Ban time v2 (#35744)

* ban it!

* some legitimate blunders

* even more!

* this is from commaai/one

* here too

* this too

* ignore rest

* one liner

* Revert "one liner"

This reverts commit d96a1624032aaad829a005b523e579d953cfe690.

pyproject.toml

@@ -258,6 +258,7 @@ lint.flake8-implicit-str-concat.allow-multiline = false
 "pytest.main".msg = "pytest.main requires special handling that is easy to mess up!"
 "unittest".msg = "Use pytest"
 "pyray.measure_text_ex".msg = "Use openpilot.system.ui.lib.text_measure"
+"time.time".msg = "Use time.monotonic"
 
 [tool.ruff.format]
 quote-style = "preserve"

selfdrive/debug/car/fw_versions.py

@@ -47,15 +47,15 @@ if __name__ == "__main__":
 
   num_pandas = len(messaging.recv_one_retry(pandaStates_sock).pandaStates)
 
-  t = time.time()
+  t = time.monotonic()
   print("Getting vin...")
   set_obd_multiplexing(True)
   vin_rx_addr, vin_rx_bus, vin = get_vin(*can_callbacks, (0, 1))
   print(f'RX: {hex(vin_rx_addr)}, BUS: {vin_rx_bus}, VIN: {vin}')
-  print(f"Getting VIN took {time.time() - t:.3f} s")
+  print(f"Getting VIN took {time.monotonic() - t:.3f} s")
   print()
 
-  t = time.time()
+  t = time.monotonic()
   fw_vers = get_fw_versions(*can_callbacks, set_obd_multiplexing, query_brand=args.brand, extra=extra, num_pandas=num_pandas, progress=True)
   _, candidates = match_fw_to_car(fw_vers, vin)
 
@@ -71,4 +71,4 @@ if __name__ == "__main__":
 
   print()
   print("Possible matches:", candidates)
-  print(f"Getting fw took {time.time() - t:.3f} s")
+  print(f"Getting fw took {time.monotonic() - t:.3f} s")

selfdrive/debug/cpu_usage_stat.py

@@ -37,8 +37,6 @@ monitored_proc_names = [
 
 cpu_time_names = ['user', 'system', 'children_user', 'children_system']
 
-timer = getattr(time, 'monotonic', time.time)
-
 
 def get_arg_parser():
   parser = argparse.ArgumentParser(formatter_class=argparse.ArgumentDefaultsHelpFormatter)
@@ -72,7 +70,7 @@ if __name__ == "__main__":
       print('Add monitored proc:', k)
       stats[k] = {'cpu_samples': defaultdict(list), 'min': defaultdict(lambda: None), 'max': defaultdict(lambda: None),
                   'avg': defaultdict(float), 'last_cpu_times': None, 'last_sys_time': None}
-      stats[k]['last_sys_time'] = timer()
+      stats[k]['last_sys_time'] = time.monotonic()
       stats[k]['last_cpu_times'] = p.cpu_times()
       monitored_procs.append(p)
   i = 0
@@ -80,7 +78,7 @@ if __name__ == "__main__":
   while True:
     for p in monitored_procs:
       k = ' '.join(p.cmdline())
-      cur_sys_time = timer()
+      cur_sys_time = time.monotonic()
       cur_cpu_times = p.cpu_times()
       cpu_times = np.subtract(cur_cpu_times, stats[k]['last_cpu_times']) / (cur_sys_time - stats[k]['last_sys_time'])
       stats[k]['last_sys_time'] = cur_sys_time

selfdrive/ui/layouts/home.py

@@ -67,7 +67,7 @@ class HomeLayout(Widget):
     self.current_state = state
 
   def _render(self, rect: rl.Rectangle):
-    current_time = time.time()
+    current_time = time.monotonic()
     if current_time - self.last_refresh >= REFRESH_INTERVAL:
       self._refresh()
       self.last_refresh = current_time

selfdrive/ui/onroad/exp_button.py

@@ -41,7 +41,7 @@ class ExpButton(Widget):
 
         # Hold new state temporarily
         self._held_mode = new_mode
-        self._hold_end_time = time.time() + self._hold_duration
+        self._hold_end_time = time.monotonic() + self._hold_duration
       return True
     return False
 
