add proper qcom replay support

selfdrive/locationd/laikad.py

@@ -171,15 +171,17 @@ class Laikad:
     return position_estimate, position_std, velocity_estimate, velocity_std, corrected_measurements, processed_measurements
 
   def process_gnss_msg(self, gnss_msg, gnss_mono_time: int, block=False):
+    msg = messaging.new_message("gnssMeasurements")
+    msg.valid = False
 
     if self.is_ephemeris(gnss_msg):
       self.read_ephemeris(gnss_msg)
-      return None
+      return msg
     elif self.is_good_report(gnss_msg):
 
       week, tow, new_meas = self.read_report(gnss_msg)
       if len(new_meas) == 0:
-        return None
+        return msg
 
       self.gps_week = week
       t = gnss_mono_time * 1e-9
@@ -191,17 +193,16 @@ class Laikad:
 
       output = self.process_report(new_meas, t)
       if output is None:
-        return None
+        return msg
       position_estimate, position_std, velocity_estimate, velocity_std, corrected_measurements, _ = output
 
       self.update_localizer(position_estimate, t, corrected_measurements)
       meas_msgs = [create_measurement_msg(m) for m in corrected_measurements]
-      dat = messaging.new_message("gnssMeasurements")
       measurement_msg = log.LiveLocationKalman.Measurement.new_message
 
       P_diag = self.gnss_kf.P.diagonal()
       kf_valid = all(self.kf_valid(t))
-      dat.gnssMeasurements = {
+      msg.gnssMeasurements = {
         "gpsWeek": week,
         "gpsTimeOfWeek": tow,
         "kalmanPositionECEF": measurement_msg(value=self.gnss_kf.x[GStates.ECEF_POS].tolist(),
@@ -216,7 +217,8 @@ class Laikad:
         "measTime": gnss_mono_time,
         "correctedMeasurements": meas_msgs
       }
-      return dat
+      msg.valid = True
+      return msg
 
     #elif gnss_msg.which() == 'ionoData':
     # TODO: add this, Needed to better correct messages offline. First fix ublox_msg.cc to sent them.
@@ -386,9 +388,9 @@ def process_msg(laikad, gnss_msg, mono_time, block=False):
   return laikad.process_gnss_msg(gnss_msg, mono_time, block=block)
 
 
-def main(sm=None, pm=None):
+def main(sm=None, pm=None, qc=None):
   use_qcom = not Params().get_bool("UbloxAvailable", block=True)
-  if use_qcom:
+  if use_qcom or (qc is not None and qc):
     raw_gnss_socket = "qcomGnss"
   else:
     raw_gnss_socket = "ubloxGnss"
@@ -409,8 +411,11 @@ def main(sm=None, pm=None):
       gnss_msg = sm[raw_gnss_socket]
 
       msg = process_msg(laikad, gnss_msg, sm.logMonoTime[raw_gnss_socket], replay)
-      if msg is not None:
+      if msg is None:
-        pm.send('gnssMeasurements', msg)
+        msg = messaging.new_message("gnssMeasurements")
+        msg.valid = False
+
+      pm.send('gnssMeasurements', msg)
 
     if not laikad.got_first_gnss_msg and sm.updated['clocks']:
       clocks_msg = sm['clocks']

selfdrive/test/process_replay/process_replay.py

@@ -25,18 +25,14 @@ from selfdrive.manager.process_config import managed_processes
 NUMPY_TOLERANCE = 1e-7
 CI = "CI" in os.environ
 TIMEOUT = 15
-# laikad may not return on a gnss message, shorter timeout
-TIMEOUT_LAIKAD_RESPONSE = 1
 PROC_REPLAY_DIR = os.path.dirname(os.path.abspath(__file__))
 FAKEDATA = os.path.join(PROC_REPLAY_DIR, "fakedata/")
 
