fixposition · flipflip8952 · Jan 12, 2026 · Jan 12, 2026 · Jan 12, 2026
diff --git a/fpsdk_common/LICENSE b/fpsdk_common/LICENSE
@@ -23,7 +23,7 @@ SOFTWARE.
 
 --------------------------------------------------------------------------------
 
-Parts of fpcommon are based on ROS code (see the source files for details):
+Parts of fpsdk_common are based on ROS code (see the source files for details):
 
 Copyright (c) 2008, Willow Garage, Inc.
 All rights reserved.
@@ -58,7 +58,7 @@ POSSIBILITY OF SUCH DAMAGE.
 
 --------------------------------------------------------------------------------
 
-Parts of fpcommon are based on NovAtel code:
+Parts of fpsdk_common are based on NovAtel code:
 
 Copyright (c) 2020 NovAtel Inc.
 

diff --git a/fpsdk_common/include/fpsdk_common/app.hpp b/fpsdk_common/include/fpsdk_common/app.hpp
@@ -228,7 +228,7 @@ class ProgramOptions
         "    -V, --version  -- Print program, version and license information, and exit\n"
         "    -v, --verbose  -- Increase logging verbosity, multiple flags accumulate\n"
         "    -q, --quiet    -- Decrease logging verbosity, multiple flags accumulate\n"
-        "    -J, --journal  -- Use systemd journal logging markers instead of colours\n";  // clang-format on
+        "    -J, --journal  -- Use systemd journal logging markers instead of colours (default: auto)\n";  // clang-format on
 
     std::string app_name_;                   //!< App name
     logging::LoggingParams logging_params_;  //!< Logging params

diff --git a/fpsdk_common/include/fpsdk_common/parser/types.hpp b/fpsdk_common/include/fpsdk_common/parser/types.hpp
@@ -142,7 +142,7 @@ struct ParserMsg
  */
 struct ParserStats
 {
-    uint64_t n_msgs_ = 0;    //!< Number of messages parsed
+    uint64_t n_msgs_ = 0;    //!< Total number of messages parsed
     uint64_t s_msgs_ = 0;    //!< Total size of messages parsed
     uint64_t n_fpa_ = 0;     //!< Number of Protocol::FP_A messages
     uint64_t s_fpa_ = 0;     //!< Total size of Protocol::FP_A messages

diff --git a/fpsdk_common/include/fpsdk_common/to_json/parser.hpp b/fpsdk_common/include/fpsdk_common/to_json/parser.hpp
@@ -47,6 +47,38 @@ inline void to_json(nlohmann::json& j, const ParserMsg& m)
     }
 }
 
+// ---------------------------------------------------------------------------------------------------------------------
+
+inline void to_json(nlohmann::json& j, const ParserStats s)
+{
+    j = nlohmann::json::object({
+        { "n_msgs", s.n_msgs_ },
+        { "s_msgs", s.s_msgs_ },
+        { "n_fpa", s.n_fpa_ },
+        { "s_fpa", s.s_fpa_ },
+        { "n_fpb", s.n_fpb_ },
+        { "s_fpb", s.s_fpb_ },
+        { "n_nmea", s.n_nmea_ },
+        { "s_nmea", s.s_nmea_ },
+        { "n_ubx", s.n_ubx_ },
+        { "s_ubx", s.s_ubx_ },
+        { "n_rtcm3", s.n_rtcm3_ },
+        { "s_rtcm3", s.s_rtcm3_ },
+        { "n_unib", s.n_unib_ },
+        { "s_unib", s.s_unib_ },
+        { "n_novb", s.n_novb_ },
+        { "s_novb", s.s_novb_ },
+        { "n_sbf", s.n_sbf_ },
+        { "s_sbf", s.s_sbf_ },
+        { "n_qgc", s.n_qgc_ },
+        { "s_qgc", s.s_qgc_ },
+        { "n_spartn", s.n_spartn_ },
+        { "s_spartn", s.s_spartn_ },
+        { "n_other", s.n_other_ },
+        { "s_other", s.s_other_ },
+    });
+}
+
 }  // namespace fpsdk::common::parser
 /* ****************************************************************************************************************** */
 #endif  // !_DOXYGEN_

diff --git a/fpsdk_common/src/logging.cpp b/fpsdk_common/src/logging.cpp
@@ -193,6 +193,7 @@ void LoggingDefaultWriteFn(const LoggingParams& params, const LoggingLevel level
         }
     }
 
+    // Colours come after the timestamp (unlike the journal markers, see above)
     if ((params.colour_ != LoggingColour::JOURNAL) && (prefix != NULL)) {
         len += std::snprintf(&output[len], sizeof(output) - len, "%s", prefix);
     }
@@ -250,9 +251,10 @@ LoggingParams::LoggingParams(
         s_defaults_init = true;
     }
 
-    // User wants us to decide...
+    // User wants us to decide. INVOCATION_ID is set by systemd and part of every unit's environment.
     if (colour_ == LoggingColour::AUTO) {
-        colour_ = (isatty(fileno(stderr)) == 1 ? LoggingColour::YES : LoggingColour::NO);
+        colour_ = (isatty(fileno(stderr)) == 1 ? LoggingColour::YES :  // clang-format off
+            (std::getenv("INVOCATION_ID") != nullptr ? LoggingColour::JOURNAL : LoggingColour::NO));  // clang-format on
     }
 }
 

diff --git a/fpsdk_common/src/parser.cpp b/fpsdk_common/src/parser.cpp
@@ -66,7 +66,7 @@ void Parser::Reset()
 {
     size_ = 0;
     offs_ = 0;
-    stats_ = ParserStats();
+    stats_ = {};
 }
 
 // ---------------------------------------------------------------------------------------------------------------------

diff --git a/fpsdk_common/src/time.cpp b/fpsdk_common/src/time.cpp
@@ -748,11 +748,11 @@ static constexpr int TAI_OFFS = 10;  // offset of CLOCK_TAI to our atomic time
 // TODO: consider making some CI that uses the IERS bulletins or https://data.iana.org/time-zones/data/leap-seconds.list
 //       to check, and possibly update, this table.
 
-// See IERS "Bulletin C" #70 July 2025 (https://hpiers.obspm.fr/iers/bul/bulc/bulletinc.dat)
+// See IERS "Bulletin C" #71 January 2026 (https://hpiers.obspm.fr/iers/bul/bulc/bulletinc.dat)
 // See also https://data.iana.org/time-zones/data/leap-seconds.list
 // See also /usr/share/zoneinfo/{leapseconds,leap-seconds.list}
 // The earliest time there can be a change is approximately:
-static constexpr uint32_t max_ts = 1782820800;  // TZ=UTC date --date "2026-06-30 12:00:00" +%s
+static constexpr uint32_t max_ts = 1798718400;  // TZ=UTC date --date "2026-12-31 12:00:00" +%s
 static constexpr uint32_t NUM_LEAPS = 27;
 static constexpr std::array<std::array<uint32_t, 2>, NUM_LEAPS> LEAPSECONDS = { {
     // clang-format off