add system command to get and set system time

* add system_time command for all boards

boards/aerotenna/ocpoc/default.cmake

@@ -76,6 +76,7 @@ px4_add_board(
 		perf
 		pwm
 		sd_bench
+		system_time
 		shutdown
 		tests # tests and test runner
 		#top

boards/airmind/mindpx-v2/default.cmake

@@ -98,6 +98,7 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
+		system_time
 		tests # tests and test runner
 		top
 		topic_listener

boards/atlflight/eagle/default.cmake

@@ -104,6 +104,7 @@ px4_add_board(
 		pwm
 		sd_bench
 		shutdown
+		system_time
 		#tests # tests and test runner
 		#top
 		topic_listener

boards/atlflight/excelsior/default.cmake

@@ -102,6 +102,7 @@ px4_add_board(
 		pwm
 		sd_bench
 		shutdown
+		system_time
 		#tests # tests and test runner
 		#top
 		topic_listener

boards/av/x-v1/default.cmake

@@ -97,6 +97,7 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
+		system_time
 		tests # tests and test runner
 		top
 		topic_listener

boards/beaglebone/blue/default.cmake

@@ -73,6 +73,7 @@ px4_add_board(
 		pwm
 		sd_bench
 		shutdown
+		system_time
 		tests # tests and test runner
 		#top
 		topic_listener

boards/bitcraze/crazyflie/default.cmake

@@ -54,6 +54,7 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
+		system_time
 		top
 		topic_listener
 		tune_control

boards/cuav/nora/default.cmake

@@ -103,6 +103,7 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
+		system_time
 		tests # tests and test runner
 		top
 		topic_listener

boards/cuav/x7pro/default.cmake

@@ -106,6 +106,7 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
+		system_time
 		tests # tests and test runner
 		top
 		topic_listener

boards/emlid/navio2/default.cmake

@@ -72,6 +72,7 @@ px4_add_board(
 		perf
 		pwm
 		sd_bench
+		system_time
 		shutdown
 		tests # tests and test runner
 		#top

boards/holybro/durandal-v1/default.cmake

@@ -103,6 +103,7 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
+		system_time
 		tests # tests and test runner
 		top
 		topic_listener

boards/holybro/durandal-v1/stackcheck.cmake

@@ -107,6 +107,7 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
+		system_time
 		tests # tests and test runner
 		top
 		topic_listener

boards/holybro/pix32v5/default.cmake

@@ -111,6 +111,7 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
+		system_time
 		tests # tests and test runner
 		top
 		topic_listener

boards/intel/aerofc-v1/default.cmake

@@ -79,6 +79,7 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
+		system_time
 		#tests # tests and test runner
 		top
 		#topic_listener

boards/intel/aerofc-v1/rtps.cmake

@@ -79,6 +79,7 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
+		system_time
 		#tests # tests and test runner
 		top
 		#topic_listener

boards/modalai/fc-v1/default.cmake

@@ -97,6 +97,7 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
+		system_time
 		tests # tests and test runner
 		top
 		topic_listener

boards/mro/ctrl-zero-f7/default.cmake

@@ -103,6 +103,7 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
+		system_time
 		tests # tests and test runner
 		top
 		topic_listener

boards/mro/x21-777/default.cmake

@@ -105,6 +105,7 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
+		system_time
 		tests # tests and test runner
 		top
 		topic_listener

boards/mro/x21/default.cmake

@@ -100,6 +100,7 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
+		system_time
 		tests # tests and test runner
 		top
 		topic_listener

boards/nxp/fmuk66-e/default.cmake

@@ -98,6 +98,7 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
+		system_time
 		tests # tests and test runner
 		top
 		topic_listener

boards/nxp/fmuk66-e/socketcan.cmake

@@ -98,6 +98,7 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
+		system_time
 		tests # tests and test runner
 		top
 		topic_listener

boards/nxp/fmuk66-v3/default.cmake

@@ -98,6 +98,7 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
+		system_time
 		tests # tests and test runner
 		top
 		topic_listener

boards/nxp/fmuk66-v3/rtps.cmake

@@ -99,6 +99,7 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
+		system_time
 		tests # tests and test runner
 		top
 		topic_listener

boards/nxp/fmuk66-v3/socketcan.cmake

@@ -98,6 +98,7 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
+		system_time
 		tests # tests and test runner
 		top
 		topic_listener

boards/nxp/fmurt1062-v1/default.cmake

@@ -93,6 +93,7 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
+		system_time
 		top
 		topic_listener
 		tune_control

