From 6dba364556bb5eb9cc516bd3d408f1ed16a34bcb Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Wed, 4 Sep 2024 23:03:01 +0800
Subject: [PATCH] locationd: remove obsolete locationd.h (#33464)

remove obsolete locationd.h
---
 selfdrive/locationd/.gitignore  |  1 -
 selfdrive/locationd/locationd.h | 99 ---------------------------------
 2 files changed, 100 deletions(-)
 delete mode 100644 selfdrive/locationd/locationd.h

diff --git a/selfdrive/locationd/.gitignore b/selfdrive/locationd/.gitignore
index 11b9f127b2..1a8c72388a 100644
--- a/selfdrive/locationd/.gitignore
+++ b/selfdrive/locationd/.gitignore
@@ -1,3 +1,2 @@
 params_learner
 paramsd
-locationd
diff --git a/selfdrive/locationd/locationd.h b/selfdrive/locationd/locationd.h
deleted file mode 100644
index f59b7d4bda..0000000000
--- a/selfdrive/locationd/locationd.h
+++ /dev/null
@@ -1,99 +0,0 @@
-#pragma once
-
-#include <eigen3/Eigen/Dense>
-#include <deque>
-#include <fstream>
-#include <memory>
-#include <map>
-#include <string>
-
-#include "cereal/messaging/messaging.h"
-#include "common/transformations/coordinates.hpp"
-#include "common/transformations/orientation.hpp"
-#include "common/params.h"
-#include "common/swaglog.h"
-#include "common/timing.h"
-#include "common/util.h"
-
-#include "system/sensord/sensors/constants.h"
-#define VISION_DECIMATION 2
-#define SENSOR_DECIMATION 10
-#include "selfdrive/locationd/models/live_kf.h"
-
-#define POSENET_STD_HIST_HALF 20
-
-enum LocalizerGnssSource {
-  UBLOX, QCOM
-};
-
-class Localizer {
-public:
-  Localizer(LocalizerGnssSource gnss_source = LocalizerGnssSource::UBLOX);
-
-  int locationd_thread();
-
-  void reset_kalman(double current_time = NAN);
-  void reset_kalman(double current_time, const Eigen::VectorXd &init_orient, const Eigen::VectorXd &init_pos, const Eigen::VectorXd &init_vel, const MatrixXdr &init_pos_R, const MatrixXdr &init_vel_R);
-  void reset_kalman(double current_time, const Eigen::VectorXd &init_x, const MatrixXdr &init_P);
-  void finite_check(double current_time = NAN);
-  void time_check(double current_time = NAN);
-  void update_reset_tracker();
-  bool is_gps_ok();
-  bool critical_services_valid(const std::map<std::string, double> &critical_services);
-  bool is_timestamp_valid(double current_time);
-  void determine_gps_mode(double current_time);
-  bool are_inputs_ok();
-  void observation_timings_invalid_reset();
-
-  void build_pose_message(
-    MessageBuilder& msg_builder, bool inputsOK, bool sensorsOK, bool msgValid);
-  void build_live_pose(cereal::LivePose::Builder& fix);
-
-  Eigen::VectorXd get_position_geodetic();
-  Eigen::VectorXd get_state();
-  Eigen::VectorXd get_stdev();
-
-  void handle_msg_bytes(const char *data, const size_t size);
-  void handle_msg(const cereal::Event::Reader& log);
-  void handle_sensor(double current_time, const cereal::SensorEventData::Reader& log);
-  void handle_gps(double current_time, const cereal::GpsLocationData::Reader& log, const double sensor_time_offset);
-  void handle_gnss(double current_time, const cereal::GnssMeasurements::Reader& log);
-  void handle_car_state(double current_time, const cereal::CarState::Reader& log);
-  void handle_cam_odo(double current_time, const cereal::CameraOdometry::Reader& log);
-  void handle_live_calib(double current_time, const cereal::LiveCalibrationData::Reader& log);
-
-  void input_fake_gps_observations(double current_time);
-
-private:
-  std::unique_ptr<LiveKalman> kf;
-
-  Eigen::VectorXd calib;
-  MatrixXdr device_from_calib;
-  MatrixXdr calib_from_device;
-  bool calibrated = false;
-
-  double car_speed = 0.0;
-  double last_reset_time = NAN;
-  std::deque<double> posenet_stds;
-
-  std::unique_ptr<LocalCoord> converter;
-
-  int64_t unix_timestamp_millis = 0;
-  double reset_tracker = 0.0;
-  bool gps_mode = false;
-  double first_valid_log_time = NAN;
-  double ttff = NAN;
-  double last_gps_msg = 0;
-  LocalizerGnssSource gnss_source;
-  bool observation_timings_invalid = false;
-  std::map<std::string, double> observation_values_invalid;
-  bool standstill = true;
-  int32_t orientation_reset_count = 0;
-  float gps_std_factor;
-  float gps_variance_factor;
-  float gps_vertical_variance_factor;
-  double gps_time_offset;
-  Eigen::VectorXd camodo_yawrate_distribution = Eigen::Vector2d(0.0, 10.0); // mean, std
-
-  void configure_gnss_source(const LocalizerGnssSource &source);
-};