Rm laikad (#30299)

* rm laika * Rm laika * Needed this * More rm * More rm
2 years ago · 56dea7b0b4
parent 67f2321060
commit 56dea7b0b4
14 changed files with 5 additions and 1135 deletions
--- 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
--- a/selfdrive/locationd/laikad.py
+++ b/selfdrive/locationd/laikad.py
@ -1,468 +0,0 @@
 #!/usr/bin/env python3
 import math
 import os
 import time
 import shutil
 from collections import defaultdict
 from concurrent.futures import Future, ProcessPoolExecutor
 from enum import IntEnum
 from typing import List, Optional, Dict, Any
 import numpy as np
 from cereal import log, messaging
 from openpilot.common.params import Params, put_nonblocking
 from laika import AstroDog
 from laika.constants import SECS_IN_HR, SECS_IN_MIN
 from laika.downloader import DownloadFailed
 from laika.ephemeris import EphemerisType, GPSEphemeris, GLONASSEphemeris, ephemeris_structs, parse_qcom_ephem
 from laika.gps_time import GPSTime
 from laika.helpers import ConstellationId, get_sv_id
 from laika.raw_gnss import GNSSMeasurement, correct_measurements, process_measurements, read_raw_ublox
 from laika.raw_gnss import gps_time_from_qcom_report, get_measurements_from_qcom_reports
 from laika.opt import calc_pos_fix, get_posfix_sympy_fun, calc_vel_fix, get_velfix_sympy_func
 from openpilot.selfdrive.locationd.models.constants import GENERATED_DIR, ObservationKind
 from openpilot.selfdrive.locationd.models.gnss_kf import GNSSKalman
 from openpilot.selfdrive.locationd.models.gnss_kf import States as GStates
 from openpilot.system.hardware.hw import Paths
 from openpilot.system.swaglog import cloudlog
 MAX_TIME_GAP = 10
 EPHEMERIS_CACHE = 'LaikadEphemerisV3'
 CACHE_VERSION = 0.2
 POS_FIX_RESIDUAL_THRESHOLD = 100.0
 class LogEphemerisType(IntEnum):
  nav = 0
  nasaUltraRapid = 1
  glonassIacUltraRapid = 2
  qcom = 3
 class EphemerisSource(IntEnum):
  gnssChip = 0
  internet = 1
  cache = 2
  unknown = 3
 def get_log_eph_type(ephem):
  if ephem.eph_type == EphemerisType.NAV:
    source_type = LogEphemerisType.nav
  elif ephem.eph_type == EphemerisType.QCOM_POLY:
    source_type = LogEphemerisType.qcom
  else:
    assert ephem.file_epoch is not None
    file_src = ephem.file_source
    if file_src == 'igu':  # example nasa: '2214/igu22144_00.sp3.Z'
      source_type = LogEphemerisType.nasaUltraRapid
    elif file_src == 'Sta':  # example nasa: '22166/ultra/Stark_1D_22061518.sp3'
      source_type = LogEphemerisType.glonassIacUltraRapid
    else:
      raise Exception(f"Didn't expect file source {file_src}")
  return source_type
 def get_log_eph_source(ephem):
  if ephem.file_name == 'qcom' or ephem.file_name == 'ublox':
    source = EphemerisSource.gnssChip
  elif ephem.file_name == EPHEMERIS_CACHE:
    source = EphemerisSource.cache
  else:
    source = EphemerisSource.internet
  return source
 class Laikad:
  def __init__(self, valid_const=(ConstellationId.GPS, ConstellationId.GLONASS), auto_fetch_navs=True, auto_update=False,
               valid_ephem_types=(EphemerisType.NAV, EphemerisType.QCOM_POLY),
               save_ephemeris=False, use_qcom=False):
    """
    valid_const: GNSS constellation which can be used
    auto_fetch_navs: If true fetch navs from internet when needed
    auto_update: If true download AstroDog will download all files needed. This can be ephemeris or correction data like ionosphere.
    valid_ephem_types: Valid ephemeris types to be used by AstroDog
    save_ephemeris: If true saves and loads nav and orbit ephemeris to cache.
    """
    self.astro_dog = AstroDog(valid_const=valid_const, auto_update=auto_update, valid_ephem_types=valid_ephem_types,
                              clear_old_ephemeris=True, cache_dir=Paths.download_cache_root())
    self.gnss_kf = GNSSKalman(GENERATED_DIR, cython=True, erratic_clock=use_qcom)
    self.auto_fetch_navs = auto_fetch_navs
    self.orbit_fetch_executor: Optional[ProcessPoolExecutor] = None
    self.orbit_fetch_future: Optional[Future] = None
    self.last_report_time = GPSTime(0, 0)
    self.last_fetch_navs_t = GPSTime(0, 0)
    self.last_cached_t = GPSTime(0, 0)
    self.save_ephemeris = save_ephemeris
    self.load_cache()
    self.posfix_functions = {constellation: get_posfix_sympy_fun(constellation) for constellation in (ConstellationId.GPS, ConstellationId.GLONASS)}
    self.velfix_function = get_velfix_sympy_func()
    self.last_fix_pos = None
    self.last_fix_t = None
    self.use_qcom = use_qcom
    self.first_log_time = None
    self.ttff = -1
    self.measurement_lag = 0.630 if self.use_qcom else 0.095
    # qcom specific stuff
    self.qcom_reports_received = 4
    self.qcom_reports = []
  def load_cache(self):
    if not self.save_ephemeris:
      return
    cache_bytes = Params().get(EPHEMERIS_CACHE)
    if not cache_bytes:
      return
    nav_dict = {}
    try:
      with ephemeris_structs.EphemerisCache.from_bytes(cache_bytes) as ephem_cache:
        glonass_navs = [GLONASSEphemeris(data_struct, file_name=EPHEMERIS_CACHE) for data_struct in ephem_cache.glonassEphemerides]
        gps_navs = [GPSEphemeris(data_struct, file_name=EPHEMERIS_CACHE) for data_struct in ephem_cache.gpsEphemerides]
      for e in sum([glonass_navs, gps_navs], []):
        if e.prn not in nav_dict:
          nav_dict[e.prn] = []
        nav_dict[e.prn].append(e)
      self.astro_dog.add_navs(nav_dict)
    except Exception:
      cloudlog.exception("Error parsing cache")
    cloudlog.debug(
      f"Loaded navs ({sum([len(nav_dict[prn]) for prn in nav_dict.keys()])}). Unique orbit and nav sats: {list(nav_dict.keys())} ")
  def cache_ephemeris(self):
    if self.save_ephemeris and (self.last_report_time - self.last_cached_t > SECS_IN_MIN):
