small ubloxd cleanup

release/files_common

@@ -286,7 +286,6 @@ selfdrive/locationd/.gitignore
 selfdrive/locationd/SConscript
 selfdrive/locationd/ubloxd.cc
 selfdrive/locationd/ubloxd_main.cc
-selfdrive/locationd/ubloxd_test.cc
 selfdrive/locationd/ublox_msg.cc
 selfdrive/locationd/ublox_msg.h
 

selfdrive/locationd/SConscript

@@ -2,14 +2,7 @@ Import('env', 'common', 'cereal', 'messaging')
 
 loc_libs = [cereal, messaging, 'zmq', common, 'capnp', 'kj', 'pthread']
 
-env.Program("ubloxd", [
+env.Program("ubloxd", ["ubloxd.cc", "ublox_msg.cc", "ubloxd_main.cc"], LIBS=loc_libs)
-  "ubloxd.cc",
-  "ublox_msg.cc",
-  "ubloxd_main.cc"],
-  LIBS=loc_libs)
 
-env.Program("ubloxd_test", [
+if GetOption("test"):
-  "ubloxd_test.cc",
+  env.Program("ubloxd_test", ["ubloxd_test.cc", "ublox_msg.cc", "ubloxd_main.cc"], LIBS=loc_libs)
-  "ublox_msg.cc",
-  "ubloxd_main.cc"],
-  LIBS=loc_libs)

selfdrive/locationd/ublox_msg.cc

@@ -1,20 +1,11 @@
 #include <stdio.h>
 #include <stdlib.h>
-#include <signal.h>
 #include <unistd.h>
-#include <sched.h>
-#include <sys/time.h>
-#include <sys/cdefs.h>
-#include <sys/types.h>
-#include <assert.h>
 #include <math.h>
 #include <ctime>
 #include <chrono>
-#include <algorithm>
 
-#include "common/params.h"
 #include "common/swaglog.h"
-#include "common/timing.h"
 
 #include "ublox_msg.h"
 
@@ -173,8 +164,7 @@ inline bool UbloxMsgParser::valid_cheksum() {
 
 inline bool UbloxMsgParser::valid() {
   return bytes_in_parse_buf >= UBLOX_HEADER_SIZE + UBLOX_CHECKSUM_SIZE &&
-    needed_bytes() == 0 &&
+         needed_bytes() == 0 && valid_cheksum();
-    valid_cheksum();
 }
 
 inline bool UbloxMsgParser::valid_so_far() {
@@ -186,8 +176,9 @@ inline bool UbloxMsgParser::valid_so_far() {
     //LOGD("PREAMBLE2 invalid, %02X.", msg_parse_buf[1]);
     return false;
   }
-  if(needed_bytes() == 0 && !valid())
+  if(needed_bytes() == 0 && !valid()) {
     return false;
+  }
   return true;
 }
 
@@ -221,7 +212,7 @@ kj::Array<capnp::word> UbloxMsgParser::gen_solution() {
 }
 
 inline bool bit_to_bool(uint8_t val, int shifts) {
-  return (val & (1 << shifts)) ? true : false;
+  return (bool)(val & (1 << shifts));
 }
 
 kj::Array<capnp::word> UbloxMsgParser::gen_raw() {

selfdrive/locationd/ublox_msg.h

@@ -68,6 +68,7 @@ typedef struct __attribute__((packed)) {
   int8_t trkStat;
   int8_t reserved3;
 } rxm_raw_msg_extra;
+
 // RXM_SFRBX
 typedef struct __attribute__((packed)) {
   int8_t gnssId;

selfdrive/locationd/ubloxd.cc

@@ -1,29 +1,11 @@
 #include <stdio.h>
-#include <stdlib.h>
-#include <string.h>
-#include <signal.h>
-#include <unistd.h>
-#include <sched.h>
-#include <sys/time.h>
-#include <sys/cdefs.h>
-#include <sys/types.h>
-#include <assert.h>
-#include <math.h>
-#include <ctime>
-#include <chrono>
 
 #include "messaging.hpp"
 
-#include "common/params.h"
-#include "common/swaglog.h"
-#include "common/timing.h"
-
 #include "ublox_msg.h"
 
-const long ZMQ_POLL_TIMEOUT = 1000; // In miliseconds
-
 Message * poll_ubloxraw_msg(Poller * poller) {
-  auto p = poller->poll(ZMQ_POLL_TIMEOUT);
+  auto p = poller->poll(1000);
 
   if (p.size()) {
     return p[0]->receive();
@@ -32,11 +14,10 @@ Message * poll_ubloxraw_msg(Poller * poller) {
   }
 }
 
-
 int send_gps_event(PubSocket *s, const void *buf, size_t len) {
   return s->send((char*)buf, len);
 }
 
 int main() {
   return ubloxd_main(poll_ubloxraw_msg, send_gps_event);
-}
+}

selfdrive/locationd/ubloxd_main.cc

@@ -3,7 +3,6 @@
 #include <string.h>
 #include <signal.h>
 #include <unistd.h>
-#include <sched.h>
 #include <errno.h>
 #include <sys/time.h>
 #include <sys/cdefs.h>

selfdrive/locationd/ubloxd_test.cc

@@ -1,16 +1,4 @@
 #include <stdio.h>
-#include <stdlib.h>
-#include <string.h>
-#include <signal.h>
-#include <unistd.h>
-#include <sched.h>
-#include <sys/time.h>
-#include <sys/cdefs.h>
-#include <sys/types.h>
-#include <assert.h>
-#include <math.h>
-#include <ctime>
-#include <chrono>
 #include <iostream>
 
 #include "messaging.hpp"
@@ -75,19 +63,23 @@ int main(int argc, char** argv) {
     printf("Format: ubloxd_test stream_file_path save_prefix\n");
     return 0;
   }
+
   // Parse 11360 msgs, generate 9452 events
   data = (uint8_t *)read_file(argv[1], &len);
   if(data == NULL) {
     LOGE("Read file %s failed\n", argv[1]);
     return -1;
   }
+
   prefix = argv[2];
   ubloxd_main(poll_ubloxraw_msg, send_gps_event);
   free(data);
   printf("Generated %d cereal events\n", save_idx);
+
   if(save_idx != 9452) {
     printf("Event count error: %d\n", save_idx);
     return -1;
   }
+
   return 0;
 }