Merge remote-tracking branch 'origin/develop' into mueller/hk-check

linux/devices/GPSHyperionLinuxController.cpp

@@ -4,18 +4,23 @@
 #include "fsfw/datapool/PoolReadGuard.h"
 #include "fsfw/timemanager/Clock.h"
 
+#include "mission/utility/compileTime.h"
+
 #if FSFW_DEV_HYPERION_GPS_CREATE_NMEA_CSV == 1
 #include <filesystem>
 #include <fstream>
 #endif
 #include <cmath>
+#include <ctime>
 
 GPSHyperionLinuxController::GPSHyperionLinuxController(object_id_t objectId, object_id_t parentId,
                                                        bool debugHyperionGps)
     : ExtendedControllerBase(objectId, objects::NO_OBJECT),
       gpsSet(this),
       myGpsmm(GPSD_SHARED_MEMORY, nullptr),
-      debugHyperionGps(debugHyperionGps) {}
+      debugHyperionGps(debugHyperionGps) {
+  timeUpdateCd.resetTimer();
+}
 
 GPSHyperionLinuxController::~GPSHyperionLinuxController() {}
 
@@ -170,6 +175,21 @@ void GPSHyperionLinuxController::readGpsDataFromGpsd() {
   timeval time = {};
   time.tv_sec = gpsSet.unixSeconds.value;
   time.tv_usec = gps->fix.time.tv_nsec / 1000;
+  std::time_t t = std::time(nullptr);
+  if (time.tv_sec == t) {
+    timeIsConstantCounter++;
+  } else {
+    timeIsConstantCounter = 0;
+  }
+  // If the received time does not change anymore for whatever reason, do not set it here
+  // to avoid stale times. Also, don't do it too often often to avoid jumping times
+  if (timeIsConstantCounter < 20 and timeUpdateCd.hasTimedOut()) {
+    // Update the system time here for now. NTP seems to be unable to do so for whatever reason.
+    // Further tests have shown that the time seems to be set by NTPD after sme time..
+    // Clock::setClock(&time);
+    timeUpdateCd.resetTimer();
+  }
+
   Clock::TimeOfDay_t timeOfDay = {};
   Clock::convertTimevalToTimeOfDay(&time, &timeOfDay);
   gpsSet.year = timeOfDay.year;
@@ -190,6 +210,9 @@ void GPSHyperionLinuxController::readGpsDataFromGpsd() {
     std::cout << "Longitude: " << gps->fix.longitude << std::endl;
     std::cout << "Altitude(MSL): " << gps->fix.altMSL << std::endl;
     std::cout << "Speed(m/s): " << gps->fix.speed << std::endl;
+    std::time_t t = std::time(nullptr);
+    std::tm tm = *std::gmtime(&t);
+    std::cout << "C Time: " << std::put_time(&tm, "%c") << std::endl;
   }
 }
 #endif

linux/devices/GPSHyperionLinuxController.h

@@ -51,6 +51,8 @@ class GPSHyperionLinuxController : public ExtendedControllerBase {
   bool modeCommanded = true;
   gpsmm myGpsmm;
   bool debugHyperionGps = false;
+  uint32_t timeIsConstantCounter = 0;
+  Countdown timeUpdateCd = Countdown(60);
 
   void readGpsDataFromGpsd();
 };