boards/nxp/rddrone-uavcan146/default.cmake

@@ -66,6 +66,7 @@ px4_add_board(
 		reboot
 		#reflect
 		#sd_bench
+		system_time
 		top
 		#topic_listener
 		#tune_control

boards/px4/fmu-v3/default.cmake

@@ -112,6 +112,7 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
+		system_time
 		tests # tests and test runner
 		top
 		topic_listener

boards/px4/fmu-v3/rtps.cmake

@@ -109,6 +109,7 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
+		system_time
 		tests # tests and test runner
 		top
 		topic_listener

boards/px4/fmu-v3/stackcheck.cmake

@@ -104,6 +104,7 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
+		system_time
 		tests # tests and test runner
 		top
 		topic_listener

boards/px4/fmu-v4/cannode.cmake

@@ -79,6 +79,7 @@ px4_add_board(
 		reboot
 		#reflect
 		#sd_bench
+		system_time
 		#shutdown
 		top
 		#topic_listener

boards/px4/fmu-v4/default.cmake

@@ -107,6 +107,7 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
+		system_time
 		tests # tests and test runner
 		top
 		topic_listener

boards/px4/fmu-v4/optimized.cmake

@@ -104,6 +104,7 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
+		system_time
 		tests # tests and test runner
 		top
 		topic_listener

boards/px4/fmu-v4/rtps.cmake

@@ -104,6 +104,7 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
+		system_time
 		tests # tests and test runner
 		top
 		topic_listener

boards/px4/fmu-v4/stackcheck.cmake

@@ -104,6 +104,7 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
+		system_time
 		tests # tests and test runner
 		top
 		topic_listener

boards/px4/fmu-v4pro/default.cmake

@@ -105,6 +105,7 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
+		system_time
 		tests # tests and test runner
 		top
 		topic_listener

boards/px4/fmu-v4pro/rtps.cmake

@@ -103,6 +103,7 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
+		system_time
 		tests # tests and test runner
 		top
 		topic_listener

boards/px4/fmu-v5/critmonitor.cmake

@@ -107,6 +107,7 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
+		system_time
 		tests # tests and test runner
 		top
 		topic_listener

boards/px4/fmu-v5/debug.cmake

@@ -111,6 +111,7 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
+		system_time
 		tests # tests and test runner
 		top
 		topic_listener

boards/px4/fmu-v5/default.cmake

@@ -111,6 +111,7 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
+		system_time
 		tests # tests and test runner
 		top
 		topic_listener

boards/px4/fmu-v5/fixedwing.cmake

@@ -82,6 +82,7 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
+		system_time
 		top
 		topic_listener
 		tune_control

boards/px4/fmu-v5/irqmonitor.cmake

@@ -108,6 +108,7 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
+		system_time
 		tests # tests and test runner
 		top
 		topic_listener

boards/px4/fmu-v5/multicopter.cmake

@@ -93,6 +93,7 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
+		system_time
 		top
 		topic_listener
 		tune_control

boards/px4/fmu-v5/optimized.cmake

@@ -104,6 +104,7 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
+		system_time
 		tests # tests and test runner
 		top
 		topic_listener

boards/px4/fmu-v5/rover.cmake

@@ -82,6 +82,7 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
+		system_time
 		top
 		topic_listener
 		tune_control

boards/px4/fmu-v5/rtps.cmake

@@ -108,6 +108,7 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
+		system_time
 		tests # tests and test runner
 		top
 		topic_listener

boards/px4/fmu-v5/stackcheck.cmake

@@ -111,6 +111,7 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
+		system_time
 		tests # tests and test runner
 		top
 		topic_listener

boards/px4/fmu-v5x/base_phy_DP83848C.cmake

@@ -106,6 +106,7 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
+		system_time
 		tests # tests and test runner
 		top
 		topic_listener

boards/px4/fmu-v5x/default.cmake

@@ -109,6 +109,7 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
+		system_time
 		tests # tests and test runner
 		top
 		topic_listener

boards/px4/fmu-v6x/default.cmake

@@ -109,6 +109,7 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
+		system_time
 		tests # tests and test runner
 		top
 		topic_listener

boards/px4/fmu-v6x/stackcheck.cmake

@@ -109,6 +109,7 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
+		system_time
 		tests # tests and test runner
 		top
 		topic_listener

