timed: always pull time and timezone from GPS (#31112)

* timed

* rm timezoned

* just gps

* ok

* little more

* fix

* datetime

* sleep a little

---------

Co-authored-by: Comma Device <device@comma.ai>

release/files_common

@@ -153,6 +153,7 @@ selfdrive/controls/lib/lateral_mpc_lib/*
 selfdrive/controls/lib/longitudinal_mpc_lib/*
 
 system/__init__.py
+system/*.py
 
 system/hardware/__init__.py
 system/hardware/base.h

release/files_tici

@@ -4,8 +4,6 @@ third_party/snpe/aarch64-ubuntu-gcc7.5/*
 third_party/mapbox-gl-native-qt/include/*
 third_party/acados/larch64/**
 
-system/timezoned.py
-
 system/camerad/cameras/camera_qcom2.cc
 system/camerad/cameras/camera_qcom2.h
 system/camerad/cameras/camera_util.cc

selfdrive/manager/process_config.py

@@ -49,7 +49,7 @@ procs = [
   NativeProcess("proclogd", "system/proclogd", ["./proclogd"], only_onroad),
   PythonProcess("logmessaged", "system.logmessaged", always_run),
   PythonProcess("micd", "system.micd", iscar),
-  PythonProcess("timezoned", "system.timezoned", always_run, enabled=not PC),
+  PythonProcess("timed", "system.timed", always_run, enabled=not PC),
 
   PythonProcess("dmonitoringmodeld", "selfdrive.modeld.dmonitoringmodeld", driverview, enabled=(not PC or WEBCAM)),
   NativeProcess("encoderd", "system/loggerd", ["./encoderd"], only_onroad),

selfdrive/test/test_onroad.py

@@ -53,7 +53,7 @@ PROCS = {
   "selfdrive.tombstoned": 0,
   "./logcatd": 0,
   "system.micd": 6.0,
-  "system.timezoned": 0,
+  "system.timed": 0,
   "selfdrive.boardd.pandad": 0,
   "selfdrive.statsd": 0.4,
   "selfdrive.navd.navd": 0.4,

system/timed.py

@@ -0,0 +1,94 @@
+#!/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)
+
+  sm = messaging.SubMaster(['liveLocationKalman'])
+  while True:
+    sm.update(1000)
+
+    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()

system/timezoned.py

@@ -1,70 +0,0 @@
-#!/usr/bin/env python3
-import json
-import os
-import time
-import subprocess
-from typing import NoReturn
-
-from timezonefinder import TimezoneFinder
-
-from openpilot.common.params import Params
-from openpilot.system.hardware import AGNOS
-from openpilot.common.swaglog import cloudlog
-from openpilot.system.version import get_version
-
-REQUEST_HEADERS = {'User-Agent': "openpilot-" + get_version()}
-
-
-def set_timezone(valid_timezones, timezone):
-  if timezone not in valid_timezones:
-    cloudlog.error(f"Timezone not supported {timezone}")
-    return
-
-  cloudlog.info(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 main() -> NoReturn:
-  params = Params()
-  tf = TimezoneFinder()
-
-  # Get allowed timezones
-  valid_timezones = subprocess.check_output('timedatectl list-timezones', shell=True, encoding='utf8').strip().split('\n')
-
-  timezone = params.get("Timezone", encoding='utf8')
-  if timezone is not None:
-    cloudlog.debug("Setting timezone based on param")
-    set_timezone(valid_timezones, timezone)
-
-  while True:
-    time.sleep(60)
-
-    location = params.get("LastGPSPosition", encoding='utf8')
-
-    # Find timezone by reverse geocoding the last known gps location
-    if location is not None:
-      cloudlog.debug("Setting timezone based on GPS location")
-      try:
-        location = json.loads(location)
-      except Exception:
-        cloudlog.exception("Error parsing location")
-        continue
-
-      timezone = tf.timezone_at(lng=location['longitude'], lat=location['latitude'])
-      if timezone is None:
-        cloudlog.error(f"No timezone found based on location, {location}")
-        continue
-      set_timezone(valid_timezones, timezone)
-
-
-if __name__ == "__main__":
-  main()