57 lines
1.5 KiB
Python
Executable File
57 lines
1.5 KiB
Python
Executable File
#!/usr/bin/env python3
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import datetime
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import subprocess
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import time
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from typing import NoReturn
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import cereal.messaging as messaging
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from openpilot.common.time import system_time_valid
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from openpilot.common.swaglog import cloudlog
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def set_time(new_time):
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diff = datetime.datetime.now() - new_time
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if diff < datetime.timedelta(seconds=10):
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cloudlog.debug(f"Time diff too small: {diff}")
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return
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cloudlog.debug(f"Setting time to {new_time}")
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try:
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subprocess.run(f"TZ=UTC date -s '{new_time}'", shell=True, check=True)
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except subprocess.CalledProcessError:
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cloudlog.exception("timed.failed_setting_time")
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def main() -> NoReturn:
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"""
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timed has one responsibility:
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- getting the current time
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GPS directly gives time.
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AGNOS will also use NTP to update the time.
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"""
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pm = messaging.PubMaster(['clocks'])
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sm = messaging.SubMaster(['liveLocationKalman'])
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while True:
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sm.update(1000)
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msg = messaging.new_message('clocks')
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msg.valid = system_time_valid()
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msg.clocks.wallTimeNanos = time.time_ns()
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pm.send('clocks', msg)
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llk = sm['liveLocationKalman']
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if not llk.gpsOK or (time.monotonic() - sm.logMonoTime['liveLocationKalman']/1e9) > 0.2:
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continue
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# set time
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# TODO: account for unixTimesatmpMillis being a (usually short) time in the past
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gps_time = datetime.datetime.fromtimestamp(llk.unixTimestampMillis / 1000.)
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set_time(gps_time)
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time.sleep(10)
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if __name__ == "__main__":
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main()
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