Release 260111

system/timed.py

@@ -0,0 +1,64 @@
+#!/usr/bin/env python3
+import datetime
+import subprocess
+import time
+from typing import NoReturn
+
+import cereal.messaging as messaging
+from openpilot.common.time_helpers import min_date, system_time_valid
+from openpilot.common.swaglog import cloudlog
+from openpilot.common.params import Params
+from openpilot.common.gps import get_gps_location_service
+
+
+def set_time(new_time):
+  diff = datetime.datetime.now() - new_time
+  if abs(diff) < datetime.timedelta(seconds=10):
+    cloudlog.debug(f"Time diff too small: {diff}")
+    return
+
+  cloudlog.debug(f"Setting time to {new_time}")
+  print(f"GPS Setting time to {new_time}   => ignored")
+  return
+  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 from GPS
+    - publishing the time in the logs
+
+    AGNOS will also use NTP to update the time.
+  """
+
+  params = Params()
+  gps_location_service = get_gps_location_service(params)
+
+  pm = messaging.PubMaster(['clocks'])
+  sm = messaging.SubMaster([gps_location_service])
+  while True:
+    sm.update(1000)
+
+    msg = messaging.new_message('clocks')
+    msg.valid = system_time_valid()
+    msg.clocks.wallTimeNanos = time.time_ns()
+    pm.send('clocks', msg)
+
+    gps = sm[gps_location_service]
+    gps_time = datetime.datetime.fromtimestamp(gps.unixTimestampMillis / 1000.)
+    if not sm.updated[gps_location_service] or (time.monotonic() - sm.logMonoTime[gps_location_service] / 1e9) > 2.0:
+      continue
+    if not gps.hasFix:
+      continue
+    if gps_time < min_date():
+      continue
+
+    set_time(gps_time)
+    time.sleep(10)
+
+if __name__ == "__main__":
+  main()