Universal clocksd (#2075)

* universal clocksd

* start in manager

* remove android include

* Apple hacks

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

SConstruct

@@ -302,19 +302,19 @@ SConscript(['selfdrive/controls/lib/longitudinal_mpc_model/SConscript'])
 
 SConscript(['selfdrive/boardd/SConscript'])
 SConscript(['selfdrive/proclogd/SConscript'])
+SConscript(['selfdrive/clocksd/SConscript'])
 
 SConscript(['selfdrive/loggerd/SConscript'])
 
 SConscript(['selfdrive/locationd/SConscript'])
 SConscript(['selfdrive/locationd/models/SConscript'])
 
-
 if arch == "aarch64":
   SConscript(['selfdrive/logcatd/SConscript'])
   SConscript(['selfdrive/sensord/SConscript'])
-  SConscript(['selfdrive/clocksd/SConscript'])
-else:
-  SConscript(['tools/lib/index_log/SConscript'])
 
 if arch != "larch64":
   SConscript(['selfdrive/ui/SConscript'])
+
+if arch == "x86_64":
+  SConscript(['tools/lib/index_log/SConscript'])

selfdrive/clocksd/SConscript

@@ -1,2 +1,2 @@
 Import('env', 'common', 'cereal', 'messaging')
-env.Program('clocksd.cc', LIBS=['diag', 'time_genoff', common, cereal, messaging, 'capnp', 'zmq', 'kj'])
+env.Program('clocksd.cc', LIBS=[common, cereal, messaging, 'capnp', 'zmq', 'kj'])

selfdrive/clocksd/clocksd.cc

@@ -1,12 +1,22 @@
+#include <chrono>
+#include <thread>
+
 #include <stdio.h>
 #include <stdint.h>
+#include <unistd.h>
 #include <sys/resource.h>
-#include <sys/timerfd.h>
 #include <sys/time.h>
-#include <utils/Timers.h>
+
+#include <cassert>
 #include "messaging.hpp"
 #include "common/timing.h"
 
+// Apple doesn't have timerfd
+#ifndef __APPLE__
+#include <sys/timerfd.h>
+#endif
+
+#ifdef QCOM
 namespace {
   int64_t arm_cntpct() {
     int64_t v;
@@ -14,13 +24,14 @@ namespace {
     return v;
   }
 }
+#endif
 
 int main() {
   setpriority(PRIO_PROCESS, 0, -13);
 
-  int err = 0;
   PubMaster pm({"clocks"});
 
+#ifndef __APPLE__
   int timerfd = timerfd_create(CLOCK_BOOTTIME, 0);
   assert(timerfd >= 0);
 
@@ -30,19 +41,26 @@ int main() {
   spec.it_value.tv_sec = 1;
   spec.it_value.tv_nsec = 0;
 
-  err = timerfd_settime(timerfd, 0, &spec, 0);
+  int 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;
+#else
+  // Just run at 1Hz on apple
+  while (true){
+    std::this_thread::sleep_for(std::chrono::seconds(1));
+#endif
 
     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();
 
+#ifdef QCOM
     uint64_t modem_uptime_v = arm_cntpct() / 19200ULL; // 19.2 mhz clock
+#endif
 
     capnp::MallocMessageBuilder msg;
     cereal::Event::Builder event = msg.initRoot<cereal::Event>();
@@ -53,11 +71,15 @@ int main() {
     clocks.setMonotonicNanos(monotonic);
     clocks.setMonotonicRawNanos(monotonic_raw);
     clocks.setWallTimeNanos(wall_time);
+#ifdef QCOM
     clocks.setModemUptimeMillis(modem_uptime_v);
+#endif
 
     pm.send("clocks", msg);
   }
 
+#ifndef __APPLE__
   close(timerfd);
+#endif
   return 0;
-}
+}

selfdrive/manager.py

@@ -239,6 +239,7 @@ car_started_processes = [
   'proclogd',
   'ubloxd',
   'locationd',
+  'clocksd',
 ]
 
 driver_view_processes = [
@@ -255,7 +256,6 @@ if WEBCAM:
 if ANDROID:
   car_started_processes += [
     'sensord',
-    'clocksd',
     'gpsd',
     'dmonitoringmodeld',
   ]