remove gpsd (#20027)

release/files_common

@@ -319,14 +319,12 @@ selfdrive/loggerd/deleter.py
 selfdrive/loggerd/xattr_cache.py
 
 selfdrive/sensord/SConscript
-selfdrive/sensord/gpsd.cc
 selfdrive/sensord/libdiag.h
 selfdrive/sensord/sensors_qcom.cc
 selfdrive/sensord/sensors_qcom2.cc
 selfdrive/sensord/sensors/*.cc
 selfdrive/sensord/sensors/*.hpp
 selfdrive/sensord/sensord
-selfdrive/sensord/gpsd
 
 selfdrive/thermald/thermald.py
 selfdrive/thermald/power_monitoring.py

selfdrive/car/mock/interface.py

@@ -21,7 +21,7 @@ class CarInterface(CarInterfaceBase):
 
     # TODO: subscribe to phone sensor
     self.sensor = messaging.sub_sock('sensorEvents')
-    self.gps = messaging.sub_sock('gpsLocation')
+    self.gps = messaging.sub_sock('gpsLocationExternal')
 
     self.speed = 0.
     self.prev_speed = 0.
@@ -59,7 +59,7 @@ class CarInterface(CarInterfaceBase):
     gps = messaging.recv_sock(self.gps)
     if gps is not None:
       self.prev_speed = self.speed
-      self.speed = gps.gpsLocation.speed
+      self.speed = gps.gpsLocationExternal.speed
 
     # create message
     ret = car.CarState.new_message()

selfdrive/controls/controlsd.py

@@ -30,7 +30,7 @@ STEER_ANGLE_SATURATION_THRESHOLD = 2.5  # Degrees
 
 SIMULATION = "SIMULATION" in os.environ
 NOSENSOR = "NOSENSOR" in os.environ
-IGNORE_PROCESSES = set(["rtshield", "uploader", "deleter", "loggerd", "logmessaged", "tombstoned", "logcatd", "proclogd", "clocksd", "gpsd", "updated", "timezoned"])
+IGNORE_PROCESSES = set(["rtshield", "uploader", "deleter", "loggerd", "logmessaged", "tombstoned", "logcatd", "proclogd", "clocksd", "updated", "timezoned"])
 
 ThermalStatus = log.ThermalData.ThermalStatus
 State = log.ControlsState.OpenpilotState

selfdrive/manager.py

@@ -173,7 +173,6 @@ managed_processes = {
   "camerad": ("selfdrive/camerad", ["./camerad"]),
   "sensord": ("selfdrive/sensord", ["./sensord"]),
   "clocksd": ("selfdrive/clocksd", ["./clocksd"]),
-  "gpsd": ("selfdrive/sensord", ["./gpsd"]),
   "updated": "selfdrive.updated",
   "dmonitoringmodeld": ("selfdrive/modeld", ["./dmonitoringmodeld"]),
   "modeld": ("selfdrive/modeld", ["./modeld"]),
@@ -252,7 +251,6 @@ if not PC or WEBCAM:
 
 if EON:
   car_started_processes += [
-    'gpsd',
     'rtshield',
   ]
 else:

selfdrive/sensord/SConscript

@@ -1,9 +1,7 @@
 Import('env', 'arch', 'common', 'cereal', 'messaging')
+
 if arch == "aarch64":
   env.Program('_sensord', 'sensors_qcom.cc', LIBS=['hardware', common, cereal, messaging, 'capnp', 'zmq', 'kj'])
-  lenv = env.Clone()
-  lenv['LIBPATH'] += ['/system/vendor/lib64']
-  lenv.Program('_gpsd', ['gpsd.cc'], LIBS=['hardware', common, 'diag', 'time_genoff', cereal, messaging, 'capnp', 'zmq', 'kj'])
 else:
   sensors = [
     'sensors/file_sensor.cc',

selfdrive/sensord/gpsd

@@ -1,3 +0,0 @@
-#!/bin/sh
-export LD_LIBRARY_PATH="/system/lib64:$LD_LIBRARY_PATH"
-exec ./_gpsd