boards/px4/raspberrypi/default.cmake

@@ -72,6 +72,7 @@ px4_add_board(
 		perf
 		pwm
 		sd_bench
+		system_time
 		shutdown
 		tests # tests and test runner
 		#top

boards/px4/sitl/default.cmake

@@ -72,6 +72,7 @@ px4_add_board(
 		pwm
 		sd_bench
 		shutdown
+		system_time
 		tests # tests and test runner
 		#top
 		topic_listener

boards/px4/sitl/nolockstep.cmake

@@ -72,6 +72,7 @@ px4_add_board(
 		pwm
 		sd_bench
 		shutdown
+		system_time
 		tests # tests and test runner
 		#top
 		topic_listener

boards/px4/sitl/rtps.cmake

@@ -71,6 +71,7 @@ px4_add_board(
 		pwm
 		sd_bench
 		shutdown
+		system_time
 		tests # tests and test runner
 		#top
 		topic_listener

boards/px4/sitl/test.cmake

@@ -69,6 +69,7 @@ px4_add_board(
 		pwm
 		sd_bench
 		shutdown
+		system_time
 		tests # tests and test runner
 		#top
 		topic_listener

boards/uvify/core/default.cmake

@@ -81,6 +81,7 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
+		system_time
 		top
 		topic_listener
 		tune_control

src/systemcmds/system_time/CMakeLists.txt

@@ -0,0 +1,39 @@
+############################################################################
+#
+#   Copyright (c) 2020 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+px4_add_module(
+	MODULE systemcmds__system_time
+	MAIN system_time
+	SRCS
+		system_time.cpp
+	DEPENDS
+	)

src/systemcmds/system_time/system_time.cpp

@@ -0,0 +1,127 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2020 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include <px4_platform_common/module.h>
+#include <px4_platform_common/time.h>
+
+using namespace time_literals;
+
+static void	usage();
+
+extern "C" {
+	__EXPORT int system_time_main(int argc, char *argv[]);
+}
+
+int
+system_time_main(int argc, char *argv[])
+{
+	if (argc >= 2) {
+		if (!strcmp(argv[1], "get")) {
+			//get system time
+			struct timespec ts = {};
+			px4_clock_gettime(CLOCK_REALTIME, &ts);
+			time_t utc_time_sec = ts.tv_sec + (ts.tv_nsec / 1e9);
+
+			//convert to date time
+			char buf[80];
+			struct tm date_time;
+			localtime_r(&utc_time_sec, &date_time);
+			strftime(buf, sizeof(buf), "%a %Y-%m-%d %H:%M:%S %Z", &date_time);
+
+			//get time since boot
+			hrt_abstime since_boot_sec = hrt_absolute_time() / 1_s;
+
+			PX4_INFO("Unix epoch time: %ld", (long)utc_time_sec);
+			PX4_INFO("System time: %s", buf);
+			PX4_INFO("Uptime (since boot): %" PRIu64 " s", since_boot_sec);
+			return 0;
+		}
+
+		if (!strcmp(argv[1], "set")) {
+			if (argc == 3) {
+				//set system time
+				struct timespec ts = {};
+				ts.tv_sec = (time_t)strtoul(argv[2], nullptr, 0);
+				ts.tv_nsec = 0.0;
+
+				int res = px4_clock_settime(CLOCK_REALTIME, &ts);
+
+				if (res == 0) {
+					PX4_INFO("Successfully set system time");
+					return 0;
+
+				} else {
+					PX4_ERR("Failed to set system time (%i)", res);
+					return 1;
+				}
+
+			} else {
+				usage();
+				return 1;
+			}
+		}
+
+		//unknown command
+		PX4_ERR("system_time: Unknown subcommand");
+		usage();
+		return 1;
+	}
+
+	//not enough arguments
+	PX4_ERR("system_time: not enough arguments");
+	usage();
+	return 1;
+}
+
+static void
+usage()
+{
+
+	PRINT_MODULE_DESCRIPTION(
+		R"DESCR_STR(
+### Description
+
+Command-line tool to set and get system time.
+
+### Examples
+
+Set the system time and read it back
+$ system_time set 1600775044
+$ system_time get
+)DESCR_STR");
+
+	PRINT_MODULE_USAGE_NAME("system_time", "command");
+	PRINT_MODULE_USAGE_COMMAND_DESCR("set", "Set the system time, provide time in unix epoch time format");
+	PRINT_MODULE_USAGE_COMMAND_DESCR("get", "Get the system time");
+
+}