From 9690161207e4b04747f431c49828c0a0583bd6d2 Mon Sep 17 00:00:00 2001
From: baldeau <fabian.baldeau@protonmail.com>
Date: Thu, 14 Nov 2024 09:54:43 +0100
Subject: [PATCH] get more accurate timings using the internal clock

---
 lib/xiao_connector/view/capture_view.dart |  6 +++---
 xiao_controller_code/main.go              | 18 ++++++++++--------
 2 files changed, 13 insertions(+), 11 deletions(-)

diff --git a/lib/xiao_connector/view/capture_view.dart b/lib/xiao_connector/view/capture_view.dart
index 77ed137..6914203 100644
--- a/lib/xiao_connector/view/capture_view.dart
+++ b/lib/xiao_connector/view/capture_view.dart
@@ -1,6 +1,5 @@
 import 'package:flutter/material.dart';
 import 'package:flutter_bloc/flutter_bloc.dart';
-import 'package:xiao_pet_tracker/app_router/app_router.dart';
 import 'package:xiao_pet_tracker/xiao_connector/cubit/xiao_connector_cubit.dart';
 
 class CaptureView extends StatefulWidget {
@@ -81,7 +80,7 @@ class _CaptureViewState extends State<CaptureView> {
               const SizedBox(
                 height: 12,
               ),
-              ElevatedButton(
+              ElevatedButton.icon(
                 onPressed: () {
                   // context.read<XiaoConnectorCubit>().startCapturing(
                   //       captureType: 'test',
@@ -89,7 +88,8 @@ class _CaptureViewState extends State<CaptureView> {
                   final timeToSend = DateTime.now().millisecondsSinceEpoch;
                   context.read<XiaoConnectorCubit>().setTime(timeToSend);
                 },
-                child: const Text('Send new Timestamp'),
+                icon: const Icon(Icons.watch_later_outlined),
+                label: const Text('Sync Clocks'),
               ),
               const SizedBox(
                 height: 12,
diff --git a/xiao_controller_code/main.go b/xiao_controller_code/main.go
index e7bf475..c0705ea 100644
--- a/xiao_controller_code/main.go
+++ b/xiao_controller_code/main.go
@@ -24,7 +24,8 @@ var (
 	//temperatureSense = [16]byte{0x74, 0x65, 0x6D, 0x70, 0x65, 0x72, 0x61, 0x74, 0x75, 0x72, 0x65, 0x53, 0x65, 0x6E, 0x73, 0x65}
 )
 
-var unixTimeStamp time.Time = time.Now()
+var currentTimeStamp time.Time = time.Now()
+var lastTimeStamp time.Time = time.Now()
 
 const sleepDuration time.Duration = time.Millisecond * 100
 
@@ -85,7 +86,7 @@ func main() {
 						return
 					}
 					millisFromEpoch := binary.BigEndian.Uint64(value)
-					unixTimeStamp = time.Unix(0, int64(millisFromEpoch)*int64(time.Millisecond))
+					currentTimeStamp = time.Unix(0, int64(millisFromEpoch)*int64(time.Millisecond))
 				},
 			},
 			{
@@ -128,19 +129,20 @@ func main() {
 			x, y, z, _ := accel.ReadAcceleration()
 
 			arrRot := valuesToByteArray(X, Y, Z, int8(1))
-			senseCharacteristic.Write(arrRot)
-
 			arrAcc := valuesToByteArray(x, y, z, int8(2))
-			senseCharacteristic.Write(arrAcc)
 
-			arrTime := timeStampToByteArray(unixTimeStamp.UnixMilli(), int8(3))
+			currentTimeStamp = currentTimeStamp.Add(time.Now().Sub(lastTimeStamp))
+			arrTime := timeStampToByteArray(currentTimeStamp.UnixMilli(), int8(3))
+
+			senseCharacteristic.Write(arrRot)
+			senseCharacteristic.Write(arrAcc)
 			senseCharacteristic.Write(arrTime)
 		}
 
-		time.Sleep(sleepDuration)
 		if isCapturing {
-			unixTimeStamp = unixTimeStamp.Add(sleepDuration)
+			lastTimeStamp = time.Now()
 		}
+		time.Sleep(sleepDuration)
 	}
 }