      nav_list: List = sum([v for k,v in self.astro_dog.navs.items()], [])
      #TODO this only saves currently valid ephems, when we download future ephems we should save them too
      valid_navs = [e for e in nav_list if e.valid(self.last_report_time)]
      if len(valid_navs) > 0:
        ephem_cache = ephemeris_structs.EphemerisCache(glonassEphemerides=[e.data for e in valid_navs if e.prn[0]=='R'],
                                                       gpsEphemerides=[e.data for e in valid_navs if e.prn[0]=='G'])
        put_nonblocking(EPHEMERIS_CACHE, ephem_cache.to_bytes())
        cloudlog.debug("Cache saved")
      self.last_cached_t = self.last_report_time
  def create_ephem_statuses(self):
    ephemeris_statuses = []
    eph_list: List = sum([v for k,v in self.astro_dog.navs.items()], []) + sum([v for k,v in self.astro_dog.qcom_polys.items()], [])
    for eph in eph_list:
      status = log.GnssMeasurements.EphemerisStatus.new_message()
      status.constellationId = ConstellationId.from_rinex_char(eph.prn[0]).value
      status.svId = get_sv_id(eph.prn)
      status.type = get_log_eph_type(eph).value
      status.source = get_log_eph_source(eph).value
      status.tow = eph.epoch.tow
      status.gpsWeek = eph.epoch.week
      ephemeris_statuses.append(status)
    return ephemeris_statuses
  def get_lsq_fix(self, t, measurements):
    if self.last_fix_t is None or abs(self.last_fix_t - t) > 0:
      min_measurements = 5 if any(p.constellation_id == ConstellationId.GLONASS for p in measurements) else 4
      position_solution, pr_residuals, pos_std = calc_pos_fix(measurements, self.posfix_functions, min_measurements=min_measurements)
      if len(position_solution) < 3:
        return None
      position_estimate = position_solution[:3]
      position_std = pos_std[:3]
      velocity_solution, prr_residuals, vel_std = calc_vel_fix(measurements, position_estimate, self.velfix_function, min_measurements=min_measurements)
      if len(velocity_solution) < 3:
        return None
      velocity_estimate = velocity_solution[:3]
      velocity_std = vel_std[:3]
      return position_estimate, position_std, velocity_estimate, velocity_std
  def is_good_report(self, gnss_msg):
    if gnss_msg.which() in ['drMeasurementReport', 'measurementReport'] and self.use_qcom:
      # TODO: Understand and use remaining unknown constellations
      try:
        if gnss_msg.which() == 'drMeasurementReport':
          constellation_id = ConstellationId.from_qcom_source(gnss_msg.drMeasurementReport.source)
        else:
          constellation_id = ConstellationId.from_qcom_source(gnss_msg.measurementReport.source)
        good_constellation = constellation_id in [ConstellationId.GPS, ConstellationId.SBAS, ConstellationId.GLONASS]
        report_time = gps_time_from_qcom_report(gnss_msg)
      except NotImplementedError:
        return False
      # Garbage timestamps with week > 32767 are sometimes sent by module.
      # This is an issue with gpsTime and GLONASS time.
      good_week = report_time.week < np.iinfo(np.int16).max
      return good_constellation and good_week
    elif gnss_msg.which() == 'measurementReport' and not self.use_qcom:
      return True
    else:
      return False
  def read_report(self, gnss_msg):
    if self.use_qcom:
      # QCOM reports are per constellation, so we need to aggregate them
      # Additionally, the pseudoranges are broken in the measurementReports
      # and the doppler filteredSpeed is broken in the drMeasurementReports
      report_time = gps_time_from_qcom_report(gnss_msg)
      if report_time - self.last_report_time == 0:
        self.qcom_reports.append(gnss_msg)
        self.last_report_time = report_time
      elif report_time - self.last_report_time > 0:
        self.qcom_reports_received = max(1, len(self.qcom_reports))
        self.qcom_reports = [gnss_msg]
        self.last_report_time = report_time
      else:
        # Sometimes DR reports get sent one iteration late (1second), they need to be ignored
        cloudlog.warning(f"Received report with time {report_time} before last report time {self.last_report_time}")
      if len(self.qcom_reports) == self.qcom_reports_received:
        new_meas = get_measurements_from_qcom_reports(self.qcom_reports)
      else:
        new_meas = []
    else:
      report = gnss_msg.measurementReport
      self.last_report_time = GPSTime(report.gpsWeek, report.rcvTow)
      new_meas = read_raw_ublox(report)
    return self.last_report_time, new_meas
  def is_ephemeris(self, gnss_msg):
    if self.use_qcom:
      return gnss_msg.which() == 'drSvPoly'
    else:
      return gnss_msg.which() in ('ephemeris', 'glonassEphemeris')
  def read_ephemeris(self, gnss_msg):
    if self.use_qcom:
      try:
        ephem = parse_qcom_ephem(gnss_msg.drSvPoly)
        self.astro_dog.add_qcom_polys({ephem.prn: [ephem]})
      except Exception:
        cloudlog.exception("Error parsing qcom svPoly ephemeris from qcom module")
        return
    else:
      if gnss_msg.which() == 'ephemeris':
        data_struct = ephemeris_structs.Ephemeris.new_message(**gnss_msg.ephemeris.to_dict())
        try:
          ephem = GPSEphemeris(data_struct, file_name='ublox')
        except Exception:
          cloudlog.exception("Error parsing GPS ephemeris from ublox")
          return
      elif gnss_msg.which() == 'glonassEphemeris':
        data_struct = ephemeris_structs.GlonassEphemeris.new_message(**gnss_msg.glonassEphemeris.to_dict())
        try:
          ephem = GLONASSEphemeris(data_struct, file_name='ublox')
        except Exception:
          cloudlog.exception("Error parsing GLONASS ephemeris from ublox")
