openpilot v0.9.6 release

date: 2024-02-21T23:02:42
master commit: 0b4d08fab8e35a264bc7383e878538f8083c33e5

system/timed.py

@@ -0,0 +1,99 @@
+#!/usr/bin/env python3
+import datetime
+import os
+import subprocess
+import time
+from typing import NoReturn
+
+from timezonefinder import TimezoneFinder
+
+import cereal.messaging as messaging
+from openpilot.common.params import Params
+from openpilot.common.swaglog import cloudlog
+from openpilot.system.hardware import AGNOS
+
+
+def set_timezone(timezone):
+  valid_timezones = subprocess.check_output('timedatectl list-timezones', shell=True, encoding='utf8').strip().split('\n')
+  if timezone not in valid_timezones:
+    cloudlog.error(f"Timezone not supported {timezone}")
+    return
+
+  cloudlog.debug(f"Setting timezone to {timezone}")
+  try:
+    if AGNOS:
+      tzpath = os.path.join("/usr/share/zoneinfo/", timezone)
+      subprocess.check_call(f'sudo su -c "ln -snf {tzpath} /data/etc/tmptime && \
+                              mv /data/etc/tmptime /data/etc/localtime"', shell=True)
+      subprocess.check_call(f'sudo su -c "echo \"{timezone}\" > /data/etc/timezone"', shell=True)
+    else:
+      subprocess.check_call(f'sudo timedatectl set-timezone {timezone}', shell=True)
+  except subprocess.CalledProcessError:
+    cloudlog.exception(f"Error setting timezone to {timezone}")
+
+
+def set_time(new_time):
+  diff = datetime.datetime.now() - new_time
+  if diff < datetime.timedelta(seconds=10):
+    cloudlog.debug(f"Time diff too small: {diff}")
+    return
+
+  cloudlog.debug(f"Setting time to {new_time}")
+  try:
+    subprocess.run(f"TZ=UTC date -s '{new_time}'", shell=True, check=True)
+  except subprocess.CalledProcessError:
+    cloudlog.exception("timed.failed_setting_time")
+
+
+def main() -> NoReturn:
+  """
+    timed has two responsibilities:
+    - getting the current time
+    - getting the current timezone
+
+    GPS directly gives time, and timezone is looked up from GPS position.
+    AGNOS will also use NTP to update the time.
+  """
+
+  params = Params()
+  tf = TimezoneFinder()
+
+  # Restore timezone from param
+  tz = params.get("Timezone", encoding='utf8')
+  tf = TimezoneFinder()
+  if tz is not None:
+    cloudlog.debug("Restoring timezone from param")
+    set_timezone(tz)
+
+  pm = messaging.PubMaster(['clocks'])
+  sm = messaging.SubMaster(['liveLocationKalman'])
+  while True:
+    sm.update(1000)
+
+    msg = messaging.new_message('clocks', valid=True)
+    msg.clocks.wallTimeNanos = time.time_ns()
+    pm.send('clocks', msg)
+
+    llk = sm['liveLocationKalman']
+    if not llk.gpsOK or (time.monotonic() - sm.logMonoTime['liveLocationKalman']/1e9) > 0.2:
+      continue
+
+    # set time
+    # TODO: account for unixTimesatmpMillis being a (usually short) time in the past
+    gps_time = datetime.datetime.fromtimestamp(llk.unixTimestampMillis / 1000.)
+    set_time(gps_time)
+
+    # set timezone
+    pos = llk.positionGeodetic.value
+    if len(pos) == 3:
+      gps_timezone = tf.timezone_at(lat=pos[0], lng=pos[1])
+      if gps_timezone is None:
+        cloudlog.critical(f"No timezone found based on {pos=}")
+      else:
+        set_timezone(gps_timezone)
+        params.put_nonblocking("Timezone", gps_timezone)
+
+    time.sleep(10)
+
+if __name__ == "__main__":
+  main()