selfdrive/sensord/gpsd.cc

@@ -1,155 +0,0 @@
-#include <stdio.h>
-#include <stdint.h>
-#include <string.h>
-#include <unistd.h>
-#include <assert.h>
-#include <sys/time.h>
-#include <sys/cdefs.h>
-#include <sys/types.h>
-#include <sys/resource.h>
-
-#include <pthread.h>
-
-#include <cutils/log.h>
-
-#include <hardware/gps.h>
-#include <utils/Timers.h>
-
-#include "messaging.hpp"
-#include "common/timing.h"
-#include "common/util.h"
-#include "common/swaglog.h"
-
-ExitHandler do_exit;
-
-namespace {
-
-PubMaster *pm;
-
-const GpsInterface* gGpsInterface = NULL;
-const AGpsInterface* gAGpsInterface = NULL;
-
-void nmea_callback(GpsUtcTime timestamp, const char* nmea, int length) {
-
-  uint64_t log_time_wall = nanos_since_epoch();
-
-  MessageBuilder msg;
-  auto nmeaData = msg.initEvent().initGpsNMEA();
-  nmeaData.setTimestamp(timestamp);
-  nmeaData.setLocalWallTime(log_time_wall);
-  nmeaData.setNmea(nmea);
-
-  pm->send("gpsNMEA", msg);
-}
-
-void location_callback(GpsLocation* location) {
-  //printf("got location callback\n");
-
-  MessageBuilder msg;
-  auto locationData = msg.initEvent().initGpsLocation();
-  locationData.setFlags(location->flags);
-  locationData.setLatitude(location->latitude);
-  locationData.setLongitude(location->longitude);
-  locationData.setAltitude(location->altitude);
-  locationData.setSpeed(location->speed);
-  locationData.setBearing(location->bearing);
-  locationData.setAccuracy(location->accuracy);
-  locationData.setTimestamp(location->timestamp);
-  locationData.setSource(cereal::GpsLocationData::SensorSource::ANDROID);
-
-  pm->send("gpsLocation", msg);
-}
-
-pthread_t create_thread_callback(const char* name, void (*start)(void *), void* arg) {
-  LOG("creating thread: %s", name);
-  pthread_t thread;
-  pthread_attr_t attr;
-  int err;
-
-  err = pthread_attr_init(&attr);
-  err = pthread_create(&thread, &attr, (void*(*)(void*))start, arg);
-
-  return thread;
-}
-
-GpsCallbacks gps_callbacks = {
-  sizeof(GpsCallbacks),
-  location_callback,
-  NULL,
-  NULL,
-  nmea_callback,
-  NULL,
-  NULL,
-  NULL,
-  create_thread_callback,
-};
-
-void agps_status_cb(AGpsStatus *status) {
-  switch (status->status) {
-    case GPS_REQUEST_AGPS_DATA_CONN:
-      fprintf(stdout, "*** data_conn_open\n");
-      gAGpsInterface->data_conn_open("internet");
-      break;
-    case GPS_RELEASE_AGPS_DATA_CONN:
-      fprintf(stdout, "*** data_conn_closed\n");
-      gAGpsInterface->data_conn_closed();
-      break;
-  }
-}
-
-AGpsCallbacks agps_callbacks = {
-  agps_status_cb,
-  create_thread_callback,
-};
-
-void gps_init() {
-  pm = new PubMaster({"gpsNMEA", "gpsLocation"});
-  LOG("*** init GPS");
-  hw_module_t* module = NULL;
-  hw_get_module(GPS_HARDWARE_MODULE_ID, (hw_module_t const**)&module);
-  assert(module);
-
-  static hw_device_t* device = NULL;
-  module->methods->open(module, GPS_HARDWARE_MODULE_ID, &device);
-  assert(device);
-
-  // ** get gps interface **
-  gps_device_t* gps_device = (gps_device_t *)device;
-  gGpsInterface = gps_device->get_gps_interface(gps_device);
-  assert(gGpsInterface);
-
-  gAGpsInterface = (const AGpsInterface*)gGpsInterface->get_extension(AGPS_INTERFACE);
-  assert(gAGpsInterface);
-
-
-  gGpsInterface->init(&gps_callbacks);
-  gAGpsInterface->init(&agps_callbacks);
-  gAGpsInterface->set_server(AGPS_TYPE_SUPL, "supl.google.com", 7276);
-
-  // gGpsInterface->delete_aiding_data(GPS_DELETE_ALL);
-  gGpsInterface->start();
-  gGpsInterface->set_position_mode(GPS_POSITION_MODE_MS_BASED,
-                                   GPS_POSITION_RECURRENCE_PERIODIC,
-                                   100, 0, 0);
-
-}
-
-void gps_destroy() {
-  delete pm;
-  gGpsInterface->stop();
-  gGpsInterface->cleanup();
-}
-
-}
-
-int main() {
-  setpriority(PRIO_PROCESS, 0, -13);
-
-  gps_init();
-
-  while(!do_exit) pause();
-
-  gps_destroy();
-
-  return 0;
-}