          return
      else:
        cloudlog.error(f"Unsupported ephemeris type: {gnss_msg.which()}")
        return
      self.astro_dog.add_navs({ephem.prn: [ephem]})
    self.cache_ephemeris()
  def process_report(self, new_meas, t):
    # Filter measurements with unexpected pseudoranges for GPS and GLONASS satellites
    new_meas = [m for m in new_meas if 1e7 < m.observables['C1C'] < 3e7]
    processed_measurements = process_measurements(new_meas, self.astro_dog)
    if self.last_fix_pos is not None:
      est_pos = self.last_fix_pos
      correct_delay = True
    else:
      est_pos = self.gnss_kf.x[GStates.ECEF_POS].tolist()
      correct_delay = False
    corrected_measurements = correct_measurements(processed_measurements, est_pos, self.astro_dog, correct_delay=correct_delay)
    # If many measurements weren't corrected, position may be garbage, so reset
    if len(processed_measurements) >= 8 and len(corrected_measurements) < 5:
      cloudlog.error("Didn't correct enough measurements, resetting estimate position")
      self.last_fix_pos = None
      self.last_fix_t = None
    return corrected_measurements
  def calc_fix(self, t, measurements):
    instant_fix = self.get_lsq_fix(t, measurements)
    if instant_fix is None:
      return None
    else:
      position_estimate, position_std, velocity_estimate, velocity_std = instant_fix
      self.last_fix_t = t
      self.last_fix_pos = position_estimate
      self.lat_fix_pos_std = position_std
      return position_estimate, position_std, velocity_estimate, velocity_std
  def process_gnss_msg(self, gnss_msg, gnss_mono_time: int, block=False):
    out_msg = messaging.new_message("gnssMeasurements")
    t = gnss_mono_time * 1e-9
    msg_dict: Dict[str, Any] = {"measTime": gnss_mono_time - int(1e9 * self.measurement_lag)}
    if self.first_log_time is None:
      self.first_log_time = 1e-9 * gnss_mono_time
    if self.is_ephemeris(gnss_msg):
      self.read_ephemeris(gnss_msg)
    elif self.is_good_report(gnss_msg):
      report_t, new_meas = self.read_report(gnss_msg)
      if report_t.week > 0:
        if self.auto_fetch_navs:
          self.fetch_navs(report_t, block)
      corrected_measurements = self.process_report(new_meas, t)
      msg_dict['correctedMeasurements'] = [create_measurement_msg(m) for m in corrected_measurements]
      fix = self.calc_fix(t, corrected_measurements)
      measurement_msg = log.LiveLocationKalman.Measurement.new_message
      if fix is not None:
        position_estimate, position_std, velocity_estimate, velocity_std = fix
        if self.ttff <= 0:
          self.ttff = max(1e-3, t - self.first_log_time)
        msg_dict["positionECEF"] = measurement_msg(value=position_estimate, std=position_std.tolist(), valid=bool(self.last_fix_t == t))
        msg_dict["velocityECEF"] = measurement_msg(value=velocity_estimate, std=velocity_std.tolist(), valid=bool(self.last_fix_t == t))
      self.update_localizer(self.last_fix_pos, t, corrected_measurements)
      P_diag = self.gnss_kf.P.diagonal()
      kf_valid = all(self.kf_valid(t))
      msg_dict["kalmanPositionECEF"] = measurement_msg(value=self.gnss_kf.x[GStates.ECEF_POS].tolist(),
                                        std=np.sqrt(P_diag[GStates.ECEF_POS]).tolist(),
                                        valid=kf_valid)
      msg_dict["kalmanVelocityECEF"] = measurement_msg(value=self.gnss_kf.x[GStates.ECEF_VELOCITY].tolist(),
                                        std=np.sqrt(P_diag[GStates.ECEF_VELOCITY]).tolist(),
                                        valid=kf_valid)
    msg_dict['gpsWeek'] = self.last_report_time.week
    msg_dict['gpsTimeOfWeek'] = self.last_report_time.tow
    msg_dict['timeToFirstFix'] = self.ttff
    msg_dict['ephemerisStatuses'] = self.create_ephem_statuses()
    out_msg.gnssMeasurements = msg_dict
    return out_msg
  def update_localizer(self, est_pos, t: float, measurements: List[GNSSMeasurement]):
    # Check time and outputs are valid
    valid = self.kf_valid(t)
    if not all(valid):
      if not valid[0]:  # Filter not initialized
        pass
      elif not valid[1]:
        cloudlog.error("Time gap of over 10s detected, gnss kalman reset")
      elif not valid[2]:
        cloudlog.error("Gnss kalman filter state is nan")
      if est_pos is not None and len(est_pos) > 0:
        cloudlog.info(f"Reset kalman filter with {est_pos}")
        self.init_gnss_localizer(est_pos)
      else:
        return
    if len(measurements) > 0:
      kf_add_observations(self.gnss_kf, t, measurements)
    else:
      # Ensure gnss filter is updated even with no new measurements
      self.gnss_kf.predict(t)
  def kf_valid(self, t: float) -> List[bool]:
    filter_time = self.gnss_kf.filter.get_filter_time()
    return [not math.isnan(filter_time),
            abs(t - filter_time) < MAX_TIME_GAP,
            all(np.isfinite(self.gnss_kf.x[GStates.ECEF_POS]))]
  def init_gnss_localizer(self, est_pos):
    x_initial, p_initial_diag = np.copy(GNSSKalman.x_initial), np.copy(np.diagonal(GNSSKalman.P_initial))
    x_initial[GStates.ECEF_POS] = est_pos
    p_initial_diag[GStates.ECEF_POS] = 1000 ** 2
    self.gnss_kf.init_state(x_initial, covs_diag=p_initial_diag)
  def fetch_navs(self, t: GPSTime, block):
    # Download new navs if 1 hour of navs data left
    if t + SECS_IN_HR not in self.astro_dog.navs_fetched_times and (abs(t - self.last_fetch_navs_t) > SECS_IN_MIN):
      astro_dog_vars = self.astro_dog.valid_const, self.astro_dog.auto_update, self.astro_dog.valid_ephem_types, self.astro_dog.cache_dir
      ret = None
      if block:  # Used for testing purposes
        ret = get_orbit_data(t, *astro_dog_vars)
