Change priorities so that acceleration, altitude and GPS data are hig…

…hest priority.

src/collectors/lsm6dso32_clctr.c

@@ -99,7 +99,7 @@ void *lsm6dso32_collector(void *args) {
             lsm6dso32_convert_accel(LA_FS_32G, &x, &y, &z);
             msg.type = TAG_LINEAR_ACCEL_REL;
             msg.data.VEC3D = (vec3d_t){.x = x, .y = y, .z = z};
-            if (mq_send(sensor_q, (char *)&msg, sizeof(msg), 0) == -1) {
+            if (mq_send(sensor_q, (char *)&msg, sizeof(msg), 1) == -1) {
                 fetcher_log(stderr, LOG_ERROR, "LSM6DSO32 couldn't send message: %s", strerror(errno));
             }
         }

src/collectors/m10spg_clctr.c

@@ -12,8 +12,8 @@ union read_buffer {
 /**
  * Helper function to simplify sending a message on the message queue
  */
-#define send_msg(sensor_q, msg)                                                                                        \
-    if (mq_send(sensor_q, (char *)&msg, sizeof(msg), 0) == -1) {                                                       \
+#define send_msg(sensor_q, msg, prio)                                                                                  \
+    if (mq_send((sensor_q), (char *)(&(msg)), sizeof(msg), (prio)) == -1) {                                            \
         fetcher_log(stderr, LOG_WARN, "M10SPG couldn't send message: %s.", strerror(errno));                           \
     }
 
@@ -73,7 +73,7 @@ void *m10spg_collector(void *args) {
         case GPS_3D_FIX:
             msg.type = TAG_ALTITUDE_SEA;
             msg.data.FLOAT = (((float)buf.pos.hMSL) / ALT_SCALE_TO_METERS);
-            send_msg(sensor_q, msg);
+            send_msg(sensor_q, msg, 2);
             // FALL THROUGH
         case GPS_FIX_DEAD_RECKONING:
             // FALL THROUGH
@@ -83,7 +83,7 @@ void *m10spg_collector(void *args) {
             msg.type = TAG_COORDS;
             msg.data.VEC2D_I32.x = buf.pos.lat;
             msg.data.VEC2D_I32.y = buf.pos.lon;
-            send_msg(sensor_q, msg);
+            send_msg(sensor_q, msg, 3);
             break;
         case GPS_TIME_ONLY:
             break;

src/collectors/ms5611_clctr.c

@@ -78,14 +78,14 @@ void *ms5611_collector(void *args) {
         // Transmit pressure
         msg.type = TAG_PRESSURE;
         msg.data.FLOAT = (float)pressure;
-        if (mq_send(sensor_q, (char *)&msg, sizeof(msg), 0) == -1) {
+        if (mq_send(sensor_q, (char *)&msg, sizeof(msg), 1) == -1) {
             fetcher_log(stderr, LOG_ERROR, "MS5611 couldn't send message: %s.", strerror(errno));
         }
 
         // Transmit altitude
         msg.type = TAG_ALTITUDE_REL;
         msg.data.FLOAT = (float)altitude;
-        if (mq_send(sensor_q, (char *)&msg, sizeof(msg), 0) == -1) {
+        if (mq_send(sensor_q, (char *)&msg, sizeof(msg), 2) == -1) {
             fetcher_log(stderr, LOG_ERROR, "MS5611 couldn't send message: %s.", strerror(errno));
         }
     }

src/collectors/sysclock_clctr.c

@@ -1,10 +1,14 @@
 #include "../drivers/sensor_api.h"
 #include "collectors.h"
 #include "logging.h"
+#include <errno.h>
 #include <stdio.h>
 #include <sys/time.h>
 #include <time.h>
 
+/** Macro to cast `errno_t` to void pointer before returning. */
+#define return_err(err) return (void *)((uint64_t)err)
+
 /**
  * Collector thread for the system clock.
  * @param args Arguments in the form of `collector_args_t`
@@ -23,23 +27,30 @@ void *sysclock_collector(void *args) {
     }
 
     // Get the current UNIX time and time information
-    time_t start_unix_time;
-    time(&start_unix_time);
-    struct tm *time_info = localtime(&start_unix_time);
-    struct timezone tz = {.tz_dsttime = 0, .tz_minuteswest = time_info->tm_gmtoff};
-    struct timeval tval;
+    struct timespec start;
+    int err = clock_gettime(CLOCK_REALTIME, &start);
+    if (err) {
+        fetcher_log(stderr, LOG_ERROR, "Could not get startup time: %s", strerror(errno));
+        return_err(errno);
+    }
 
     // Infinitely check the time
+    struct timespec now;
     common_t msg;
     msg.type = TAG_TIME;
     for (;;) {
 
         // Get time with nanosecond precision
-        gettimeofday(&tval, &tz);
+        err = clock_gettime(CLOCK_REALTIME, &now);
+        if (err) {
+            fetcher_log(stderr, LOG_ERROR, "Could not get current time: %s", strerror(errno));
+            continue;
+        }
 
         // Calculate elapsed time from launch
-        time_t elapsed_s = tval.tv_sec - start_unix_time;
-        msg.data.U32 = (elapsed_s * 1000) + (tval.tv_usec / 1000);
+        long elapsed_s = now.tv_sec - start.tv_sec;
+        long elapsed_ns = now.tv_nsec - start.tv_nsec;
+        msg.data.U32 = (elapsed_s * 1000) + (elapsed_ns / 1000000);
 
         // Infinitely send the time
         if (mq_send(sensor_q, (char *)&msg, sizeof(msg), 0) == -1) {