mirror of
https://github.com/firestar5683/StarPilot.git
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firestar5683
80fbb4f6db
Register vehicle controls, planner modes, UI actions and Galaxy services after their providers exist. Wire the shared runtime entrypoints and cover their combined behavior. Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com> Co-authored-by: Daniel Koepping <elkoled@gmail.com> Co-authored-by: Danny <dannyirwin31@yahoo.com> Co-authored-by: DimitriChrysafis <Dimitri.chrysafis@gmail.com> Co-authored-by: Dom <168790843+firestar5683@users.noreply.github.com> Co-authored-by: Harald Schäfer <harald.the.engineer@gmail.com> Co-authored-by: Kacper Rączy <gfw.kra@gmail.com> Co-authored-by: Prabhaav Pillai <prabhaav@msu.edu> Co-authored-by: dirwin31 <83434411+dirwin31@users.noreply.github.com> Co-authored-by: firestarsdog <229254897+firestarsdog@users.noreply.github.com> Co-authored-by: stef <19478336+stefpi@users.noreply.github.com> Co-authored-by: whoisdomi <dcantu83@gmail.com> Co-authored-by: Intelli <contact@intelli.software> Co-authored-by: haraschax <6804392+haraschax@users.noreply.github.com> Co-authored-by: prabhaavp <prabhaav@msu.edu>
74 lines
2.2 KiB
Python
Executable File
74 lines
2.2 KiB
Python
Executable File
#!/usr/bin/env python3
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import datetime
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import subprocess
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import time
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from typing import NoReturn
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import openpilot.cereal.messaging as messaging
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from openpilot.common.time_helpers import min_date, MAX_DATE, system_time_valid
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from openpilot.common.swaglog import cloudlog
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from openpilot.common.params import Params
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from openpilot.common.gps import get_gps_location_service
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def set_time(new_time):
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diff = datetime.datetime.now(datetime.UTC).replace(tzinfo=None) - new_time
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if abs(diff) < datetime.timedelta(seconds=10):
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cloudlog.debug(f"Time diff too small: {diff}")
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return
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cloudlog.debug(f"Setting time to {new_time}")
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try:
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subprocess.run(f"TZ=UTC date -s '{new_time}'", shell=True, check=True)
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except subprocess.CalledProcessError:
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cloudlog.exception("timed.failed_setting_time")
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def clock_message():
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msg = messaging.new_message('clocks')
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msg.valid = system_time_valid()
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mono = time.monotonic_ns()
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boot = time.clock_gettime_ns(time.CLOCK_BOOTTIME)
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if time.monotonic_ns() - mono <= 1_000_000:
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# Retain the existing wire fields for replay's clock pair, independently of wall-clock corrections.
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msg.logMonoTime = mono
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msg.clocks.deprecated.monotonicNanos = mono
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msg.clocks.deprecated.bootTimeNanos = boot
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msg.clocks.wallTimeNanos = time.time_ns()
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return msg
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def main() -> NoReturn:
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"""
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timed has two responsibilities:
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- getting the current time from GPS
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- publishing the time in the logs
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AGNOS will also use NTP to update the time.
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"""
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params = Params()
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gps_location_service = get_gps_location_service(params)
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pm = messaging.PubMaster(['clocks'])
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sm = messaging.SubMaster([gps_location_service])
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while True:
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sm.update(1000)
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pm.send('clocks', clock_message())
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gps = sm[gps_location_service]
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gps_time = datetime.datetime.fromtimestamp(gps.unixTimestampMillis / 1000., datetime.UTC).replace(tzinfo=None)
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if not sm.updated[gps_location_service] or (time.monotonic() - sm.logMonoTime[gps_location_service] / 1e9) > 2.0:
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continue
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if not gps.hasFix:
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continue
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if gps_time < min_date() or gps_time > MAX_DATE:
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continue
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set_time(gps_time)
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time.sleep(10)
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if __name__ == "__main__":
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main()
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