      elif self.orbit_fetch_future is None:
        self.orbit_fetch_executor = ProcessPoolExecutor(max_workers=1)
        self.orbit_fetch_future = self.orbit_fetch_executor.submit(get_orbit_data, t, *astro_dog_vars)
      elif self.orbit_fetch_future.done():
        ret = self.orbit_fetch_future.result()
        self.orbit_fetch_executor = self.orbit_fetch_future = None
      if ret is not None:
        if ret[0] is None:
          self.last_fetch_navs_t = ret[2]
        else:
          self.astro_dog.navs, self.astro_dog.navs_fetched_times, self.last_fetch_navs_t = ret
          self.cache_ephemeris()
 def get_orbit_data(t: GPSTime, valid_const, auto_update, valid_ephem_types, cache_dir):
  astro_dog = AstroDog(valid_const=valid_const, auto_update=auto_update, valid_ephem_types=valid_ephem_types, cache_dir=cache_dir)
  cloudlog.info(f"Start to download/parse navs for time {t.as_datetime()}")
  start_time = time.monotonic()
  try:
    astro_dog.get_navs(t)
    cloudlog.info(f"Done parsing navs. Took {time.monotonic() - start_time:.1f}s")
    cloudlog.debug(f"Downloaded navs ({sum([len(v) for v in astro_dog.navs])}): {list(astro_dog.navs.keys())}" +
                   f"With time range: {[f'{start.as_datetime()}, {end.as_datetime()}' for (start,end) in astro_dog.orbit_fetched_times._ranges]}")
    return astro_dog.navs, astro_dog.navs_fetched_times, t
  except (DownloadFailed, RuntimeError, ValueError, IOError) as e:
    cloudlog.warning(f"No orbit data found or parsing failure: {e}")
  return None, None, t
 def create_measurement_msg(meas: GNSSMeasurement):
  c = log.GnssMeasurements.CorrectedMeasurement.new_message()
  c.constellationId = meas.constellation_id.value
  c.svId = meas.sv_id
  c.glonassFrequency = meas.glonass_freq if meas.constellation_id == ConstellationId.GLONASS else 0
  c.pseudorange = float(meas.observables_final['C1C'])
  c.pseudorangeStd = float(meas.observables_std['C1C'])
  c.pseudorangeRate = float(meas.observables_final['D1C'])
  c.pseudorangeRateStd = float(meas.observables_std['D1C'])
  c.satPos = meas.sat_pos_final.tolist()
  c.satVel = meas.sat_vel.tolist()
  c.satVel = meas.sat_vel.tolist()
  return c
 def kf_add_observations(gnss_kf: GNSSKalman, t: float, measurements: List[GNSSMeasurement]):
  ekf_data = defaultdict(list)
  for m in measurements:
    m_arr = m.as_array()
    if m.constellation_id == ConstellationId.GPS:
      ekf_data[ObservationKind.PSEUDORANGE_GPS].append(m_arr)
    elif m.constellation_id == ConstellationId.GLONASS:
      ekf_data[ObservationKind.PSEUDORANGE_GLONASS].append(m_arr)
  ekf_data[ObservationKind.PSEUDORANGE_RATE_GPS] = ekf_data[ObservationKind.PSEUDORANGE_GPS]
  ekf_data[ObservationKind.PSEUDORANGE_RATE_GLONASS] = ekf_data[ObservationKind.PSEUDORANGE_GLONASS]
  for kind, data in ekf_data.items():
    if len(data) > 0:
      gnss_kf.predict_and_observe(t, kind, data)
 def clear_tmp_cache():
  if os.path.exists(Paths.download_cache_root()):
    shutil.rmtree(Paths.download_cache_root())
  os.mkdir(Paths.download_cache_root())
 def main():
  #clear_tmp_cache()
  use_qcom = not Params().get_bool("UbloxAvailable")
  if use_qcom:
    raw_name = "qcomGnss"
  else:
    raw_name = "ubloxGnss"
  raw_gnss_sock = messaging.sub_sock(raw_name, conflate=False)
  pm = messaging.PubMaster(['gnssMeasurements'])
  # disable until set as main gps source, to better analyze startup time
  # TODO ensure low CPU usage before enabling
  use_internet = False  # "LAIKAD_NO_INTERNET" not in os.environ
  replay = "REPLAY" in os.environ
  laikad = Laikad(save_ephemeris=not replay, auto_fetch_navs=use_internet, use_qcom=use_qcom)
  while True:
    for in_msg in messaging.drain_sock(raw_gnss_sock, wait_for_one=True):
      out_msg = laikad.process_gnss_msg(getattr(in_msg, raw_name), in_msg.logMonoTime, replay)
      pm.send('gnssMeasurements', out_msg)
 if __name__ == "__main__":
  main()
--- a/selfdrive/locationd/test/test_laikad.py
+++ b/selfdrive/locationd/test/test_laikad.py
@ -1,319 +0,0 @@
 #!/usr/bin/env python3
 import pytest
 import time
 import unittest
 from cereal import log
 from openpilot.common.params import Params
 from datetime import datetime
 from unittest import mock
 from laika.constants import SECS_IN_DAY
 from laika.downloader import DownloadFailed
 from laika.ephemeris import EphemerisType
 from laika.gps_time import GPSTime
 from laika.helpers import ConstellationId
 from laika.raw_gnss import GNSSMeasurement, read_raw_ublox, read_raw_qcom
 from openpilot.selfdrive.locationd.laikad import EPHEMERIS_CACHE, Laikad
 from openpilot.selfdrive.test.openpilotci import get_url
 from openpilot.tools.lib.logreader import LogReader
 from openpilot.selfdrive.test.process_replay.process_replay import get_process_config, replay_process
 GPS_TIME_PREDICTION_ORBITS_RUSSIAN_SRC = GPSTime.from_datetime(datetime(2022, month=1, day=29, hour=12))
 UBLOX_TEST_ROUTE = "4cf7a6ad03080c90|2021-09-29--13-46-36"
 QCOM_TEST_ROUTE = "616dc83ca1f7f11e|2023-07-11--10-52-31"
 def get_log_ublox():
  logs = LogReader(get_url(UBLOX_TEST_ROUTE, 0))
  ublox_cfg = get_process_config("ubloxd")
  all_logs = replay_process(ublox_cfg, logs)
  low_gnss = []
  for m in all_logs:
    if m.which() != "ubloxGnss" or m.ubloxGnss.which() != 'measurementReport':
      continue
    MAX_MEAS = 7
    if m.ubloxGnss.measurementReport.numMeas > MAX_MEAS:
      mb = log.Event.new_message(ubloxGnss=m.ubloxGnss.to_dict())
      mb.logMonoTime = m.logMonoTime
      mb.ubloxGnss.measurementReport.numMeas = MAX_MEAS
      mb.ubloxGnss.measurementReport.measurements = list(m.ubloxGnss.measurementReport.measurements)[:MAX_MEAS]