@@ -58,7 +58,7 @@ class ExpButton(Widget):
     rl.draw_texture(texture, center_x - texture.width // 2, center_y - texture.height // 2, self._white_color)
 
   def _held_or_actual_mode(self):
-    now = time.time()
+    now = time.monotonic()
     if self._hold_end_time and now < self._hold_end_time:
       return self._held_mode
 

selfdrive/ui/widgets/pairing_dialog.py

@@ -55,7 +55,7 @@ class PairingDialog:
       self.qr_texture = None
 
   def _check_qr_refresh(self) -> None:
-    current_time = time.time()
+    current_time = time.monotonic()
     if current_time - self.last_qr_generation >= self.QR_REFRESH_INTERVAL:
       self._generate_qr_code()
       self.last_qr_generation = current_time

system/athena/athenad.py

@@ -426,7 +426,7 @@ def uploadFilesToUrls(files_data: list[UploadFileDict]) -> UploadFilesToUrlRespo
       path=path,
       url=file.url,
       headers=file.headers,
-      created_at=int(time.time() * 1000),
+      created_at=int(time.time() * 1000),  # noqa: TID251
       id=None,
       allow_cellular=file.allow_cellular,
       priority=file.priority,
@@ -580,7 +580,7 @@ def takeSnapshot() -> str | dict[str, str] | None:
 
 def get_logs_to_send_sorted() -> list[str]:
   # TODO: scan once then use inotify to detect file creation/deletion
-  curr_time = int(time.time())
+  curr_time = int(time.time())  # noqa: TID251
   logs = []
   for log_entry in os.listdir(Paths.swaglog_root()):
     log_path = os.path.join(Paths.swaglog_root(), log_entry)
@@ -617,7 +617,7 @@ def log_handler(end_event: threading.Event) -> None:
         log_entry = log_files.pop() # newest log file
         cloudlog.debug(f"athena.log_handler.forward_request {log_entry}")
         try:
-          curr_time = int(time.time())
+          curr_time = int(time.time())  # noqa: TID251
           log_path = os.path.join(Paths.swaglog_root(), log_entry)
           setxattr(log_path, LOG_ATTR_NAME, int.to_bytes(curr_time, 4, sys.byteorder))
           with open(log_path) as f:

system/athena/tests/test_athenad.py

@@ -91,8 +91,8 @@ class TestAthenadMethods:
 
   @staticmethod
   def _wait_for_upload():
-    now = time.time()
-    while time.time() - now < 5:
+    now = time.monotonic()
+    while time.monotonic() - now < 5:
       if athenad.upload_queue.qsize() == 0:
         break
 
@@ -190,11 +190,11 @@ class TestAthenadMethods:
     fn = self._create_file('qlog', data=os.urandom(10000 * 1024))
 
     upload_fn = fn + ('.zst' if compress else '')
-    item = athenad.UploadItem(path=upload_fn, url="http://localhost:1238", headers={}, created_at=int(time.time()*1000), id='')
+    item = athenad.UploadItem(path=upload_fn, url="http://localhost:1238", headers={}, created_at=int(time.time()*1000), id='')  # noqa: TID251
     with pytest.raises(requests.exceptions.ConnectionError):
       athenad._do_upload(item)
 
-    item = athenad.UploadItem(path=upload_fn, url=f"{host}/qlog.zst", headers={}, created_at=int(time.time()*1000), id='')
+    item = athenad.UploadItem(path=upload_fn, url=f"{host}/qlog.zst", headers={}, created_at=int(time.time()*1000), id='')  # noqa: TID251
     resp = athenad._do_upload(item)
     assert resp.status_code == 201
 