-ProcessConfig = namedtuple('ProcessConfig', ['proc_name', 'pub_sub', 'ignore', 'init_callback', 'should_recv_callback', 'tolerance', 'fake_pubsubmaster', 'submaster_config', 'environ', 'subtest_name', "field_tolerances", "allow_no_response"], defaults=({}, {}, "", {}, False))
+ProcessConfig = namedtuple('ProcessConfig', ['proc_name', 'pub_sub', 'ignore', 'init_callback', 'should_recv_callback', 'tolerance', 'fake_pubsubmaster', 'submaster_config', 'environ', 'subtest_name', "field_tolerances"], defaults=({}, {}, "", {}))
 
 
-def wait_for_event(evt, timeout=TIMEOUT, allow_timeout=False):
+def wait_for_event(evt):
-  if not evt.wait(timeout):
+  if not evt.wait(TIMEOUT):
-    if allow_timeout:
-      return
     if threading.currentThread().getName() == "MainThread":
       # tested process likely died. don't let test just hang
       raise Exception(f"Timeout reached. Tested process {os.environ['PROC_NAME']} likely crashed.")
@@ -150,10 +146,10 @@ class FakePubMaster(messaging.PubMaster):
     wait_for_event(self.get_called)
     self.get_called.clear()
 
-  def wait_for_msg(self, timeout=TIMEOUT, allow_timeout=False):
+  def wait_for_msg(self):
-    wait_for_event(self.send_called, timeout, allow_timeout)
+    wait_for_event(self.send_called)
     self.send_called.clear()
-    dat = None if self.last_updated is None else self.data[self.last_updated]
+    dat = self.data[self.last_updated]
     self.get_called.set()
     return dat
 
@@ -255,8 +251,10 @@ def ublox_rcv_callback(msg):
 def laika_rcv_callback(msg, CP, cfg, fsm):
   if msg.which() == 'ubloxGnss' and msg.ubloxGnss.which() == "measurementReport":
     return ["gnssMeasurements"], True
+  elif msg.which() == 'qcomGnss' and msg.qcomGnss.which() == "drMeasurementReport":
+    return ["gnssMeasurements"], True
   else:
-    return [], True
+    return [], False
 
 
 CONFIGS = [
@@ -368,6 +366,7 @@ CONFIGS = [
     proc_name="laikad",
     pub_sub={
       "ubloxGnss": ["gnssMeasurements"],
+      "qcomGnss": ["gnssMeasurements"],
       "clocks": []
     },
     ignore=["logMonoTime"],
@@ -375,7 +374,6 @@ CONFIGS = [
     should_recv_callback=laika_rcv_callback,
     tolerance=NUMPY_TOLERANCE,
     fake_pubsubmaster=True,
-    allow_no_response=True,
   ),
   ProcessConfig(
     proc_name="torqued",
@@ -465,6 +463,10 @@ def python_replay_process(cfg, lr, fingerprint=None):
   all_msgs = sorted(lr, key=lambda msg: msg.logMonoTime)
   pub_msgs = [msg for msg in all_msgs if msg.which() in list(cfg.pub_sub.keys())]
 
+  # laikad needs decision between submaster ubloxGnss and qcomGnss
+  if cfg.proc_name == "laikad":
+    args = (*args, not any(m.which() == "ubloxGnss" for m in pub_msgs))
+
   controlsState = None
   initialized = False
   for msg in lr:
@@ -526,11 +528,7 @@ def python_replay_process(cfg, lr, fingerprint=None):
 
       recv_cnt = len(recv_socks)
       while recv_cnt > 0:
-        timeout = TIMEOUT_LAIKAD_RESPONSE if cfg.allow_no_response else TIMEOUT
+        m = fpm.wait_for_msg().as_builder()
-        m = fpm.wait_for_msg(timeout, cfg.allow_no_response)
-        if m is None and cfg.allow_no_response:
-          break
-        m = m.as_builder()
         m.logMonoTime = msg.logMonoTime
         m = m.as_reader()