      mb.ubloxGnss.measurementReport.measurements[0].pseudorange += 1000
      low_gnss.append(mb.as_reader())
    else:
      low_gnss.append(m)
  return all_logs, low_gnss
 def get_log_qcom():
  logs = LogReader(get_url(QCOM_TEST_ROUTE, 0))
  all_logs = [m for m in logs if m.which() == 'qcomGnss']
  return all_logs
 def verify_messages(lr, laikad, return_one_success=False):
  good_msgs = []
  for m in lr:
    if m.which() == 'ubloxGnss':
      gnss_msg = m.ubloxGnss
    elif m.which() == 'qcomGnss':
      gnss_msg = m.qcomGnss
    else:
      continue
    msg = laikad.process_gnss_msg(gnss_msg, m.logMonoTime, block=True)
    if msg is not None and len(msg.gnssMeasurements.correctedMeasurements) > 0:
      good_msgs.append(msg)
      if return_one_success:
        return msg
  return good_msgs
 def get_first_gps_time(logs):
  for m in logs:
    if m.which() == 'ubloxGnss':
      if m.ubloxGnss.which == 'measurementReport':
        new_meas = read_raw_ublox(m.ubloxGnss.measurementReport)
        if len(new_meas) > 0:
          return new_meas[0].recv_time
    elif m.which() == "qcomGnss":
      if m.qcomGnss.which == 'measurementReport':
        new_meas = read_raw_qcom(m.qcomGnss.measurementReport)
        if len(new_meas) > 0:
          return new_meas[0].recv_time
 def get_measurement_mock(gpstime, sat_ephemeris):
  meas = GNSSMeasurement(ConstellationId.GPS, 1, gpstime.week, gpstime.tow, {'C1C': 0., 'D1C': 0.}, {'C1C': 0., 'D1C': 0.})
  # Fake measurement being processed
  meas.observables_final = meas.observables
  meas.sat_ephemeris = sat_ephemeris
  return meas
@pytest.mark.slow
 class TestLaikad(unittest.TestCase):
  @classmethod
  def setUpClass(cls):
    logs, low_gnss = get_log_ublox()
    cls.logs = logs
    cls.low_gnss = low_gnss
    cls.logs_qcom = get_log_qcom()
    first_gps_time = get_first_gps_time(logs)
    cls.first_gps_time = first_gps_time
  def setUp(self):
    Params().remove(EPHEMERIS_CACHE)
  def test_fetch_navs_non_blocking(self):
    gpstime = GPSTime.from_datetime(datetime(2021, month=3, day=1))
    laikad = Laikad()
    laikad.fetch_navs(gpstime, block=False)
    laikad.orbit_fetch_future.result(30)
    # Get results and save orbits to laikad:
    laikad.fetch_navs(gpstime, block=False)
    ephem = laikad.astro_dog.navs['G01'][0]
    self.assertIsNotNone(ephem)
    laikad.fetch_navs(gpstime+2*SECS_IN_DAY, block=False)
    laikad.orbit_fetch_future.result(30)
    # Get results and save orbits to laikad:
    laikad.fetch_navs(gpstime + 2 * SECS_IN_DAY, block=False)
    ephem2 = laikad.astro_dog.navs['G01'][0]
    self.assertIsNotNone(ephem)
    self.assertNotEqual(ephem, ephem2)
  def test_fetch_navs_with_wrong_clocks(self):
    laikad = Laikad()
    def check_has_navs():
      self.assertGreater(len(laikad.astro_dog.navs), 0)
      ephem = laikad.astro_dog.navs['G01'][0]
      self.assertIsNotNone(ephem)
    real_current_time = GPSTime.from_datetime(datetime(2021, month=3, day=1))
    wrong_future_clock_time = real_current_time + SECS_IN_DAY
    laikad.fetch_navs(wrong_future_clock_time, block=True)
    check_has_navs()
    self.assertEqual(laikad.last_fetch_navs_t, wrong_future_clock_time)
    # Test fetching orbits with earlier time
    assert real_current_time < laikad.last_fetch_navs_t
    laikad.astro_dog.orbits = {}
    laikad.fetch_navs(real_current_time, block=True)
    check_has_navs()
    self.assertEqual(laikad.last_fetch_navs_t, real_current_time)
  def test_laika_online(self):
    laikad = Laikad(auto_update=True, valid_ephem_types=EphemerisType.ULTRA_RAPID_ORBIT)
    correct_msgs = verify_messages(self.logs, laikad)
    correct_msgs_expected = 560
    self.assertEqual(correct_msgs_expected, len(correct_msgs))
    self.assertEqual(correct_msgs_expected, len([m for m in correct_msgs if m.gnssMeasurements.positionECEF.valid]))
  def test_kf_becomes_valid(self):
    laikad = Laikad(auto_update=False)
    m = self.logs[0]
    self.assertFalse(all(laikad.kf_valid(m.logMonoTime * 1e-9)))
    kf_valid = False
    for m in self.logs:
      if m.which() != 'ubloxGnss':
        continue
      laikad.process_gnss_msg(m.ubloxGnss, m.logMonoTime, block=True)
      kf_valid = all(laikad.kf_valid(m.logMonoTime * 1e-9))
      if kf_valid:
        break
    self.assertTrue(kf_valid)
  def test_laika_online_nav_only(self):
    for use_qcom, logs in zip([True, False], [self.logs_qcom, self.logs], strict=True):
      laikad = Laikad(auto_update=True, valid_ephem_types=EphemerisType.NAV, use_qcom=use_qcom)
      # Disable fetch_orbits to test NAV only
      correct_msgs = verify_messages(logs, laikad)
      correct_msgs_expected = 55 if use_qcom else 560
      valid_fix_expected = 55 if use_qcom else 560
      self.assertEqual(correct_msgs_expected, len(correct_msgs))
      self.assertEqual(valid_fix_expected, len([m for m in correct_msgs if m.gnssMeasurements.positionECEF.valid]))
  @mock.patch('laika.downloader.download_and_cache_file')
  def test_laika_offline(self, downloader_mock):
    downloader_mock.side_effect = DownloadFailed("Mock download failed")
    laikad = Laikad(auto_update=False)
    laikad.fetch_navs(GPS_TIME_PREDICTION_ORBITS_RUSSIAN_SRC, block=True)
  @mock.patch('laika.downloader.download_and_cache_file')
  def test_download_failed_russian_source(self, downloader_mock):
    downloader_mock.side_effect = DownloadFailed
    laikad = Laikad(auto_update=False)
    correct_msgs = verify_messages(self.logs, laikad)
    expected_msgs = 376
    self.assertEqual(expected_msgs, len(correct_msgs))
    self.assertEqual(expected_msgs, len([m for m in correct_msgs if m.gnssMeasurements.positionECEF.valid]))
  def test_laika_get_orbits(self):
    laikad = Laikad(auto_update=False)
