GPS Update #201
@ -9,13 +9,16 @@
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#include <fstream>
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#endif
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#include <cmath>
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#include <ctime>
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GPSHyperionLinuxController::GPSHyperionLinuxController(object_id_t objectId, object_id_t parentId,
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bool debugHyperionGps)
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: ExtendedControllerBase(objectId, objects::NO_OBJECT),
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gpsSet(this),
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myGpsmm(GPSD_SHARED_MEMORY, nullptr),
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debugHyperionGps(debugHyperionGps) {}
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debugHyperionGps(debugHyperionGps) {
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timeUpdateCd.resetTimer();
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}
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GPSHyperionLinuxController::~GPSHyperionLinuxController() {}
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@ -172,6 +175,20 @@ void GPSHyperionLinuxController::readGpsDataFromGpsd() {
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timeval time = {};
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time.tv_sec = gpsSet.unixSeconds.value;
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time.tv_usec = gps->fix.time.tv_nsec / 1000;
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std::time_t t = std::time(nullptr);
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if (time.tv_sec == t) {
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timeIsConstantCounter++;
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} else {
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timeIsConstantCounter = 0;
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}
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// If the received time does not change anymore for whatever reason, do not set it here
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// to avoid stale times. Also, don't do it too often often to avoid jumping times
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if (timeIsConstantCounter < 20 and timeUpdateCd.hasTimedOut()) {
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// Update the system time here for now. NTP seems to be unable to do so for whatever reason
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settimeofday(&time, nullptr);
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timeUpdateCd.resetTimer();
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}
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Clock::TimeOfDay_t timeOfDay = {};
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Clock::convertTimevalToTimeOfDay(&time, &timeOfDay);
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gpsSet.year = timeOfDay.year;
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@ -192,6 +209,9 @@ void GPSHyperionLinuxController::readGpsDataFromGpsd() {
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std::cout << "Longitude: " << gps->fix.longitude << std::endl;
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std::cout << "Altitude(MSL): " << gps->fix.altMSL << std::endl;
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std::cout << "Speed(m/s): " << gps->fix.speed << std::endl;
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std::time_t t = std::time(nullptr);
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std::tm tm = *std::gmtime(&t);
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std::cout << "C Time: " << std::put_time(&tm, "%c") << std::endl;
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}
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}
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#endif
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@ -51,6 +51,8 @@ class GPSHyperionLinuxController : public ExtendedControllerBase {
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bool modeCommanded = true;
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gpsmm myGpsmm;
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bool debugHyperionGps = false;
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uint32_t timeIsConstantCounter = 0;
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Countdown timeUpdateCd = Countdown(60);
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void readGpsDataFromGpsd();
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};
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