liblocationd: No longer used (#29909)

remove liblocationd
old-commit-hash: 01011c6c1d

.github/workflows/selfdrive_tests.yaml

@@ -264,7 +264,6 @@ jobs:
       run: |
         ${{ env.RUN }} "export SKIP_LONG_TESTS=1 && \
                         $PYTEST -n auto --dist=loadscope --timeout 30 -o cpp_files=test_* && \
-                        selfdrive/locationd/test/_test_locationd_lib.py && \
                         ./selfdrive/ui/tests/create_test_translations.sh && \
                         QT_QPA_PLATFORM=offscreen ./selfdrive/ui/tests/test_translations && \
                         ./selfdrive/ui/tests/test_translations.py && \

selfdrive/locationd/SConscript

@@ -8,7 +8,3 @@ lenv = env.Clone()
 lenv["_LIBFLAGS"] += f' {libkf[0].get_labspath()}'
 locationd = lenv.Program("locationd", locationd_sources, LIBS=loc_libs + transformations)
 lenv.Depends(locationd, libkf)
-
-if File("liblocationd.cc").exists():
-  liblocationd = lenv.SharedLibrary("liblocationd", ["liblocationd.cc"] + locationd_sources, LIBS=loc_libs + transformations)
-  lenv.Depends(liblocationd, libkf)

selfdrive/locationd/liblocationd.cc

@@ -1,41 +0,0 @@
-#include "selfdrive/locationd/locationd.h"
-
-extern "C" {
-  typedef Localizer* Localizer_t;
-
-  Localizer *localizer_init(bool has_ublox) {
-    return new Localizer(has_ublox ? LocalizerGnssSource::UBLOX : LocalizerGnssSource::QCOM);
-  }
-
-  void localizer_get_message_bytes(Localizer *localizer, bool inputsOK, bool sensorsOK, bool gpsOK, bool msgValid,
-                                   char *buff, size_t buff_size) {
-    MessageBuilder msg_builder;
-    kj::ArrayPtr<char> arr = localizer->get_message_bytes(msg_builder, inputsOK, sensorsOK, gpsOK, msgValid).asChars();
-    assert(buff_size >= arr.size());
-    memcpy(buff, arr.begin(), arr.size());
-  }
-
-  void localizer_handle_msg_bytes(Localizer *localizer, const char *data, size_t size) {
-    localizer->handle_msg_bytes(data, size);
-  }
-
-  void get_filter_internals(Localizer *localizer, double *state_buff, double *std_buff){
-    Eigen::VectorXd state = localizer->get_state();
-    memcpy(state_buff, state.data(), sizeof(double) * state.size());
-    Eigen::VectorXd stdev = localizer->get_stdev();
-    memcpy(std_buff, stdev.data(), sizeof(double) * stdev.size());
-  }
-
-  bool is_gps_ok(Localizer *localizer){
-    return localizer->is_gps_ok();
-  }
-
-  bool are_inputs_ok(Localizer *localizer){
-    return localizer->are_inputs_ok();
-  }
-
-  void observation_timings_invalid_reset(Localizer *localizer){
-    localizer->observation_timings_invalid_reset();
-  }
-
-}