    # Pretend process has loaded the orbits on startup by using the time of the first gps message.
    laikad.fetch_navs(self.first_gps_time, block=True)
    self.dict_has_values(laikad.astro_dog.navs)
  @unittest.skip("Use to debug live data")
  def test_laika_get_navs_now(self):
    laikad = Laikad(auto_update=False)
    laikad.fetch_navs(GPSTime.from_datetime(datetime.utcnow()), block=True)
    prn = "G01"
    self.assertGreater(len(laikad.astro_dog.navs[prn]), 0)
    prn = "R01"
    self.assertGreater(len(laikad.astro_dog.navs[prn]), 0)
  def test_get_navs_in_process(self):
    for auto_fetch_navs in [True, False]:
      for use_qcom, logs in zip([True, False], [self.logs_qcom, self.logs], strict=True):
        laikad = Laikad(auto_update=False, use_qcom=use_qcom, auto_fetch_navs=auto_fetch_navs)
        has_navs = False
        has_fix = False
        seen_chip_eph = False
        seen_internet_eph = False
        for m in logs:
          if m.which() != 'ubloxGnss' and m.which() != 'qcomGnss':
            continue
          gnss_msg = m.qcomGnss if use_qcom else m.ubloxGnss
          out_msg = laikad.process_gnss_msg(gnss_msg, m.logMonoTime, block=False)
          if laikad.orbit_fetch_future is not None:
            laikad.orbit_fetch_future.result()
          vals = laikad.astro_dog.navs.values()
          has_navs = len(vals) > 0 and max([len(v) for v in vals]) > 0
          vals = laikad.astro_dog.qcom_polys.values()
          has_polys = len(vals) > 0 and max([len(v) for v in vals]) > 0
          has_fix = has_fix or out_msg.gnssMeasurements.positionECEF.valid
          if len(out_msg.gnssMeasurements.ephemerisStatuses):
            seen_chip_eph = seen_chip_eph or any(x.source == 'gnssChip' for x in out_msg.gnssMeasurements.ephemerisStatuses)
            seen_internet_eph = seen_internet_eph or any(x.source == 'internet' for x in out_msg.gnssMeasurements.ephemerisStatuses)
        self.assertTrue(has_navs or has_polys)
        self.assertTrue(has_fix)
        self.assertTrue(seen_chip_eph or auto_fetch_navs)
        self.assertTrue(seen_internet_eph or not auto_fetch_navs)
        self.assertEqual(len(laikad.astro_dog.navs_fetched_times._ranges), 0)
        self.assertEqual(None, laikad.orbit_fetch_future)
  def test_cache(self):
    use_qcom = True
    for use_qcom, logs in zip([True, False], [self.logs_qcom, self.logs], strict=True):
      Params().remove(EPHEMERIS_CACHE)
      laikad = Laikad(auto_update=True, save_ephemeris=True, use_qcom=use_qcom)
      def wait_for_cache():
        max_time = 2
        while Params().get(EPHEMERIS_CACHE) is None:
          time.sleep(0.1)
          max_time -= 0.1
          if max_time < 0:
            self.fail("Cache has not been written after 2 seconds")
      # Test cache with no ephemeris
      laikad.last_report_time = GPSTime(1,0)
      laikad.cache_ephemeris()
      if Params().get(EPHEMERIS_CACHE) is not None:
        self.fail("Cache should not have been written without valid ephem")
      #laikad.astro_dog.get_navs(self.first_gps_time)
      msg = verify_messages(logs, laikad, return_one_success=True)
      laikad.cache_ephemeris()
      wait_for_cache()
      # Check both nav and orbits separate
      laikad = Laikad(auto_update=False, valid_ephem_types=EphemerisType.NAV,
                      save_ephemeris=True, use_qcom=use_qcom, auto_fetch_navs=False)
      # Verify navs are loaded from cache
      self.dict_has_values(laikad.astro_dog.navs)
      # Verify cache is working for only nav by running a segment
      msg = verify_messages(logs, laikad, return_one_success=True)
      self.assertTrue(len(msg.gnssMeasurements.ephemerisStatuses))
      self.assertTrue(any(x.source=='cache' for x in msg.gnssMeasurements.ephemerisStatuses))
      self.assertIsNotNone(msg)
      #TODO test cache with only orbits
      #with patch('selfdrive.locationd.laikad.get_orbit_data', return_value=None) as mock_method:
      #  # Verify no orbit downloads even if orbit fetch times is reset since the cache has recently been saved and we don't want to download high frequently
      #  laikad.astro_dog.orbit_fetched_times = TimeRangeHolder()
      #  laikad.fetch_navs(self.first_gps_time, block=False)
      #  mock_method.assert_not_called()
      #  # Verify cache is working for only orbits by running a segment
      #  laikad = Laikad(auto_update=False, valid_ephem_types=EphemerisType.ULTRA_RAPID_ORBIT, save_ephemeris=True)
      #  msg = verify_messages(self.logs, laikad, return_one_success=True)
      #  self.assertIsNotNone(msg)
      #  # Verify orbit data is not downloaded
      #  mock_method.assert_not_called()
      #break
  def test_low_gnss_meas(self):
    cnt = 0
    laikad = Laikad()
    for m in self.low_gnss:
      msg = laikad.process_gnss_msg(m.ubloxGnss, m.logMonoTime, block=True)
      if msg is None:
        continue
      gm = msg.gnssMeasurements
      if len(gm.correctedMeasurements) != 0 and gm.positionECEF.valid:
        cnt += 1
    self.assertEqual(cnt, 560)
  def dict_has_values(self, dct):
    self.assertGreater(len(dct), 0)
    self.assertGreater(min([len(v) for v in dct.values()]), 0)
 if __name__ == "__main__":
  unittest.main()
--- a/selfdrive/manager/process_config.py
+++ b/selfdrive/manager/process_config.py
@ -68,7 +68,6 @@ procs = [
  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),
--- 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
--- 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 @@ CONFIGS = [
    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"],
--- a/selfdrive/test/process_replay/test_fuzzy.py
+++ b/selfdrive/test/process_replay/test_fuzzy.py
@ -13,7 +13,7 @@ import openpilot.selfdrive.test.process_replay.process_replay as pr
