeebshihadeh]

I shuffled some stuff around, but the actual change here is a power cycle for the re-init that seems to have gotten lost in the pigeond rewrite from a few years ago.

---

Unclear whether this actually changes anything, but I think it's more correct. I just noticed it after looking into some cases where the ublox raw messages are spaced multiple seconds apart, and in those cases pigeond is stuck re-initting for the whole route.

f4b52a2dabf77c7d/00000016--2af65039a3

[adeebshihadeh]

@robbederks you remember why this is here? I don't see why this on its own would be indicative of corrupt data (e.g. what enforces that you're getting the start of a ublox packet?)

[adeebshihadeh]

Confirmed that once you hit this, you end up in a loop:

diff --git a/system/ubloxd/pigeond.py b/system/ubloxd/pigeond.py
index 2194a4b..58cf410 100755
--- a/system/ubloxd/pigeond.py
+++ b/system/ubloxd/pigeond.py
@@ -281,10 +281,12 @@ def run_receiving(pigeon: TTYPigeon, pm: messaging.PubMaster, duration: int = 0)
   def end_condition():
     return True if duration == 0 else time.monotonic() - start_time < duration

+  import random
+  done = False
   while end_condition():
     dat = pigeon.receive()
     if len(dat) > 0:
-      if dat[0] == 0x00:
+      if not done and random.randint(0, 200) > 180:
         cloudlog.warning("received invalid data from ublox, re-initing!")
         init_baudrate(pigeon)
         initialize_pigeon(pigeon)