@@ -226,7 +226,7 @@ class TestAthenadMethods:
   @with_upload_handler
   def test_upload_handler(self, host):
     fn = self._create_file('qlog.zst')
-    item = athenad.UploadItem(path=fn, url=f"{host}/qlog.zst", headers={}, created_at=int(time.time()*1000), id='', allow_cellular=True)
+    item = athenad.UploadItem(path=fn, url=f"{host}/qlog.zst", headers={}, created_at=int(time.time()*1000), id='', allow_cellular=True)  # noqa: TID251
 
     athenad.upload_queue.put_nowait(item)
     self._wait_for_upload()
@@ -242,7 +242,7 @@ class TestAthenadMethods:
     mock_put = mocker.patch('openpilot.system.athena.athenad.UPLOAD_SESS.put')
     mock_put.return_value.__enter__.return_value.status_code = status
     fn = self._create_file('qlog.zst')
-    item = athenad.UploadItem(path=fn, url=f"{host}/qlog.zst", headers={}, created_at=int(time.time()*1000), id='', allow_cellular=True)
+    item = athenad.UploadItem(path=fn, url=f"{host}/qlog.zst", headers={}, created_at=int(time.time()*1000), id='', allow_cellular=True)  # noqa: TID251
 
     athenad.upload_queue.put_nowait(item)
     self._wait_for_upload()
@@ -257,7 +257,7 @@ class TestAthenadMethods:
   def test_upload_handler_timeout(self):
     """When an upload times out or fails to connect it should be placed back in the queue"""
     fn = self._create_file('qlog.zst')
-    item = athenad.UploadItem(path=fn, url="http://localhost:44444/qlog.zst", headers={}, created_at=int(time.time()*1000), id='', allow_cellular=True)
+    item = athenad.UploadItem(path=fn, url="http://localhost:44444/qlog.zst", headers={}, created_at=int(time.time()*1000), id='', allow_cellular=True)  # noqa: TID251
     item_no_retry = replace(item, retry_count=MAX_RETRY_COUNT)
 
     athenad.upload_queue.put_nowait(item_no_retry)
@@ -278,7 +278,7 @@ class TestAthenadMethods:
   @with_upload_handler
   def test_cancel_upload(self):
     item = athenad.UploadItem(path="qlog.zst", url="http://localhost:44444/qlog.zst", headers={},
-                              created_at=int(time.time()*1000), id='id', allow_cellular=True)
+                              created_at=int(time.time()*1000), id='id', allow_cellular=True)  # noqa: TID251
     athenad.upload_queue.put_nowait(item)
     dispatcher["cancelUpload"](item.id)
 
@@ -312,7 +312,7 @@ class TestAthenadMethods:
   @with_upload_handler
   def test_list_upload_queue_current(self, host: str):
     fn = self._create_file('qlog.zst')
-    item = athenad.UploadItem(path=fn, url=f"{host}/qlog.zst", headers={}, created_at=int(time.time()*1000), id='', allow_cellular=True)
+    item = athenad.UploadItem(path=fn, url=f"{host}/qlog.zst", headers={}, created_at=int(time.time()*1000), id='', allow_cellular=True)  # noqa: TID251
 
     athenad.upload_queue.put_nowait(item)
     self._wait_for_upload()
@@ -331,7 +331,7 @@ class TestAthenadMethods:
         path=fp,
         url=f"http://localhost:44444/{fn}",
         headers={},
-        created_at=int(time.time()*1000),
+        created_at=int(time.time()*1000),  # noqa: TID251
         id='',
         allow_cellular=True,
         priority=i
@@ -343,7 +343,7 @@ class TestAthenadMethods:
 
   def test_list_upload_queue(self):
     item = athenad.UploadItem(path="qlog.zst", url="http://localhost:44444/qlog.zst", headers={},
-                              created_at=int(time.time()*1000), id='id', allow_cellular=True)
+                              created_at=int(time.time()*1000), id='id', allow_cellular=True)  # noqa: TID251
     athenad.upload_queue.put_nowait(item)
 
     items = dispatcher["listUploadQueue"]()
@@ -356,8 +356,8 @@ class TestAthenadMethods:
     assert len(items) == 0
 
   def test_upload_queue_persistence(self):
-    item1 = athenad.UploadItem(path="_", url="_", headers={}, created_at=int(time.time()), id='id1')
-    item2 = athenad.UploadItem(path="_", url="_", headers={}, created_at=int(time.time()), id='id2')
+    item1 = athenad.UploadItem(path="_", url="_", headers={}, created_at=int(time.time()), id='id1')  # noqa: TID251
+    item2 = athenad.UploadItem(path="_", url="_", headers={}, created_at=int(time.time()), id='id2')  # noqa: TID251
 
