Rm laikad (commaai#30299)

* rm laika * Rm laika * Needed this * More rm * More rm
deanlee · Oct 23, 2023 · 56dea7b · 56dea7b
1 parent 67f2321
commit 56dea7b
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Showing 14 changed files with 5 additions and 1,135 deletions.
diff --git a/release/files_common b/release/files_common
@@ -226,7 +226,6 @@ system/ubloxd/*.cc
 selfdrive/locationd/__init__.py
 selfdrive/locationd/SConscript
 selfdrive/locationd/.gitignore
-selfdrive/locationd/laikad.py
 selfdrive/locationd/locationd.h
 selfdrive/locationd/locationd.cc
 selfdrive/locationd/paramsd.py

diff --git a/selfdrive/locationd/laikad.py b/selfdrive/locationd/laikad.py
diff --git a/selfdrive/locationd/test/test_laikad.py b/selfdrive/locationd/test/test_laikad.py
diff --git a/selfdrive/manager/process_config.py b/selfdrive/manager/process_config.py
@@ -68,7 +68,6 @@ def only_offroad(started, params, CP: car.CarParams) -> bool:
   PythonProcess("controlsd", "selfdrive.controls.controlsd", only_onroad),
   PythonProcess("deleter", "system.loggerd.deleter", always_run),
   PythonProcess("dmonitoringd", "selfdrive.monitoring.dmonitoringd", driverview, enabled=(not PC or WEBCAM)),
-  PythonProcess("laikad", "selfdrive.locationd.laikad", only_onroad),
   PythonProcess("rawgpsd", "system.sensord.rawgps.rawgpsd", qcomgps, enabled=TICI),
   PythonProcess("navd", "selfdrive.navd.navd", only_onroad),
   PythonProcess("pandad", "selfdrive.boardd.pandad", always_run),

diff --git a/selfdrive/test/process_replay/README.md b/selfdrive/test/process_replay/README.md
@@ -17,7 +17,6 @@ Currently the following processes are tested:
 * locationd
 * paramsd
 * ubloxd
-* laikad
 * torqued
 
 ### Usage
@@ -71,7 +70,7 @@ lr = LogReader(...)
 output_logs = replay_process_with_name('locationd', lr)
 
 # or list of names
-output_logs = replay_process_with_name(['ubloxd', 'locationd', 'laikad'], lr)
+output_logs = replay_process_with_name(['ubloxd', 'locationd'], lr)
 ```
 
 Supported processes: 
@@ -83,7 +82,6 @@ Supported processes:
 * locationd
 * paramsd 
 * ubloxd
-* laikad
 * torqued
 * modeld
 * dmonitoringmodeld

diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py
@@ -448,16 +448,6 @@ def controlsd_config_callback(params, cfg, lr):
   params.put("ReplayControlsState", controlsState.as_builder().to_bytes())
 
 
-def laikad_config_pubsub_callback(params, cfg, lr):
-  ublox = params.get_bool("UbloxAvailable")
-  main_key = "ubloxGnss" if ublox else "qcomGnss"
-  sub_keys = ({"qcomGnss", } if ublox else {"ubloxGnss", })
-
-  cfg.pubs = set(cfg.pubs) - sub_keys
-  cfg.main_pub = main_key
-  cfg.main_pub_drained = True
-
-
 def locationd_config_pubsub_callback(params, cfg, lr):
   ublox = params.get_bool("UbloxAvailable")
   sub_keys = ({"gpsLocation", } if ublox else {"gpsLocationExternal", })
@@ -543,17 +533,6 @@ def locationd_config_pubsub_callback(params, cfg, lr):
     subs=["ubloxGnss", "gpsLocationExternal"],
     ignore=["logMonoTime"],
   ),
-  ProcessConfig(
-    proc_name="laikad",
-    pubs=["ubloxGnss", "qcomGnss"],
-    subs=["gnssMeasurements"],
-    ignore=["logMonoTime"],
-    config_callback=laikad_config_pubsub_callback,
-    tolerance=NUMPY_TOLERANCE,
-    processing_time=0.002,
-    timeout=60*10,  # first messages are blocked on internet assistance
-    main_pub="ubloxGnss", # config_callback will switch this to qcom if needed
-  ),
   ProcessConfig(
     proc_name="torqued",
     pubs=["liveLocationKalman", "carState", "carControl"],