From: Erik Andresen <erik@vontaene.de>
Date: Fri, 24 Apr 2026 16:29:42 +0000 (+0200)
Subject: Display: Add time
X-Git-Url: https://defiant.homedns.org/gitweb/?a=commitdiff_plain;h=1fe884eb75724f225eb28708e9b954c495ce365c;p=a4wd3.git

Display: Add time
---

diff --git a/CMakeLists.txt b/CMakeLists.txt
index a0cb2d1..d3edb0d 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -24,10 +24,11 @@ target_include_directories(hw_node PUBLIC
   $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
   $<INSTALL_INTERFACE:include>)
 target_link_libraries(hw_node i2c)
-target_compile_features(hw_node PUBLIC c_std_99 cxx_std_17)  # Require C99 and C++17
+target_compile_features(hw_node PUBLIC c_std_99 cxx_std_17)
 
 add_executable(display src/display.cpp)
 ament_target_dependencies(display rclcpp sensor_msgs)
+target_compile_features(display PUBLIC cxx_std_20)
 
 install(TARGETS hw_node
   DESTINATION lib/${PROJECT_NAME})
diff --git a/launch/a4wd3_launch.py b/launch/a4wd3_launch.py
index 51cf9d2..3e257dd 100644
--- a/launch/a4wd3_launch.py
+++ b/launch/a4wd3_launch.py
@@ -34,6 +34,7 @@ def generate_launch_description():
 	   'base_frame': 'base_link',
        }],
        namespace='',
+       condition=IfCondition(with_nav)
     )
 
     return LaunchDescription([
diff --git a/params/wiimote.config.yaml b/params/wiimote.config.yaml
index 2f5e1f7..36386d9 100644
--- a/params/wiimote.config.yaml
+++ b/params/wiimote.config.yaml
@@ -3,7 +3,7 @@ teleop_twist_joy_node:
     axis_linear:
       x: 1
     scale_linear:
-      x: -1.0
+      x: -2.0
     scale_linear_turbo:
       x: 4.0
 
diff --git a/src/display.cpp b/src/display.cpp
index 243503a..cd4cc74 100644
--- a/src/display.cpp
+++ b/src/display.cpp
@@ -1,4 +1,6 @@
 #include <memory>
+#include <chrono>
+#include <format>
 
 #include "rclcpp/rclcpp.hpp"
 #include "sensor_msgs/msg/battery_state.hpp"
@@ -33,14 +35,16 @@ class A4wd3display : public rclcpp::Node {
 			const char *svg_template = R"""(
 				<svg width="128" height="64" xmlns="http://www.w3.org/2000/svg">"
 					<rect width="128" height="64" x="0" y="0" style="fill:rgb(255,255,255)" />
-					<text x="0" y="15" font-family="monospace" xml:space="preserve">%5.2f V</text>
-					<text x="0" y="30" font-family="monospace" xml:space="preserve">%5.2f A</text>
+					<text x="0" y="15" font-family="monospace" xml:space="preserve">%s</text>
+					<text x="0" y="30" font-family="monospace" xml:space="preserve">%5.2f V   %5.2f A</text>
 					<text x="0" y="45" font-family="monospace" xml:space="preserve"></text>
 					<text x="0" y="60" font-family="monospace" xml:space="preserve"></text>
 				</svg>
 			)""";
 
-			snprintf(svg, 1024, svg_template, msg->voltage, msg->current);
+			const auto now = std::chrono::system_clock::now();
+			std::string timestr = std::format("{:%d.%m.%y %H:%M:%OS}", now);
+			snprintf(svg, 1024, svg_template, timestr.c_str(), msg->voltage, msg->current);
 			RCLCPP_DEBUG(this->get_logger(), "%s", svg);
 			if (sendto(sock, svg, strlen(svg), 0, (struct sockaddr *)&addr, sizeof(addr)) < 0 ) {
 				perror("sendto");