     athenad.upload_queue.put_nowait(item1)
     athenad.upload_queue.put_nowait(item2)

system/camerad/test/test_exposure.py

@@ -33,8 +33,8 @@ class TestCamerad:
   @with_processes(['camerad'])
   def test_camera_operation(self):
     passed = 0
-    start = time.time()
-    while time.time() - start < TEST_TIME and passed < REPEAT:
+    start = time.monotonic()
+    while time.monotonic() - start < TEST_TIME and passed < REPEAT:
       rpic, dpic = get_snapshots(frame="roadCameraState", front_frame="driverCameraState")
       wpic, _ = get_snapshots(frame="wideRoadCameraState")
 

system/qcomgpsd/qcomgpsd.py

@@ -286,7 +286,7 @@ def main() -> NoReturn:
       continue
 
     if DEBUG:
-      print(f"{time.time():.4f}: got log: {log_type} len {len(log_payload)}")
+      print(f"{time.time():.4f}: got log: {log_type} len {len(log_payload)}")  # noqa: TID251
 
     if log_type == LOG_GNSS_OEMDRE_MEASUREMENT_REPORT:
       msg = messaging.new_message('qcomGnss', valid=True)

tools/camerastream/compressed_vipc.py

@@ -62,7 +62,7 @@ def decoder(addr, vipc_server, vst, nvidia, W, H, debug=False):
           print("waiting for iframe")
         continue
       time_q.append(time.monotonic())
-      network_latency = (int(time.time()*1e9) - evta.unixTimestampNanos)/1e6
+      network_latency = (int(time.time()*1e9) - evta.unixTimestampNanos)/1e6  # noqa: TID251
       frame_latency = ((evta.idx.timestampEof/1e9) - (evta.idx.timestampSof/1e9))*1000
       process_latency = ((evt.logMonoTime/1e9) - (evta.idx.timestampEof/1e9))*1000
 

tools/lib/url_file.py

@@ -131,13 +131,13 @@ class URLFile:
       download_range = True
 
     if self._debug:
-      t1 = time.time()
+      t1 = time.monotonic()
 
     response = self._request('GET', self._url, headers=headers)
     ret = response.data
 
     if self._debug:
-      t2 = time.time()
+      t2 = time.monotonic()
       if t2 - t1 > 0.1:
         print(f"get {self._url} {headers!r} {t2 - t1:.3f} slow")
 

tools/replay/unlog_ci_segment.py

@@ -42,7 +42,7 @@ def replay(route, segment, loop):
     msg = msgs[i].as_builder()
     next_msg = msgs[i + 1]
 
-    start_time = time.time()
+    start_time = time.monotonic()
     w = msg.which()
 
     if w == 'roadCameraState':
@@ -63,7 +63,7 @@ def replay(route, segment, loop):
       socks[w] = None
 
     lag += (next_msg.logMonoTime - msg.logMonoTime) / 1e9
-    lag -= time.time() - start_time
+    lag -= time.monotonic() - start_time
 
     dt = max(lag, 0.0)
     lag -= dt

tools/sim/lib/simulated_sensors.py

@@ -53,7 +53,7 @@ class SimulatedSensors:
     for _ in range(10):
       dat = messaging.new_message('gpsLocationExternal', valid=True)
       dat.gpsLocationExternal = {
-        "unixTimestampMillis": int(time.time() * 1000),
+        "unixTimestampMillis": int(time.time() * 1000),  # noqa: TID251
         "flags": 1,  # valid fix
         "horizontalAccuracy": 1.0,
         "verticalAccuracy": 1.0,
@@ -109,7 +109,7 @@ class SimulatedSensors:
       self.camerad.cam_send_yuv_wide_road(yuv)
 
   def update(self, simulator_state: 'SimulatorState', world: 'World'):
-    now = time.time()
+    now = time.monotonic()
     self.send_imu_message(simulator_state)
     self.send_gps_message(simulator_state)