timed: use gps location packet for time (#33306)

* GPS helpers

* Use GPS socket in timed

* Use helper in controlsd

* Use updated and logMonoTime

* Helper type annot

* Not updated

* Increase time threashold
old-commit-hash: cf355ecf20

common/gps.py

@@ -0,0 +1,8 @@
+from openpilot.common.params import Params
+
+
+def get_gps_location_service(params: Params) -> str:
+  if params.get_bool("UbloxAvailable"):
+    return "gpsLocationExternal"
+  else:
+    return "gpsLocation"

selfdrive/controls/controlsd.py

@@ -17,6 +17,7 @@ from openpilot.common.numpy_fast import clip
 from openpilot.common.params import Params
 from openpilot.common.realtime import config_realtime_process, Priority, Ratekeeper, DT_CTRL
 from openpilot.common.swaglog import cloudlog
+from openpilot.common.gps import get_gps_location_service
 
 from opendbc.car.car_helpers import get_car_interface
 from openpilot.selfdrive.controls.lib.alertmanager import AlertManager, set_offroad_alert
@@ -79,10 +80,7 @@ class Controls:
     # Setup sockets
     self.pm = messaging.PubMaster(['controlsState', 'carControl', 'onroadEvents'])
 
-    if self.params.get_bool("UbloxAvailable"):
+    self.gps_location_service = get_gps_location_service(self.params)
-      self.gps_location_service = "gpsLocationExternal"
-    else:
-      self.gps_location_service = "gpsLocation"
     self.gps_packets = [self.gps_location_service]
     self.sensor_packets = ["accelerometer", "gyroscope"]
     self.camera_packets = ["roadCameraState", "driverCameraState", "wideRoadCameraState"]

system/timed.py

@@ -7,6 +7,8 @@ from typing import NoReturn
 import cereal.messaging as messaging
 from openpilot.common.time import system_time_valid
 from openpilot.common.swaglog import cloudlog
+from openpilot.common.params import Params
+from openpilot.common.gps import get_gps_location_service
 
 
 def set_time(new_time):
@@ -31,8 +33,11 @@ def main() -> NoReturn:
     AGNOS will also use NTP to update the time.
   """
 
+  params = Params()
+  gps_location_service = get_gps_location_service(params)
+
   pm = messaging.PubMaster(['clocks'])
-  sm = messaging.SubMaster(['liveLocationKalman'])
+  sm = messaging.SubMaster([gps_location_service])
   while True:
     sm.update(1000)
 
@@ -41,13 +46,13 @@ def main() -> NoReturn:
     msg.clocks.wallTimeNanos = time.time_ns()
     pm.send('clocks', msg)
 
-    llk = sm['liveLocationKalman']
+    gps = sm[gps_location_service]
-    if not llk.gpsOK or (time.monotonic() - sm.logMonoTime['liveLocationKalman']/1e9) > 0.2:
+    if not sm.updated[gps_location_service] or (time.monotonic() - sm.logMonoTime[gps_location_service] / 1e9) > 2.0:
       continue
 
     # set time
     # TODO: account for unixTimesatmpMillis being a (usually short) time in the past
-    gps_time = datetime.datetime.fromtimestamp(llk.unixTimestampMillis / 1000.)
+    gps_time = datetime.datetime.fromtimestamp(gps.unixTimestampMillis / 1000.)
     set_time(gps_time)
 
     time.sleep(10)