From cdc7a6dbea75f10316e45833be6bade9f2e1694d Mon Sep 17 00:00:00 2001
From: Willem Melching <willem.melching@gmail.com>
Date: Fri, 1 Jul 2022 17:26:41 +0200
Subject: [PATCH] enable laikad (#25013)

* enable laikad

* increase logprint for onroad test
---
 selfdrive/controls/controlsd.py     | 2 +-
 selfdrive/manager/process_config.py | 2 +-
 selfdrive/test/test_onroad.py       | 1 +
 3 files changed, 3 insertions(+), 2 deletions(-)

diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index 67eaf1588b..cceb47947a 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -38,7 +38,7 @@ REPLAY = "REPLAY" in os.environ
 SIMULATION = "SIMULATION" in os.environ
 NOSENSOR = "NOSENSOR" in os.environ
 IGNORE_PROCESSES = {"uploader", "deleter", "loggerd", "logmessaged", "tombstoned", "statsd",
-                    "logcatd", "proclogd", "clocksd", "updated", "timezoned", "manage_athenad"} | \
+                    "logcatd", "proclogd", "clocksd", "updated", "timezoned", "manage_athenad", "laikad"} | \
                    {k for k, v in managed_processes.items() if not v.enabled}
 
 ThermalStatus = log.DeviceState.ThermalStatus
diff --git a/selfdrive/manager/process_config.py b/selfdrive/manager/process_config.py
index 7e4029664d..dec51966a4 100644
--- a/selfdrive/manager/process_config.py
+++ b/selfdrive/manager/process_config.py
@@ -41,6 +41,7 @@ procs = [
   PythonProcess("controlsd", "selfdrive.controls.controlsd"),
   PythonProcess("deleter", "selfdrive.loggerd.deleter", offroad=True),
   PythonProcess("dmonitoringd", "selfdrive.monitoring.dmonitoringd", enabled=(not PC or WEBCAM), callback=driverview),
+  PythonProcess("laikad", "selfdrive.locationd.laikad"),
   PythonProcess("navd", "selfdrive.navd.navd"),
   PythonProcess("pandad", "selfdrive.boardd.pandad", offroad=True),
   PythonProcess("paramsd", "selfdrive.locationd.paramsd"),
@@ -57,7 +58,6 @@ procs = [
 
   # Experimental
   PythonProcess("rawgpsd", "selfdrive.sensord.rawgps.rawgpsd", enabled=os.path.isfile("/persist/comma/use-quectel-rawgps")),
-  PythonProcess("laikad", "selfdrive.locationd.laikad", enabled=os.path.isfile("/persist/comma/use-laikad")),
 ]
 
 managed_processes = {p.name: p for p in procs}
diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py
index a7ab55fe2a..8007afb84c 100755
--- a/selfdrive/test/test_onroad.py
+++ b/selfdrive/test/test_onroad.py
@@ -118,6 +118,7 @@ class TestOnroad(unittest.TestCase):
     os.environ['REPLAY'] = "1"
     os.environ['SKIP_FW_QUERY'] = "1"
     os.environ['FINGERPRINT'] = "TOYOTA COROLLA TSS2 2019"
+    os.environ['LOGPRINT'] = 'debug'
 
     params = Params()
     params.clear_all()