Timezoned (#19960)

* untested code

* add to manager

* whitespace

* only save on fix

* cleanup

* fix typo

* add to ignored processes

* import tici

* fix param name

* cleanup

* only run offroad

* use itertools

* wait for thermald

* simpler

* fall back to api call

* add param to override timezone

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

Pipfile

@@ -119,6 +119,7 @@ PyJWT = "*"
 pyserial = "*"
 onnx = "*"
 onnxruntime = "*"
+timezonefinder = "*"
 
 [requires]
 python_version = "3.8"

common/params_pyx.pyx

@@ -44,8 +44,9 @@ keys = {
   b"IsUpdateAvailable": [TxType.CLEAR_ON_MANAGER_START],
   b"IsUploadRawEnabled": [TxType.PERSISTENT],
   b"LastAthenaPingTime": [TxType.PERSISTENT],
-  b"LastUpdateTime": [TxType.PERSISTENT],
+  b"LastGPSPosition": [TxType.PERSISTENT],
   b"LastUpdateException": [TxType.PERSISTENT],
+  b"LastUpdateTime": [TxType.PERSISTENT],
   b"LiveParameters": [TxType.PERSISTENT],
   b"OpenpilotEnabledToggle": [TxType.PERSISTENT],
   b"LaneChangeEnabled": [TxType.PERSISTENT],
@@ -58,6 +59,7 @@ keys = {
   b"ShouldDoUpdate": [TxType.CLEAR_ON_MANAGER_START],
   b"SubscriberInfo": [TxType.PERSISTENT],
   b"TermsVersion": [TxType.PERSISTENT],
+  b"Timezone": [TxType.PERSISTENT],
   b"TrainingVersion": [TxType.PERSISTENT],
   b"UpdateAvailable": [TxType.CLEAR_ON_MANAGER_START],
   b"UpdateFailedCount": [TxType.CLEAR_ON_MANAGER_START],

selfdrive/controls/controlsd.py

@@ -30,7 +30,7 @@ STEER_ANGLE_SATURATION_THRESHOLD = 2.5  # Degrees
 
 SIMULATION = "SIMULATION" in os.environ
 NOSENSOR = "NOSENSOR" in os.environ
-IGNORE_PROCESSES = set(["rtshield", "uploader", "deleter", "loggerd", "logmessaged", "tombstoned", "logcatd", "proclogd", "clocksd", "gpsd", "updated"])
+IGNORE_PROCESSES = set(["rtshield", "uploader", "deleter", "loggerd", "logmessaged", "tombstoned", "logcatd", "proclogd", "clocksd", "gpsd", "updated", "timezoned"])
 
 ThermalStatus = log.ThermalData.ThermalStatus
 State = log.ControlsState.OpenpilotState

selfdrive/locationd/locationd.py

@@ -1,8 +1,10 @@
 #!/usr/bin/env python3
+import json
 import numpy as np
 import sympy as sp
 import cereal.messaging as messaging
 from cereal import log
+from common.params import Params
 import common.transformations.coordinates as coord
 from common.transformations.orientation import ecef_euler_from_ned, \
                                                euler_from_quat, \
@@ -295,6 +297,7 @@ def locationd_thread(sm, pm, disabled_logs=None):
   if pm is None:
     pm = messaging.PubMaster(['liveLocationKalman'])
 
+  params = Params()
   localizer = Localizer(disabled_logs=disabled_logs)
 
   while True:
@@ -327,6 +330,14 @@ def locationd_thread(sm, pm, disabled_logs=None):
       msg.liveLocationKalman.gpsOK = gps_age < 1.0
       pm.send('liveLocationKalman', msg)
 
+      if sm.frame % 1200 == 0 and msg.liveLocationKalman.gpsOK:  # once a minute
+        location = {
+          'latitude': msg.liveLocationKalman.positionGeodetic.value[0],
+          'longitude': msg.liveLocationKalman.positionGeodetic.value[1],
+          'altitude': msg.liveLocationKalman.positionGeodetic.value[2],
+        }
+        params.put("LastGPSPosition", json.dumps(location))
+
 
 def main(sm=None, pm=None):
   locationd_thread(sm, pm)

selfdrive/manager.py

@@ -19,7 +19,7 @@ from common.basedir import BASEDIR
 from common.spinner import Spinner
 from common.text_window import TextWindow
 import selfdrive.crash as crash
-from selfdrive.hardware import HARDWARE, EON, PC
+from selfdrive.hardware import HARDWARE, EON, PC, TICI
 from selfdrive.hardware.eon.apk import update_apks, pm_apply_packages, start_offroad
 from selfdrive.swaglog import cloudlog, add_logentries_handler
 from selfdrive.version import version, dirty
@@ -218,6 +218,10 @@ if EON:
     'sensord',
   ]
 
+if TICI:
+  managed_processes["timezoned"] = "selfdrive.timezoned"
+  persistent_processes += ['timezoned']
+
 car_started_processes = [
   'controlsd',
   'plannerd',

selfdrive/timezoned.py

@@ -0,0 +1,78 @@
+#!/usr/bin/env python3
+import time
+import json
+import subprocess
+
+import requests
+from timezonefinder import TimezoneFinder
+
+from common.params import Params
+from selfdrive.swaglog import cloudlog
+
+
+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:
+    subprocess.check_call(f'sudo timedatectl set-timezone {timezone}', shell=True)
+  except subprocess.CalledProcessError:
+    cloudlog.exception(f"Error setting timezone to {timezone}")
+
+
+def main():
+  params = Params()
+  tf = TimezoneFinder()
+
+  # Get allowed timezones
+  valid_timezones = subprocess.check_output('timedatectl list-timezones', shell=True, encoding='utf8').strip().split('\n')
+
+  while True:
+    time.sleep(60)
+
+    is_onroad = params.get("IsOffroad") != b"1"
+    if is_onroad:
+      continue
+
+    # Set based on param
+    timezone = params.get("Timezone", encoding='utf8')
+    if timezone is not None:
+      cloudlog.info("Setting timezone based on param")
+      set_timezone(valid_timezones, timezone)
+      continue
+
+    location = params.get("LastGPSPosition", encoding='utf8')
+
+    # Find timezone based on IP geolocation if no gps location is available
+    if location is None:
+      cloudlog.info("Setting timezone based on IP lookup")
+      try:
+        r = requests.get("https://ipapi.co/timezone", timeout=10)
+        if r.status_code == 200:
+          set_timezone(valid_timezones, r.text)
+        else:
+          cloudlog.error(f"Unexpected status code from api {r.status_code}")
+      except requests.exceptions.RequestException:
+        cloudlog.exception("Error getting timezone based on IP")
+        continue
+
+    # Find timezone by reverse geocoding the last known gps location
+    else:
+      cloudlog.info("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()