Remove laika submodule (#30453)

* Remove laika submodule

* Remove laika check for minimal builds

* Fix minimal build check

* Bring back exclude for opendbc in codespell

* Fix typo

* Copy GNSS indices from laika

* Delete laika dependencies
old-commit-hash: 2de13bea91d7c095491d9f3f21cb71d995c63bb4

.gitmodules

@@ -4,9 +4,6 @@
 [submodule "opendbc"]
   path = opendbc
   url = ../../commaai/opendbc.git
-[submodule "laika_repo"]
-  path = laika_repo
-  url = ../../commaai/laika.git
 [submodule "cereal"]
   path = cereal
   url = ../../commaai/cereal.git

.pre-commit-config.yaml

@@ -26,7 +26,7 @@ repos:
     rev: v2.2.6
     hooks:
     -   id: codespell
-        exclude: '^(third_party/)|(body/)|(cereal/)|(rednose/)|(panda/)|(laika/)|(opendbc/)|(laika_repo/)|(rednose_repo/)|(selfdrive/ui/translations/.*.ts)|(poetry.lock)'
+        exclude: '^(third_party/)|(body/)|(cereal/)|(panda/)|(opendbc/)|(rednose/)|(rednose_repo/)|(selfdrive/ui/translations/.*.ts)|(poetry.lock)'
         args:
         # if you've got a short variable name that's getting flagged, add it here
         - -L bu,ro,te,ue,alo,hda,ois,nam,nams,ned,som,parm,setts,inout,warmup,bumb,nd,sie,preints
@@ -39,12 +39,12 @@ repos:
         language: system
         types: [python]
         args: ['--explicit-package-bases']
-        exclude: '^(third_party/)|(cereal/)|(opendbc/)|(panda/)|(laika/)|(laika_repo/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(xx/)'
+        exclude: '^(third_party/)|(cereal/)|(opendbc/)|(panda/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(xx/)'
 -   repo: https://github.com/astral-sh/ruff-pre-commit
     rev: v0.1.5
     hooks:
     -   id: ruff
-        exclude: '^(third_party/)|(cereal/)|(rednose/)|(panda/)|(laika/)|(laika_repo/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)'
+        exclude: '^(third_party/)|(cereal/)|(panda/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)'
 -   repo: local
     hooks:
     -   id: cppcheck

Dockerfile.openpilot

@@ -13,8 +13,6 @@ COPY SConstruct ${OPENPILOT_PATH}
 COPY ./openpilot ${OPENPILOT_PATH}/openpilot
 COPY ./third_party ${OPENPILOT_PATH}/third_party
 COPY ./site_scons ${OPENPILOT_PATH}/site_scons
-COPY ./laika ${OPENPILOT_PATH}/laika
-COPY ./laika_repo ${OPENPILOT_PATH}/laika_repo
 COPY ./rednose ${OPENPILOT_PATH}/rednose
 COPY ./tools ${OPENPILOT_PATH}/tools
 COPY ./release ${OPENPILOT_PATH}/release

SConstruct

@@ -56,7 +56,7 @@ AddOption('--pc-thneed',
 AddOption('--minimal',
           action='store_false',
           dest='extras',
-          default=os.path.islink(Dir('#laika/').abspath),
+          default=os.path.islink(Dir('#rednose/').abspath), # minimal by default on release branch (where rednose is not a link)
           help='the minimum build to run openpilot. no tests, tools, etc.')
 
 ## Architecture name breakdown (arch)

docs/Makefile

@@ -41,7 +41,7 @@ clean:
 
 	@echo "Building rst files..."
 	sphinx-apidoc -o "$(DOCSBUILDDIR)" ../ \
-		../xx ../laika_repo ../rednose_repo ../notebooks ../panda_jungle \
+		../xx ../rednose_repo ../notebooks ../panda_jungle \
 		../third_party \
 		../panda/examples \
 		../scripts \

docs/overview.rst

@@ -18,14 +18,6 @@ cereal
    cereal/README.md
    cereal/messaging/msgq.md
 
-laika
-=========
-
-.. toctree::
-   :maxdepth: 4
-
-   laika_repo/README.md
-
 models
 =========
 

laika

@@ -1 +0,0 @@
-laika_repo/laika/

poetry.lock

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:f131dbbf295ce7584d9df3768254a5ea8c486ca008b84c5437bbdfc90261bbc8
-size 451773
+oid sha256:fe928d22a4b219d099d51d732ca7b1d017e0f94295cc0901b31553182cc6bbff
+size 439894