selfdrive/test/process_replay/process_replay.py

@@ -221,7 +221,7 @@ CONFIGS = [
     proc_name="controlsd",
     pub_sub={
       "can": ["controlsState", "carState", "carControl", "sendcan", "carEvents", "carParams"],
-      "thermal": [], "health": [], "liveCalibration": [], "driverMonitoringState": [], "longitudinalPlan": [], "lateralPlan": [], "gpsLocation": [], "liveLocationKalman": [], "liveParameters": [], "radarState": [],
+      "thermal": [], "health": [], "liveCalibration": [], "driverMonitoringState": [], "longitudinalPlan": [], "lateralPlan": [], "liveLocationKalman": [], "liveParameters": [], "radarState": [],
       "modelV2": [], "frontFrame": [], "frame": [], "ubloxRaw": [], "managerState": [],
     },
     ignore=["logMonoTime", "valid", "controlsState.startMonoTime", "controlsState.cumLagMs"],

selfdrive/test/test_onroad.py

@@ -31,7 +31,6 @@ PROCS = [
   ("selfdrive.locationd.calibrationd", 2.0),
   ("selfdrive.monitoring.dmonitoringd", 1.90),
   ("./proclogd", 1.54),
-  ("./_gpsd", 0.09),
   ("./clocksd", 0.02),
   ("./ubloxd", 0.02),
   ("selfdrive.tombstoned", 0),

selfdrive/thermald/thermald.py

@@ -167,7 +167,7 @@ def thermald_thread():
 
   health_timeout = int(1000 * 2.5 * DT_TRML)  # 2.5x the expected health frequency
   health_sock = messaging.sub_sock('health', timeout=health_timeout)
-  location_sock = messaging.sub_sock('gpsLocation')
+  location_sock = messaging.sub_sock('gpsLocationExternal')
 
   fan_speed = 0
   count = 0
@@ -415,7 +415,7 @@ def thermald_thread():
       cloudlog.event("STATUS_PACKET",
                      count=count,
                      health=(health.to_dict() if health else None),
-                     location=(location.gpsLocation.to_dict() if location else None),
+                     location=(location.gpsLocationExternal.to_dict() if location else None),
                      thermal=msg.to_dict())
 
     count += 1

tools/replay/unlogger.py

@@ -314,7 +314,7 @@ def _get_address_mapping(args):
   if args.min is not None:
     services_to_mock = [
       'thermal', 'can', 'health', 'sensorEvents', 'gpsNMEA', 'frame', 'encodeIdx',
-      'model', 'features', 'liveLocation', 'gpsLocation'
+      'model', 'features', 'liveLocation',
     ]
   elif args.enabled is not None:
     services_to_mock = args.enabled

tools/sim/lib/replay.sh

@@ -2,5 +2,5 @@
 
 cd ~/openpilot/tools/nui
 
-# vision, boardd, sensorsd, gpsd
+# vision, boardd, sensorsd
-ALLOW=frame,can,ubloxRaw,health,sensorEvents,gpsNMEA,gpsLocation ./nui "02ec6bea180a4d36/2019-10-25--10-18-09"
+ALLOW=frame,can,ubloxRaw,health,sensorEvents,gpsNMEA,gpsLocationExternal ./nui "02ec6bea180a4d36/2019-10-25--10-18-09"