Bump laika (#24454)

* Fix after laika repo changes

* Update laika

laika_repo

@@ -1 +1 @@
-Subproject commit 48a9cb686ae2d12cd830f17c166a8fb9f79ab292
+Subproject commit be1a213a5ffa3cafe2b4f2d53f6df5d2452ad910

selfdrive/locationd/laikad.py

@@ -3,7 +3,7 @@ from typing import List
 
 from cereal import log, messaging
 from laika import AstroDog
-from laika.helpers import UbloxGnssId
+from laika.helpers import ConstellationId
 from laika.raw_gnss import GNSSMeasurement, calc_pos_fix, correct_measurements, process_measurements, read_raw_ublox
 
 
@@ -46,13 +46,9 @@ def process_ublox_msg(ublox_msg, dog, ublox_mono_time: int):
 
 def create_measurement_msg(meas: GNSSMeasurement):
   c = log.GnssMeasurements.CorrectedMeasurement.new_message()
-  ublox_gnss_id = meas.ublox_gnss_id
+  c.constellationId = meas.constellation_id.value
-  if ublox_gnss_id is None:
-    # todo never happens will fix in later pr
-    ublox_gnss_id = UbloxGnssId.GPS
-  c.constellationId = ublox_gnss_id.value
   c.svId = int(meas.prn[1:])
-  c.glonassFrequency = meas.glonass_freq if meas.ublox_gnss_id == UbloxGnssId.GLONASS else 0
+  c.glonassFrequency = meas.glonass_freq if meas.constellation_id == ConstellationId.GLONASS else 0
   c.pseudorange = float(meas.observables['C1C'])  # todo should be observables_final when using corrected measurements
   c.pseudorangeStd = float(meas.observables_std['C1C'])
   c.pseudorangeRate = float(meas.observables['D1C'])  # todo should be observables_final when using corrected measurements

selfdrive/locationd/test/test_laikad.py

@@ -2,7 +2,7 @@
 import unittest
 from datetime import datetime
 
-from laika.helpers import UbloxGnssId
+from laika.helpers import ConstellationId
 
 from laika.gps_time import GPSTime
 from laika.raw_gnss import GNSSMeasurement
@@ -13,7 +13,7 @@ class TestLaikad(unittest.TestCase):
 
   def test_create_msg_without_errors(self):
     gpstime = GPSTime.from_datetime(datetime.now())
-    meas = GNSSMeasurement('G01', gpstime.week, gpstime.tow, {'C1C': 0., 'D1C': 0.}, {'C1C': 0., 'D1C': 0.}, ublox_gnss_id=UbloxGnssId.GPS)
+    meas = GNSSMeasurement(ConstellationId.GPS, 1, gpstime.week, gpstime.tow, {'C1C': 0., 'D1C': 0.}, {'C1C': 0., 'D1C': 0.})
     msg = create_measurement_msg(meas)
 
     self.assertEqual(msg.constellationId, 'gps')

selfdrive/locationd/test/test_ublox_processing.py

@@ -3,7 +3,7 @@ import unittest
 import numpy as np
 
 from laika import AstroDog
-from laika.helpers import UbloxGnssId
+from laika.helpers import ConstellationId
 from laika.raw_gnss import calc_pos_fix, correct_measurements, process_measurements, read_raw_ublox
 from selfdrive.test.openpilotci import get_url
 from tools.lib.logreader import LogReader
@@ -34,9 +34,9 @@ class TestUbloxProcessing(unittest.TestCase):
     count_glonass = 0
     for measurements in self.gnss_measurements:
       for m in measurements:
-        if m.ublox_gnss_id == UbloxGnssId.GPS:
+        if m.constellation_id == ConstellationId.GPS:
           count_gps += 1
-        elif m.ublox_gnss_id == UbloxGnssId.GLONASS:
+        elif m.constellation_id == ConstellationId.GLONASS:
           count_glonass += 1
 
     self.assertEqual(count_gps, 5036)