pyproject.toml

@@ -1,6 +1,6 @@
 [tool.pytest.ini_options]
 minversion = "6.0"
-addopts = "--ignore=openpilot/ --ignore=cereal/ --ignore=opendbc/ --ignore=panda/ --ignore=rednose_repo/ --ignore=tinygrad_repo/ --ignore=laika_repo/ -Werror --strict-config --strict-markers --durations=10 -n auto --dist=loadgroup"
+addopts = "--ignore=openpilot/ --ignore=cereal/ --ignore=opendbc/ --ignore=panda/ --ignore=rednose_repo/ --ignore=tinygrad_repo/ -Werror --strict-config --strict-markers --durations=10 -n auto --dist=loadgroup"
 cpp_files = "test_*"
 python_files = "test_*.py"
 #timeout = "30"  # you get this long by default
@@ -38,8 +38,6 @@ exclude = [
   "cereal/",
   "opendbc/",
   "panda/",
-  "laika/",
-  "laika_repo/",
   "rednose/",
   "rednose_repo/",
   "tinygrad/",
@@ -82,7 +80,6 @@ crcmod = "*"
 cryptography = "*"
 Cython = "*"
 future-fstrings = "*"  # for acados
-hatanaka = "==2.4"
 hexdump = "*"
 Jinja2 = "*"
 json-rpc = "*"
@@ -159,7 +156,6 @@ sphinx-sitemap = "*"
 tabulate = "*"
 tenacity = "*"
 types-atomicwrites = "*"
-types-certifi = "*"
 types-pycurl = "*"
 types-PyYAML = "*"
 types-requests = "*"
@@ -187,7 +183,6 @@ target-version="py311"
 exclude = [
   "panda",
   "opendbc",
-  "laika_repo",
   "rednose_repo",
   "tinygrad_repo",
   "third_party",

release/files_common

@@ -448,7 +448,6 @@ scripts/stop_updater.sh
 
 rednose/.gitignore
 rednose/**
-laika/**
 
 body/.gitignore
 body/board/SConscript

selfdrive/locationd/models/gnss_helpers.py

@@ -1,19 +1,35 @@
 import numpy as np
-from laika.raw_gnss import GNSSMeasurement
+
+
+# source: GNSSMeasurement (https://github.com/commaai/laika/blob/master/laika/raw_gnss.py)
+class RawGNSSMeasurementIndices:
+  PRN = 0
+  RECV_TIME_WEEK = 1
+  RECV_TIME_SEC = 2
+  GLONASS_FREQ = 3
+
+  PR = 4
+  PR_STD = 5
+  PRR = 6
+  PRR_STD = 7
+
+  SAT_POS = slice(8, 11)
+  SAT_VEL = slice(11, 14)
+
 
 def parse_prr(m):
-  sat_pos_vel_i = np.concatenate((m[GNSSMeasurement.SAT_POS],
-                                  m[GNSSMeasurement.SAT_VEL]))
-  R_i = np.atleast_2d(m[GNSSMeasurement.PRR_STD]**2)
-  z_i = m[GNSSMeasurement.PRR]
+  sat_pos_vel_i = np.concatenate((m[RawGNSSMeasurementIndices.SAT_POS],
+                                  m[RawGNSSMeasurementIndices.SAT_VEL]))
+  R_i = np.atleast_2d(m[RawGNSSMeasurementIndices.PRR_STD]**2)
+  z_i = m[RawGNSSMeasurementIndices.PRR]
   return z_i, R_i, sat_pos_vel_i
 
+
 def parse_pr(m):
-  pseudorange = m[GNSSMeasurement.PR]
-  pseudorange_stdev = m[GNSSMeasurement.PR_STD]
-  sat_pos_freq_i = np.concatenate((m[GNSSMeasurement.SAT_POS],
-                                   np.array([m[GNSSMeasurement.GLONASS_FREQ]])))
+  pseudorange = m[RawGNSSMeasurementIndices.PR]
+  pseudorange_stdev = m[RawGNSSMeasurementIndices.PR_STD]
+  sat_pos_freq_i = np.concatenate((m[RawGNSSMeasurementIndices.SAT_POS],
+                                   np.array([m[RawGNSSMeasurementIndices.GLONASS_FREQ]])))
   z_i = np.atleast_1d(pseudorange)
   R_i = np.atleast_2d(pseudorange_stdev**2)
   return z_i, R_i, sat_pos_freq_i
-