 # These processes currently fail because of unrealistic data breaking assumptions
 # that openpilot makes causing error with NaN, inf, int size, array indexing ...
 # TODO: Make each one testable
-NOT_TESTED = ['controlsd', 'plannerd', 'calibrationd', 'dmonitoringd', 'paramsd', 'laikad', 'dmonitoringmodeld', 'modeld']
+NOT_TESTED = ['controlsd', 'plannerd', 'calibrationd', 'dmonitoringd', 'paramsd', 'dmonitoringmodeld', 'modeld']
 TEST_CASES = [(cfg.proc_name, copy.deepcopy(cfg)) for cfg in pr.CONFIGS if cfg.proc_name not in NOT_TESTED]
 class TestFuzzProcesses(unittest.TestCase):
--- a/selfdrive/test/profiling/profiler.py
+++ b/selfdrive/test/profiling/profiler.py
@ -83,14 +83,12 @@ if __name__ == '__main__':
  from openpilot.selfdrive.controls.radard import radard_thread
  from openpilot.selfdrive.locationd.paramsd import main as paramsd_thread
  from openpilot.selfdrive.controls.plannerd import main as plannerd_thread
  from openpilot.selfdrive.locationd.laikad import main as laikad_thread
  procs = {
    'radard': radard_thread,
    'controlsd': controlsd_thread,
    'paramsd': paramsd_thread,
    'plannerd': plannerd_thread,
    'laikad': laikad_thread,
  }
  proc = sys.argv[1]
--- a/selfdrive/test/test_onroad.py
+++ b/selfdrive/test/test_onroad.py
@ -56,7 +56,6 @@ PROCS = {
  "selfdrive.navd.navd": 0.4,
  "system.loggerd.uploader": 3.0,
  "system.loggerd.deleter": 0.1,
  "selfdrive.locationd.laikad": (1.0, 80.0),  # TODO: better GPS setup in testing closet
 }
 PROCS.update({
--- a/selfdrive/test/update_ci_routes.py
+++ b/selfdrive/test/update_ci_routes.py
@ -8,7 +8,6 @@ from azure.storage.blob import ContainerClient
 from tqdm import tqdm
 from openpilot.selfdrive.car.tests.routes import routes as test_car_models_routes
 from openpilot.selfdrive.locationd.test.test_laikad import UBLOX_TEST_ROUTE, QCOM_TEST_ROUTE
 from openpilot.selfdrive.test.process_replay.test_processes import source_segments as replay_segments
 from openpilot.selfdrive.test.openpilotci import (DATA_CI_ACCOUNT, DATA_CI_ACCOUNT_URL, DATA_CI_CONTAINER,
                                                  get_azure_credential, get_container_sas)
@ -90,7 +89,6 @@ if __name__ == "__main__":
  if not len(to_sync):
    # sync routes from the car tests routes and process replay
    to_sync.extend([UBLOX_TEST_ROUTE, QCOM_TEST_ROUTE])
    to_sync.extend([rt.route for rt in test_car_models_routes])
    to_sync.extend([s[1].rsplit('--', 1)[0] for s in replay_segments])
--- a/system/sensord/rawgps/test_rawgps.py
+++ b/system/sensord/rawgps/test_rawgps.py
@ -5,13 +5,11 @@ import time
 import datetime
 import unittest
 import subprocess
 import numpy as np
 import cereal.messaging as messaging
 from openpilot.system.hardware import TICI
 from openpilot.system.sensord.rawgps.rawgpsd import at_cmd, wait_for_modem
 from openpilot.selfdrive.manager.process_config import managed_processes
 from openpilot.common.transformations.coordinates import ecef_from_geodetic
 GOOD_SIGNAL = bool(int(os.getenv("GOOD_SIGNAL", '0')))
@ -123,22 +121,5 @@ class TestRawgpsd(unittest.TestCase):
    managed_processes['rawgpsd'].stop()
    self.check_assistance(True)
  @unittest.skipIf(not GOOD_SIGNAL, "No good GPS signal")
  def test_fix(self):
    managed_processes['rawgpsd'].start()
    managed_processes['laikad'].start()
    assert self._wait_for_output(60)
    assert self.sm.updated['qcomGnss']
    assert self.sm.updated['gpsLocation']
    assert self.sm['gpsLocation'].flags == 1
    module_fix = ecef_from_geodetic([self.sm['gpsLocation'].latitude,
                                     self.sm['gpsLocation'].longitude,
                                     self.sm['gpsLocation'].altitude])
    assert self.sm['gnssMeasurements'].positionECEF.valid
    total_diff = np.array(self.sm['gnssMeasurements'].positionECEF.value) - module_fix
    self.assertLess(np.linalg.norm(total_diff), 100)
    managed_processes['laikad'].stop()
    managed_processes['rawgpsd'].stop()
 if __name__ == "__main__":
  unittest.main(failfast=True)
--- a/tools/gpstest/fuzzy_testing.py
+++ b/tools/gpstest/fuzzy_testing.py
@ -33,8 +33,7 @@ def run_remote_checker(lat, lon, alt, duration, ip_addr):
    return False, None, None
  matched, log, info = con.root.exposed_run_checker(lat, lon, alt,
-                        timeout=duration,
+                        timeout=duration)
                        use_laikad=True)
  con.close() # TODO: might wanna fetch more logs here
  con = None
@ -43,7 +42,7 @@ def run_remote_checker(lat, lon, alt, duration, ip_addr):
 stats = defaultdict(int) # type: ignore
-keys = ['success', 'failed', 'ublox_fail', 'laikad_fail', 'proc_crash', 'checker_crash']
+keys = ['success', 'failed', 'ublox_fail', 'proc_crash', 'checker_crash']
 def print_report():
  print("\nFuzzy testing report summary:")
@ -62,9 +61,6 @@ def update_stats(matched, log, info):
  if log == "CHECKER CRASHED":
    stats['checker_crash'] += 1
  if log == "TIMEOUT":
    if "LAIKAD" in info:
      stats['laikad_fail'] += 1
    else: # "UBLOX" in info
    stats['ublox_fail'] += 1
--- a/tools/gpstest/rpc_server.py
+++ b/tools/gpstest/rpc_server.py
@ -1,185 +0,0 @@
 import os
 import time
 import shutil
 from datetime import datetime
 from collections import defaultdict
 from openpilot.system.hardware.hw import Paths
 import rpyc
 from rpyc.utils.server import ThreadedServer
 #from openpilot.common.params import Params
 import cereal.messaging as messaging
 from openpilot.selfdrive.manager.process_config import managed_processes
 from laika.lib.coordinates import ecef2geodetic
 DELTA = 0.001
 ALT_DELTA = 30
 MATCH_NUM = 10
 REPORT_STATS = 10
 EPHEM_CACHE = "/data/params/d/LaikadEphemerisV3"
 SERVER_LOG_FILE = "/tmp/fuzzy_server.log"
 server_log = open(SERVER_LOG_FILE, "w+")
 def slog(msg):
  server_log.write(f"{datetime.now().strftime('%H:%M:%S.%f')} | {msg}\n")
  server_log.flush()
 def handle_laikad(msg):
  if not hasattr(msg, 'correctedMeasurements'):
    return None
  num_corr = len(msg.correctedMeasurements)
  pos_ecef = msg.positionECEF.value
  pos_geo = []
  if len(pos_ecef) > 0:
    pos_geo = ecef2geodetic(pos_ecef)
  pos_std = msg.positionECEF.std
  pos_valid = msg.positionECEF.valid
  slog(f"{num_corr} {pos_geo} {pos_ecef} {pos_std} {pos_valid}")
  return pos_geo, (num_corr, pos_geo, list(pos_ecef), list(msg.positionECEF.std))
 hw_msgs = 0
 ephem_msgs: dict = defaultdict(int)
 def handle_ublox(msg):
  global hw_msgs
  d = msg.to_dict()
  if 'hwStatus2' in d:
    hw_msgs += 1