selfdrive/locationd/test/_test_locationd_lib.py

@@ -1,109 +0,0 @@
-#!/usr/bin/env python3
-"""This test can't be run together with other locationd tests.
-cffi.dlopen breaks the list of registered filters."""
-import os
-import random
-import unittest
-
-from cffi import FFI
-
-import cereal.messaging as messaging
-from cereal import log
-
-from openpilot.common.ffi_wrapper import suffix
-
-SENSOR_DECIMATION = 1
-VISION_DECIMATION = 1
-
-LIBLOCATIOND_PATH = os.path.abspath(os.path.join(os.path.dirname(__file__), '../liblocationd' + suffix()))
-
-
-class TestLocationdLib(unittest.TestCase):
-  def setUp(self):
-    header = '''typedef ...* Localizer_t;
-Localizer_t localizer_init(bool has_ublox);
-void localizer_get_message_bytes(Localizer_t localizer, bool inputsOK, bool sensorsOK, bool gpsOK, bool msgValid, char *buff, size_t buff_size);
-void localizer_handle_msg_bytes(Localizer_t localizer, const char *data, size_t size);'''
-
-    self.ffi = FFI()
-    self.ffi.cdef(header)
-    self.lib = self.ffi.dlopen(LIBLOCATIOND_PATH)
-
-    self.localizer = self.lib.localizer_init(True) # default to ublox
-
-    self.buff_size = 2048
-    self.msg_buff = self.ffi.new(f'char[{self.buff_size}]')
-
-  def localizer_handle_msg(self, msg_builder):
-    bytstr = msg_builder.to_bytes()
-    self.lib.localizer_handle_msg_bytes(self.localizer, self.ffi.from_buffer(bytstr), len(bytstr))
-
-  def localizer_get_msg(self, t=0, inputsOK=True, sensorsOK=True, gpsOK=True, msgValid=True):
-    self.lib.localizer_get_message_bytes(self.localizer, inputsOK, sensorsOK, gpsOK, msgValid, self.ffi.addressof(self.msg_buff, 0), self.buff_size)
-    with log.Event.from_bytes(self.ffi.buffer(self.msg_buff), nesting_limit=self.buff_size // 8) as log_evt:
-      return log_evt
-
-  def test_liblocalizer(self):
-    msg = messaging.new_message('liveCalibration')
-    msg.liveCalibration.validBlocks = random.randint(1, 10)
-    msg.liveCalibration.rpyCalib = [random.random() / 10 for _ in range(3)]
-
-    self.localizer_handle_msg(msg)
-    liveloc = self.localizer_get_msg()
-    self.assertTrue(liveloc is not None)
-
-  @unittest.skip("temporarily disabled due to false positives")
-  def test_device_fell(self):
-    msg = messaging.new_message('accelerometer')
-    msg.accelerometer.sensor = 1
-    msg.accelerometer.timestamp = msg.logMonoTime
-    msg.accelerometer.type = 1
-    msg.accelerometer.init('acceleration')
-    msg.accelerometer.acceleration.v = [10.0, 0.0, 0.0]  # zero with gravity
-    self.localizer_handle_msg(msg)
-
-    ret = self.localizer_get_msg()
-    self.assertTrue(ret.liveLocationKalman.deviceStable)
-
-    msg = messaging.new_message('accelerometer')
-    msg.accelerometer.sensor = 1
-    msg.accelerometer.timestamp = msg.logMonoTime
-    msg.accelerometer.type = 1
-    msg.accelerometer.init('acceleration')
-    msg.accelerometer.acceleration.v = [50.1, 0.0, 0.0]  # more than 40 m/s**2
-    self.localizer_handle_msg(msg)
-
-    ret = self.localizer_get_msg()
-    self.assertFalse(ret.liveLocationKalman.deviceStable)
-
-  def test_posenet_spike(self):
-    for _ in range(SENSOR_DECIMATION):
-      msg = messaging.new_message('carState')
-      msg.carState.vEgo = 6.0  # more than 5 m/s
-      self.localizer_handle_msg(msg)
-
-    ret = self.localizer_get_msg()
-    self.assertTrue(ret.liveLocationKalman.posenetOK)
-
-    for _ in range(20 * VISION_DECIMATION):  # size of hist_old
-      msg = messaging.new_message('cameraOdometry')
-      msg.cameraOdometry.rot = [0.0, 0.0, 0.0]
-      msg.cameraOdometry.rotStd = [0.1, 0.1, 0.1]
-      msg.cameraOdometry.trans = [0.0, 0.0, 0.0]
-      msg.cameraOdometry.transStd = [2.0, 0.1, 0.1]
-      self.localizer_handle_msg(msg)
-
-    for _ in range(20 * VISION_DECIMATION):  # size of hist_new
-      msg = messaging.new_message('cameraOdometry')
-      msg.cameraOdometry.rot = [0.0, 0.0, 0.0]
-      msg.cameraOdometry.rotStd = [1.0, 1.0, 1.0]
-      msg.cameraOdometry.trans = [0.0, 0.0, 0.0]
-      msg.cameraOdometry.transStd = [10.1, 0.1, 0.1]  # more than 4 times larger
-      self.localizer_handle_msg(msg)
-
-    ret = self.localizer_get_msg()
-    self.assertFalse(ret.liveLocationKalman.posenetOK)
-
-if __name__ == "__main__":
-  unittest.main()
-