Rm laikad (#30299)

* rm laika

* Rm laika

* Needed this

* More rm

* More rm

selfdrive/test/process_replay/README.md

@@ -17,7 +17,6 @@ Currently the following processes are tested:
 * locationd
 * paramsd
 * ubloxd
-* laikad
 * torqued
 
 ### Usage
@@ -71,7 +70,7 @@ lr = LogReader(...)
 output_logs = replay_process_with_name('locationd', lr)
 
 # or list of names
-output_logs = replay_process_with_name(['ubloxd', 'locationd', 'laikad'], lr)
+output_logs = replay_process_with_name(['ubloxd', 'locationd'], lr)
 ```
 
 Supported processes: 
@@ -83,7 +82,6 @@ Supported processes:
 * locationd
 * paramsd 
 * ubloxd
-* laikad
 * torqued
 * modeld
 * dmonitoringmodeld

selfdrive/test/process_replay/process_replay.py

@@ -448,16 +448,6 @@ def controlsd_config_callback(params, cfg, lr):
   params.put("ReplayControlsState", controlsState.as_builder().to_bytes())
 
 
-def laikad_config_pubsub_callback(params, cfg, lr):
-  ublox = params.get_bool("UbloxAvailable")
-  main_key = "ubloxGnss" if ublox else "qcomGnss"
-  sub_keys = ({"qcomGnss", } if ublox else {"ubloxGnss", })
-
-  cfg.pubs = set(cfg.pubs) - sub_keys
-  cfg.main_pub = main_key
-  cfg.main_pub_drained = True
-
-
 def locationd_config_pubsub_callback(params, cfg, lr):
   ublox = params.get_bool("UbloxAvailable")
   sub_keys = ({"gpsLocation", } if ublox else {"gpsLocationExternal", })
@@ -543,17 +533,6 @@ CONFIGS = [
     subs=["ubloxGnss", "gpsLocationExternal"],
     ignore=["logMonoTime"],
   ),
-  ProcessConfig(
-    proc_name="laikad",
-    pubs=["ubloxGnss", "qcomGnss"],
-    subs=["gnssMeasurements"],
-    ignore=["logMonoTime"],
-    config_callback=laikad_config_pubsub_callback,
-    tolerance=NUMPY_TOLERANCE,
-    processing_time=0.002,
-    timeout=60*10,  # first messages are blocked on internet assistance
-    main_pub="ubloxGnss", # config_callback will switch this to qcom if needed
-  ),
   ProcessConfig(
     proc_name="torqued",
     pubs=["liveLocationKalman", "carState", "carControl"],

selfdrive/test/process_replay/test_fuzzy.py

@@ -13,7 +13,7 @@ import openpilot.selfdrive.test.process_replay.process_replay as pr
 # These processes currently fail because of unrealistic data breaking assumptions
 # that openpilot makes causing error with NaN, inf, int size, array indexing ...
 # TODO: Make each one testable
-NOT_TESTED = ['controlsd', 'plannerd', 'calibrationd', 'dmonitoringd', 'paramsd', 'laikad', 'dmonitoringmodeld', 'modeld']
+NOT_TESTED = ['controlsd', 'plannerd', 'calibrationd', 'dmonitoringd', 'paramsd', 'dmonitoringmodeld', 'modeld']
 TEST_CASES = [(cfg.proc_name, copy.deepcopy(cfg)) for cfg in pr.CONFIGS if cfg.proc_name not in NOT_TESTED]
 
 class TestFuzzProcesses(unittest.TestCase):

selfdrive/test/profiling/profiler.py

@@ -83,14 +83,12 @@ if __name__ == '__main__':
   from openpilot.selfdrive.controls.radard import radard_thread
   from openpilot.selfdrive.locationd.paramsd import main as paramsd_thread
   from openpilot.selfdrive.controls.plannerd import main as plannerd_thread
-  from openpilot.selfdrive.locationd.laikad import main as laikad_thread
 
   procs = {
     'radard': radard_thread,
     'controlsd': controlsd_thread,
     'paramsd': paramsd_thread,
     'plannerd': plannerd_thread,
-    'laikad': laikad_thread,
   }
 
   proc = sys.argv[1]

selfdrive/test/test_onroad.py

@@ -56,7 +56,6 @@ PROCS = {
   "selfdrive.navd.navd": 0.4,
   "system.loggerd.uploader": 3.0,
   "system.loggerd.deleter": 0.1,
-  "selfdrive.locationd.laikad": (1.0, 80.0),  # TODO: better GPS setup in testing closet
 }
 
 PROCS.update({

selfdrive/test/update_ci_routes.py

@@ -8,7 +8,6 @@ from azure.storage.blob import ContainerClient
 from tqdm import tqdm
 
 from openpilot.selfdrive.car.tests.routes import routes as test_car_models_routes
-from openpilot.selfdrive.locationd.test.test_laikad import UBLOX_TEST_ROUTE, QCOM_TEST_ROUTE
 from openpilot.selfdrive.test.process_replay.test_processes import source_segments as replay_segments
 from openpilot.selfdrive.test.openpilotci import (DATA_CI_ACCOUNT, DATA_CI_ACCOUNT_URL, DATA_CI_CONTAINER,
                                                   get_azure_credential, get_container_sas)
@@ -90,7 +89,6 @@ if __name__ == "__main__":
 
   if not len(to_sync):
     # sync routes from the car tests routes and process replay
-    to_sync.extend([UBLOX_TEST_ROUTE, QCOM_TEST_ROUTE])
     to_sync.extend([rt.route for rt in test_car_models_routes])
     to_sync.extend([s[1].rsplit('--', 1)[0] for s in replay_segments])