selfdrive/clocksd

selfdrive/clocksd/.gitignore

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+clocksd

selfdrive/clocksd/SConscript

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+Import('env', 'common', 'messaging')
+env.Program('clocksd.cc', LIBS=['diag', 'time_genoff', common, messaging, 'capnp', 'zmq', 'kj'])

selfdrive/clocksd/clocksd.cc

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+#include <stdio.h>
+#include <stdint.h>
+#include <sys/resource.h>
+#include <sys/timerfd.h>
+#include <sys/time.h>
+#include <utils/Timers.h>
+#include <capnp/serialize.h>
+#include "messaging.hpp"
+#include "common/timing.h"
+#include "cereal/gen/cpp/log.capnp.h"
+
+namespace {
+  int64_t arm_cntpct() {
+    int64_t v;
+    asm volatile("mrs %0, cntpct_el0" : "=r"(v));
+    return v;
+  }
+}
+
+int main() {
+  setpriority(PRIO_PROCESS, 0, -13);
+
+  int err = 0;
+  Context *context = Context::create();
+
+  PubSocket* clock_publisher = PubSocket::create(context, "clocks");
+  assert(clock_publisher != NULL);
+
+  int timerfd = timerfd_create(CLOCK_BOOTTIME, 0);
+  assert(timerfd >= 0);
+
+  struct itimerspec spec = {0};
+  spec.it_interval.tv_sec = 1;
+  spec.it_interval.tv_nsec = 0;
+  spec.it_value.tv_sec = 1;
+  spec.it_value.tv_nsec = 0;
+
+  err = timerfd_settime(timerfd, 0, &spec, 0);
+  assert(err == 0);
+
+  uint64_t expirations = 0;
+  while ((err = read(timerfd, &expirations, sizeof(expirations)))) {
+    if (err < 0) break;
+
+    uint64_t boottime = nanos_since_boot();
+    uint64_t monotonic = nanos_monotonic();
+    uint64_t monotonic_raw = nanos_monotonic_raw();
+    uint64_t wall_time = nanos_since_epoch();
+
+    uint64_t modem_uptime_v = arm_cntpct() / 19200ULL; // 19.2 mhz clock
+
+    capnp::MallocMessageBuilder msg;
+    cereal::Event::Builder event = msg.initRoot<cereal::Event>();
+    event.setLogMonoTime(boottime);
+    auto clocks = event.initClocks();
+
+    clocks.setBootTimeNanos(boottime);
+    clocks.setMonotonicNanos(monotonic);
+    clocks.setMonotonicRawNanos(monotonic_raw);
+    clocks.setWallTimeNanos(wall_time);
+    clocks.setModemUptimeMillis(modem_uptime_v);
+
+    auto words = capnp::messageToFlatArray(msg);
+    auto bytes = words.asBytes();
+    clock_publisher->send((char*)bytes.begin(), bytes.size());
+  }
+
+  close(timerfd);
+  delete clock_publisher;
+
+  return 0;
+}