IQ.Lvbs CI [bot]
75 lines
2.4 KiB
Python
Executable File
75 lines
2.4 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 cereal.messaging as messaging
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from openpilot.common.time_helpers import min_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() - 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 main() -> NoReturn:
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"""
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timed has three responsibilities:
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- getting the current time from GPS (primary)
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- seeding the time from the vehicle cluster clock as a fallback (RTC-less devices);
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the clock is parsed in the car port and published on carState.vehicleClockSeconds
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- publishing the time in the logs
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AGNOS will also use NTP to update the time, which always wins.
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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, 'carState'])
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while True:
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sm.update(1000)
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msg = messaging.new_message('clocks')
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msg.valid = system_time_valid()
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msg.clocks.wallTimeNanos = time.time_ns()
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pm.send('clocks', msg)
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# Fallback: seed from the vehicle cluster clock (e.g. VW PQ) only while the time
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# is still invalid (no NTP/GPS yet). Once set, system_time_valid() is True and
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# this is skipped, leaving GPS/NTP to refine.
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if not system_time_valid() and sm.updated['carState']:
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secs = sm['carState'].vehicleClockSeconds
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if secs > 0:
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veh_time = datetime.datetime.fromtimestamp(secs, datetime.timezone.utc).replace(tzinfo=None)
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if veh_time >= min_date():
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set_time(veh_time)
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gps = sm[gps_location_service]
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gps_time = datetime.datetime.fromtimestamp(gps.unixTimestampMillis / 1000.)
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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():
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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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