From 9f740d84358d39104ae37c891d0a5039caec4a56 Mon Sep 17 00:00:00 2001
From: Andy Killorin <37423245+Speedy6451@users.noreply.github.com>
Date: Sat, 18 Jan 2025 13:31:10 -0500
Subject: [PATCH] sensor data timestamp

---
 controller/src/sensor_manager.rs | 8 ++++++++
 1 file changed, 8 insertions(+)

diff --git a/controller/src/sensor_manager.rs b/controller/src/sensor_manager.rs
index 0b82a19..2909ede 100644
--- a/controller/src/sensor_manager.rs
+++ b/controller/src/sensor_manager.rs
@@ -76,25 +76,33 @@ async fn init_sensors(mut hardware: SensorHardware) {
     };
 
     loop {
+        let mut updated = false;
         POLL_STATE.store(PollState::Tof1 as u8, Ordering::SeqCst);
         if let Ok(dist) = tof.read_range_single_millimeters_blocking() {
             info!("dist1: {dist}mm");
             data.tof1 = Some(dist);
+            updated = true;
         }
         Timer::after_millis(3).await;
         POLL_STATE.store(PollState::Tof2 as u8, Ordering::SeqCst);
         if let Ok(dist) = tof2.read_range_single_millimeters_blocking() {
             info!("dist2: {dist}mm");
             data.tof2 = Some(dist);
+            updated = true;
         }
         Timer::after_millis(3).await;
         POLL_STATE.store(PollState::Gyro as u8, Ordering::SeqCst);
         if let Ok(gyro) = gyro.get_gyro() {
             info!("rotation: {gyro}");
             data.gyro = Some(gyro);
+            updated = true;
         }
         if let Ok(accel) = gyro.get_acc() {
             data.accel = Some(accel);
+            updated = true;
+        }
+        if updated {
+            data.updated = Instant::now();
         }
         POLL_STATE.store(PollState::None as u8, Ordering::SeqCst);