From 9cfb2bad51626d90b40106c00685852368300d87 Mon Sep 17 00:00:00 2001
From: Robin Mueller <muellerr@irs.uni-stuttgart.de>
Date: Tue, 29 Mar 2022 17:47:40 +0200
Subject: [PATCH] only set time every 60 seconds

---
 linux/devices/GPSHyperionLinuxController.cpp |  9 ++++++---
 linux/devices/GPSHyperionLinuxController.h   |  1 +
 mission/devices/HeaterHandler.cpp            |  4 +---
 mission/devices/PCDUHandler.cpp              |  4 +---
 mission/system/AcsBoardAssembly.cpp          | 12 ++++++++----
 5 files changed, 17 insertions(+), 13 deletions(-)

diff --git a/linux/devices/GPSHyperionLinuxController.cpp b/linux/devices/GPSHyperionLinuxController.cpp
index 821946c7..1a1f752e 100644
--- a/linux/devices/GPSHyperionLinuxController.cpp
+++ b/linux/devices/GPSHyperionLinuxController.cpp
@@ -16,7 +16,9 @@ GPSHyperionLinuxController::GPSHyperionLinuxController(object_id_t objectId, obj
     : ExtendedControllerBase(objectId, objects::NO_OBJECT),
       gpsSet(this),
       myGpsmm(GPSD_SHARED_MEMORY, nullptr),
-      debugHyperionGps(debugHyperionGps) {}
+      debugHyperionGps(debugHyperionGps) {
+  timeUpdateCd.resetTimer();
+}
 
 GPSHyperionLinuxController::~GPSHyperionLinuxController() {}
 
@@ -180,10 +182,11 @@ void GPSHyperionLinuxController::readGpsDataFromGpsd() {
     timeIsConstantCounter = 0;
   }
   // If the received time does not change anymore for whatever reason, do not set it here
-  // to avoid stale times
-  if(timeIsConstantCounter < 3) {
+  // to avoid stale times. Also, don't do it too often often to avoid jumping times
+  if (timeIsConstantCounter < 3 and timeUpdateCd.hasTimedOut()) {
     // Update the system time here for now. NTP seems to be unable to do so for whatever reason
     settimeofday(&time, nullptr);
+    timeUpdateCd.resetTimer();
   }
 
   Clock::TimeOfDay_t timeOfDay = {};
diff --git a/linux/devices/GPSHyperionLinuxController.h b/linux/devices/GPSHyperionLinuxController.h
index d0157f9c..46acb5fc 100644
--- a/linux/devices/GPSHyperionLinuxController.h
+++ b/linux/devices/GPSHyperionLinuxController.h
@@ -52,6 +52,7 @@ class GPSHyperionLinuxController : public ExtendedControllerBase {
   gpsmm myGpsmm;
   bool debugHyperionGps = false;
   uint32_t timeIsConstantCounter = 0;
+  Countdown timeUpdateCd = Countdown(60);
 
   void readGpsDataFromGpsd();
 };
diff --git a/mission/devices/HeaterHandler.cpp b/mission/devices/HeaterHandler.cpp
index 9e97f02a..fcafefd8 100644
--- a/mission/devices/HeaterHandler.cpp
+++ b/mission/devices/HeaterHandler.cpp
@@ -339,9 +339,7 @@ gpioId_t HeaterHandler::getGpioIdFromSwitchNr(int switchNr) {
 
 MessageQueueId_t HeaterHandler::getCommandQueue() const { return commandQueue->getId(); }
 
-ReturnValue_t HeaterHandler::sendFuseOnCommand(uint8_t fuseNr) {
-  return RETURN_OK;
-}
+ReturnValue_t HeaterHandler::sendFuseOnCommand(uint8_t fuseNr) { return RETURN_OK; }
 
 ReturnValue_t HeaterHandler::getSwitchState(uint8_t switchNr) const { return 0; }
 
diff --git a/mission/devices/PCDUHandler.cpp b/mission/devices/PCDUHandler.cpp
index e59f2ab7..ab35b52f 100644
--- a/mission/devices/PCDUHandler.cpp
+++ b/mission/devices/PCDUHandler.cpp
@@ -350,9 +350,7 @@ ReturnValue_t PCDUHandler::sendSwitchCommand(uint8_t switchNr, ReturnValue_t onO
   return RETURN_OK;
 }
 
-ReturnValue_t PCDUHandler::sendFuseOnCommand(uint8_t fuseNr) {
-  return RETURN_OK;
-}
+ReturnValue_t PCDUHandler::sendFuseOnCommand(uint8_t fuseNr) { return RETURN_OK; }
 
 ReturnValue_t PCDUHandler::getSwitchState(uint8_t switchNr) const {
   if (switchNr >= pcduSwitches::NUMBER_OF_SWITCHES) {
diff --git a/mission/system/AcsBoardAssembly.cpp b/mission/system/AcsBoardAssembly.cpp
index 6ea701d5..e93d79b8 100644
--- a/mission/system/AcsBoardAssembly.cpp
+++ b/mission/system/AcsBoardAssembly.cpp
@@ -145,13 +145,15 @@ ReturnValue_t AcsBoardAssembly::handleNormalOrOnModeCmd(Mode_t mode, Submode_t s
         if (gpioIF->pullHigh(gpioIds::GNSS_0_NRESET) != HasReturnvaluesIF::RETURN_OK) {
 #if OBSW_VERBOSE_LEVEL >= 1
           sif::error << "AcsBoardAssembly::handleNormalOrOnModeCmd: Could not pull nReset pin"
-              "of GNSS 0 high (used GNSS)" << std::endl;
+                        "of GNSS 0 high (used GNSS)"
+                     << std::endl;
 #endif
         }
         if (gpioIF->pullLow(gpioIds::GNSS_1_NRESET) != HasReturnvaluesIF::RETURN_OK) {
 #if OBSW_VERBOSE_LEVEL >= 1
           sif::error << "AcsBoardAssembly::handleNormalOrOnModeCmd: Could not pull nReset pin"
-              "of GNSS 1 low (unused GNSS)" << std::endl;
+                        "of GNSS 1 low (unused GNSS)"
+                     << std::endl;
 #endif
         }
         if (gpioIF->pullLow(gpioIds::GNSS_SELECT) != HasReturnvaluesIF::RETURN_OK) {
@@ -180,13 +182,15 @@ ReturnValue_t AcsBoardAssembly::handleNormalOrOnModeCmd(Mode_t mode, Submode_t s
         if (gpioIF->pullHigh(gpioIds::GNSS_1_NRESET) != HasReturnvaluesIF::RETURN_OK) {
 #if OBSW_VERBOSE_LEVEL >= 1
           sif::error << "AcsBoardAssembly::handleNormalOrOnModeCmd: Could not pull nReset pin"
-              "of GNSS 1 high (used GNSS)" << std::endl;
+                        "of GNSS 1 high (used GNSS)"
+                     << std::endl;
 #endif
         }
         if (gpioIF->pullLow(gpioIds::GNSS_0_NRESET) != HasReturnvaluesIF::RETURN_OK) {
 #if OBSW_VERBOSE_LEVEL >= 1
           sif::error << "AcsBoardAssembly::handleNormalOrOnModeCmd: Could not pull nReset pin"
-              "of GNSS 0 low (unused GNSS)" << std::endl;
+                        "of GNSS 0 low (unused GNSS)"
+                     << std::endl;
 #endif
         }
         if (gpioIF->pullHigh(gpioIds::GNSS_SELECT) != HasReturnvaluesIF::RETURN_OK) {