  if 'ephemeris' in d:
    ephem_msgs[msg.ephemeris.svId] += 1
  num_meas = None
  if 'measurementReport' in d:
    num_meas = msg.measurementReport.numMeas
  return [hw_msgs, ephem_msgs, num_meas]
 def start_procs(procs):
  for p in procs:
    managed_processes[p].start()
  time.sleep(1)
 def kill_procs(procs, no_retry=False):
  for p in procs:
    managed_processes[p].stop()
  time.sleep(1)
  if not no_retry:
    for p in procs:
      mp = managed_processes[p].proc
      if mp is not None and mp.is_alive():
        managed_processes[p].stop()
    time.sleep(3)
 def check_alive_procs(procs):
  for p in procs:
    mp = managed_processes[p].proc
    if mp is None or not mp.is_alive():
      return False, p
  return True, None
 class RemoteCheckerService(rpyc.Service):
  def on_connect(self, conn):
    pass
  def on_disconnect(self, conn):
    #kill_procs(self.procs, no_retry=False)
    # this execution is delayed, it will kill the next run of laikad
    # TODO: add polling to wait for everything is killed
    pass
  def run_checker(self, slat, slon, salt, sockets, procs, timeout):
    global hw_msgs, ephem_msgs
    hw_msgs = 0
    ephem_msgs = defaultdict(int)
    slog(f"Run test: {slat} {slon} {salt}")
    # quectel_mod = Params().get_bool("UbloxAvailable")
    match_cnt = 0
    msg_cnt = 0
    stats_laikad = []
    stats_ublox = []
    self.procs = procs
    start_procs(procs)
    sm = messaging.SubMaster(sockets)
    start_time = time.monotonic()
    while True:
      sm.update()
      if sm.updated['ubloxGnss']:
        stats_ublox.append(handle_ublox(sm['ubloxGnss']))
      if sm.updated['gnssMeasurements']:
        pos_geo, stats = handle_laikad(sm['gnssMeasurements'])
        if pos_geo is None or len(pos_geo) == 0:
          continue
        match  = all(abs(g-s) < DELTA for g,s in zip(pos_geo[:2], [slat, slon], strict=True))
        match &= abs(pos_geo[2] - salt) < ALT_DELTA
        if match:
          match_cnt += 1
          if match_cnt >= MATCH_NUM:
            return True, "MATCH", f"After: {round(time.monotonic() - start_time, 4)}"
        # keep some stats for error reporting
        stats_laikad.append(stats)
      if (msg_cnt % 10) == 0:
        a, p = check_alive_procs(procs)
        if not a:
          return False, "PROC CRASH", f"{p}"
      msg_cnt += 1
      if (time.monotonic() - start_time) > timeout:
        h = f"LAIKAD: {stats_laikad[-REPORT_STATS:]}"
        if len(h) == 0:
          h = f"UBLOX: {stats_ublox[-REPORT_STATS:]}"
        return False, "TIMEOUT", h
  def exposed_run_checker(self, slat, slon, salt, timeout=180, use_laikad=True):
    try:
      procs = []
      sockets = []
      if use_laikad:
        procs.append("laikad") # pigeond, ubloxd # might wanna keep them running
        sockets += ['ubloxGnss', 'gnssMeasurements']
        if os.path.exists(EPHEM_CACHE):
          os.remove(EPHEM_CACHE)
        shutil.rmtree(Paths.download_cache_root(), ignore_errors=True)
      ret = self.run_checker(slat, slon, salt, sockets, procs, timeout)
      kill_procs(procs)
      return ret
    except Exception as e:
      # always make sure processes get killed
      kill_procs(procs)
      return False, "CHECKER CRASHED", f"{str(e)}"
  def exposed_kill_procs(self):
    kill_procs(self.procs, no_retry=True)
 if __name__ == "__main__":
  print(f"Sever Log written to: {SERVER_LOG_FILE}")
  t = ThreadedServer(RemoteCheckerService, port=18861)
  t.start()
--- a/tools/gpstest/test_laikad.py
+++ b/tools/gpstest/test_laikad.py
@ -1,105 +0,0 @@
 #!/usr/bin/env python3
 import os
 import time
 import unittest
 import cereal.messaging as messaging
 import openpilot.system.sensord.pigeond as pd
 from openpilot.common.params import Params
 from openpilot.system.hardware import TICI
 from openpilot.selfdrive.manager.process_config import managed_processes
 from openpilot.selfdrive.test.helpers import with_processes
 def wait_for_location(sm, timeout, con=10):
  cons_meas = 0
  start_time = time.monotonic()
  while (time.monotonic() - start_time) < timeout:
    sm.update()
    if not sm.updated["gnssMeasurements"]:
      continue
    msg = sm["gnssMeasurements"]
    cons_meas = (cons_meas + 1) if 'positionECEF' in msg.to_dict() else 0
    if cons_meas >= con:
      return True
  return False
 class TestLaikad(unittest.TestCase):
  @classmethod
  def setUpClass(self):
    if not TICI:
      raise unittest.SkipTest
    ublox_available = Params().get_bool("UbloxAvailable")
    if not ublox_available:
      raise unittest.SkipTest
  def setUp(self):
    # ensure laikad cold start
    Params().remove("LaikadEphemerisV3")
    os.environ["LAIKAD_NO_INTERNET"] = "1"
    managed_processes['laikad'].start()
  def tearDown(self):
    managed_processes['laikad'].stop()
  @with_processes(['pigeond', 'ubloxd'])
  def test_laikad_cold_start(self):
    time.sleep(5)
    start_time = time.monotonic()
    sm = messaging.SubMaster(["gnssMeasurements"])
    success = wait_for_location(sm, 60*2, con=10)
    duration = time.monotonic() - start_time
    assert success, "Waiting for location timed out (2min)!"
    assert duration < 60, f"Received Location {duration}!"
  @with_processes(['ubloxd'])
  def test_laikad_ublox_reset_start(self):
    time.sleep(2)
    pigeon, pm = pd.create_pigeon()
    pd.init_baudrate(pigeon)
    assert pigeon.reset_device(), "Could not reset device!"
    laikad_sock = messaging.sub_sock("gnssMeasurements", timeout=0.1)
    ublox_gnss_sock = messaging.sub_sock("ubloxGnss", timeout=0.1)
    pd.init_baudrate(pigeon)
    pd.initialize_pigeon(pigeon)
    pd.run_receiving(pigeon, pm, 180)
    ublox_msgs = messaging.drain_sock(ublox_gnss_sock)
    laikad_msgs = messaging.drain_sock(laikad_sock)
    gps_ephem_cnt = 0
    glonass_ephem_cnt = 0
    for um in ublox_msgs:
      if um.ubloxGnss.which() == 'ephemeris':
        gps_ephem_cnt += 1
      elif um.ubloxGnss.which() == 'glonassEphemeris':
        glonass_ephem_cnt += 1
    assert gps_ephem_cnt > 0, "NO gps ephemeris collected!"
    assert glonass_ephem_cnt > 0, "NO glonass ephemeris collected!"
    pos_meas = 0
    duration = -1
    for lm in laikad_msgs:
      pos_meas = (pos_meas + 1) if 'positionECEF' in lm.gnssMeasurements.to_dict() else 0
      if pos_meas > 5:
        duration = (lm.logMonoTime - laikad_msgs[0].logMonoTime)*1e-9
        break
    assert pos_meas > 5, "NOT enough positions at end of read!"
    assert duration < 120, "Laikad took too long to get a Position!"
 if __name__ == "__main__":
  unittest.main()