gpsd: re-add day/night auto display-mode switch

Restores the IsDaylight + ScreenDisplayMode auto-switch logic that was
stripped during the initial gpsd port (since the display-modes feature
hadn't been touched yet).

NOAA solar-position calc against the current GPS fix:
- First calc immediately when system clock is valid + GPS has fix
- Every 30s thereafter
- Writes IsDaylight memory param on change (twice/day, gated)
- ScreenDisplayMode 0 + sunset → 1 (auto-nightrider)
- ScreenDisplayMode 1 + sunrise → 0 (auto-normal)
- Manual modes 2/3/4 are never touched

Print-to-stderr instead of cloudlog per CLAUDE.md.

system/clearpilot/gpsd.py

@@ -6,10 +6,14 @@ and publishes gpsLocation messages.
 Replaces qcomgpsd (which uses the diag interface — broken on this device).
 
 Used solely for: setting system clock on first fix, an on-screen UI
-speed indicator, and per-segment GPS metadata for the dashcam. Self-
+speed indicator, per-segment GPS metadata for the dashcam, and driving
-driving code does NOT consume this output — locationd is patched to not
+the auto day/night display-mode switch (ScreenDisplayMode 0 ↔ 1) via
-subscribe to gpsLocation, so liveLocationKalman.gpsOK stays false.
+NOAA solar-position calc against the current fix.
+
+Self-driving code does NOT consume this output — locationd is patched
+to not subscribe to gpsLocation, so liveLocationKalman.gpsOK stays false.
 """
+import math
 import os
 import subprocess
 import sys
@@ -19,10 +23,69 @@ import datetime
 from cereal import log
 import cereal.messaging as messaging
 from openpilot.common.gpio import gpio_init, gpio_set
+from openpilot.common.params import Params
 from openpilot.common.time import system_time_valid
 from openpilot.system.hardware.tici.pins import GPIO
 
 
+def _sunrise_sunset_min(lat: float, lon: float, utc_dt: datetime.datetime):
+  """Compute (sunrise_min, sunset_min) in UTC minutes since midnight of utc_dt's day.
+  Values can be negative or >1440 for western/eastern longitudes. Returns
+  (None, None) for polar night, ('always', 'always') for midnight sun."""
+  n = utc_dt.timetuple().tm_yday
+  gamma = 2 * math.pi / 365 * (n - 1 + (utc_dt.hour - 12) / 24)
+  eqtime = 229.18 * (0.000075 + 0.001868 * math.cos(gamma)
+           - 0.032077 * math.sin(gamma)
+           - 0.014615 * math.cos(2 * gamma)
+           - 0.040849 * math.sin(2 * gamma))
+  decl = (0.006918 - 0.399912 * math.cos(gamma)
+          + 0.070257 * math.sin(gamma)
+          - 0.006758 * math.cos(2 * gamma)
+          + 0.000907 * math.sin(2 * gamma)
+          - 0.002697 * math.cos(3 * gamma)
+          + 0.00148 * math.sin(3 * gamma))
+  lat_rad = math.radians(lat)
+  zenith = math.radians(90.833)
+  cos_ha = (math.cos(zenith) / (math.cos(lat_rad) * math.cos(decl))
+            - math.tan(lat_rad) * math.tan(decl))
+  if cos_ha < -1:
+    return ('always', 'always')   # midnight sun
+  if cos_ha > 1:
+    return (None, None)           # polar night
+  ha = math.degrees(math.acos(cos_ha))
+  sunrise_min = 720 - 4 * (lon + ha) - eqtime
+  sunset_min = 720 - 4 * (lon - ha) - eqtime
+  return (sunrise_min, sunset_min)
+
+
+def is_daylight(lat: float, lon: float, utc_dt: datetime.datetime) -> bool:
+  """Return True if the sun is currently above the horizon at (lat, lon).
+
+  Handles west-of-Greenwich correctly: at UTC midnight it may still be
+  evening local time, and the relevant sunset is the PREVIOUS UTC day's
+  value (which is >1440 min if we re-ref to that day, i.e. it's past
+  midnight UTC). Symmetric case for east-of-Greenwich at the other end.
+
+  Strategy: compute sunrise/sunset for yesterday, today, and tomorrow (each
+  relative to its own UTC midnight), shift them all onto today's clock
+  (yesterday = -1440, tomorrow = +1440), and check if now_min falls inside
+  any of the three [sunrise, sunset] intervals.
+  """
+  now_min = utc_dt.hour * 60 + utc_dt.minute + utc_dt.second / 60
+  for day_offset in (-1, 0, 1):
+    d = utc_dt + datetime.timedelta(days=day_offset)
+    sr, ss = _sunrise_sunset_min(lat, lon, d)
+    if sr == 'always':
+      return True
+    if sr is None:
+      continue  # polar night this day
+    sr += day_offset * 1440
+    ss += day_offset * 1440
+    if sr <= now_min <= ss:
+      return True
+  return False
+
+
 def at_cmd(cmd: str) -> str:
   try:
     result = subprocess.check_output(
@@ -123,6 +186,10 @@ def main():
 
   pm = messaging.PubMaster(["gpsLocation"])
   clock_set = system_time_valid()
+  params_memory = Params("/dev/shm/params")
+  last_daylight_check = 0.0
+  daylight_computed = False
+  prev_daylight = None  # gate IsDaylight write on change (twice/day, no point rewriting every 30s)
   print("CLP gpsd: entering main loop", file=sys.stderr, flush=True)
 
   while True:
@@ -160,6 +227,33 @@ def main():
       gps.speedAccuracy = 1.0
       pm.send("gpsLocation", msg)
 
+      # Daylight calc + auto display-mode switch (only touches modes 0 and 1).
+      # First calc happens immediately once clock is set; thereafter every 30s.
+      if clock_set:
+        now_mono = time.monotonic()
+        interval = 1.0 if not daylight_computed else 30.0
+        if (now_mono - last_daylight_check) >= interval:
+          last_daylight_check = now_mono
+          utc_now = datetime.datetime.utcfromtimestamp(fix["timestamp_ms"] / 1000)
+          daylight = is_daylight(fix["latitude"], fix["longitude"], utc_now)
+          if daylight != prev_daylight:
+            params_memory.put_bool("IsDaylight", daylight)
+            prev_daylight = daylight
+
+          if not daylight_computed:
+            daylight_computed = True
+            print(f"CLP gpsd: initial daylight calc: {'day' if daylight else 'night'}",
+                  file=sys.stderr, flush=True)
+
+          # Auto-transition: only touch states 0 and 1 (manual modes 2/3/4 stay)
+          current_mode = params_memory.get_int("ScreenDisplayMode")
+          if current_mode == 0 and not daylight:
+            params_memory.put_int("ScreenDisplayMode", 1)
+            print("CLP gpsd: auto-switch to nightrider (sunset)", file=sys.stderr, flush=True)
+          elif current_mode == 1 and daylight:
+            params_memory.put_int("ScreenDisplayMode", 0)
+            print("CLP gpsd: auto-switch to normal (sunrise)", file=sys.stderr, flush=True)
+
     time.sleep(0.5)  # 2 Hz polling