convert locationd to c++ (#20622)

* live_kf to c++

* first locationd code

* Running in process_replay

* locationd handle cam_odo and live_calib

* log event handlers

* working message receiving

* compiling message sending

* correctly sending some messages

* correct receiving and sending

* update ref_commit with some all_alive_and_valid being false, minor fixes

* fix std abs

* linking on device fix

* fix cpu usage test

* generate kf constants and defines

* fix replay test

* replay without acks, cleanup

* operate on bytearray messages

* cleanup

* send msg fix

* small sleep, less flaky test

* remove python locationd

* review feedback

* bump rednose
old-commit-hash: 3420707ad58b060333246eb43db09474bb336d39

selfdrive/locationd/SConscript

@@ -1,8 +1,7 @@
-Import('env', 'common', 'cereal', 'messaging')
+Import('env', 'common', 'cereal', 'messaging', 'libkf', 'transformations')
 
 loc_libs = [cereal, messaging, 'zmq', common, 'capnp', 'kj', 'kaitai', 'pthread']
 
-
 if GetOption('kaitai'):
   generated = Dir('generated').srcnode().abspath
   cmd = f"kaitai-struct-compiler --target cpp_stl --outdir {generated} $SOURCES"
@@ -10,3 +9,10 @@ if GetOption('kaitai'):
   env.Command(['generated/gps.cpp', 'generated/gps.h'], 'gps.ksy', cmd)
 
 env.Program("ubloxd", ["ubloxd.cc", "ublox_msg.cc", "generated/ubx.cpp", "generated/gps.cpp"], LIBS=loc_libs)
+
+ekf_sym_cc = env.Object("#rednose/helpers/ekf_sym.cc")
+lenv = env.Clone()
+lenv["_LIBFLAGS"] += f' {libkf[0].get_labspath()}'
+locationd = lenv.Program("locationd", ["locationd.cc", "models/live_kf.cc", ekf_sym_cc],
+                         LIBS=loc_libs + transformations)
+lenv.Depends(locationd, libkf)