auto-detect pigeon or quectel (#25991)

* auto-detect pigeon or quectel

* persistent

* fix sim

* fix process replay

* fix locationd unit tests

* fix that

Co-authored-by: Comma Device <device@comma.ai>

common/params.cc

@@ -166,6 +166,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"TermsVersion", PERSISTENT},
     {"Timezone", PERSISTENT},
     {"TrainingVersion", PERSISTENT},
+    {"UbloxAvailable", PERSISTENT},
     {"UpdateAvailable", CLEAR_ON_MANAGER_START},
     {"UpdateFailedCount", CLEAR_ON_MANAGER_START},
     {"UpdaterState", CLEAR_ON_MANAGER_START},

common/params.h

@@ -29,8 +29,8 @@ public:
 
   // helpers for reading values
   std::string get(const std::string &key, bool block = false);
-  inline bool getBool(const std::string &key) {
-    return get(key) == "1";
+  inline bool getBool(const std::string &key, bool block = false) {
+    return get(key, block) == "1";
   }
   std::map<std::string, std::string> readAll();
 

common/params_pyx.pyx

@@ -16,7 +16,7 @@ cdef extern from "common/params.h":
   cdef cppclass c_Params "Params":
     c_Params(string) nogil
     string get(string, bool) nogil
-    bool getBool(string) nogil
+    bool getBool(string, bool) nogil
     int remove(string) nogil
     int put(string, string) nogil
     int putBool(string, bool) nogil
@@ -68,11 +68,11 @@ cdef class Params:
 
     return val if encoding is None else val.decode(encoding)
 
-  def get_bool(self, key):
+  def get_bool(self, key, bool block=False):
     cdef string k = self.check_key(key)
     cdef bool r
     with nogil:
-      r = self.p.getBool(k)
+      r = self.p.getBool(k, block)
     return r
 
   def put(self, key, dat):

selfdrive/locationd/laikad.py

@@ -328,7 +328,7 @@ class EphemerisSourceType(IntEnum):
 
 
 def main(sm=None, pm=None):
-  use_qcom = os.path.isfile("/persist/comma/use-quectel-rawgps")
+  use_qcom = not Params().get_bool("UbloxAvailable", block=True)
   if use_qcom:
     raw_gnss_socket = "qcomGnss"
   else:

selfdrive/locationd/locationd.cc

@@ -492,10 +492,10 @@ void Localizer::determine_gps_mode(double current_time) {
 
 int Localizer::locationd_thread() {
   const char* gps_location_socket;
-  if (util::file_exists("/persist/comma/use-quectel-rawgps")) {
-    gps_location_socket = "gpsLocation";
-  } else {
+  if (Params().getBool("UbloxAvailable", true)) {
     gps_location_socket = "gpsLocationExternal";
+  } else {
+    gps_location_socket = "gpsLocation";
   }
   const std::initializer_list<const char *> service_list = {gps_location_socket,
     "cameraOdometry", "liveCalibration", "carState", "carParams",

selfdrive/locationd/test/test_locationd.py

@@ -22,6 +22,7 @@ class TestLocationdProc(unittest.TestCase):
 
     self.pm = messaging.PubMaster(self.LLD_MSGS)
 
+    Params().put_bool("UbloxAvailable", True)
     managed_processes['locationd'].prepare()
     managed_processes['locationd'].start()
 

selfdrive/sensord/pigeond.py

@@ -116,7 +116,7 @@ class TTYPigeon():
       time.sleep(0.001)
 
 
-def initialize_pigeon(pigeon: TTYPigeon) -> None:
+def initialize_pigeon(pigeon: TTYPigeon) -> bool:
   # try initializing a few times
   for _ in range(10):
     try:
@@ -198,6 +198,10 @@ def initialize_pigeon(pigeon: TTYPigeon) -> None:
       break
     except TimeoutError:
       cloudlog.warning("Initialization failed, trying again!")
+  else:
+    cloudlog.warning("Failed to initialize pigeon")
+    return False
+  return True
 
 def deinitialize_and_exit(pigeon: Optional[TTYPigeon]):
   cloudlog.warning("Storing almanac in ublox flash")
@@ -236,7 +240,8 @@ def main():
   time.sleep(0.5)
 
   pigeon = TTYPigeon()
-  initialize_pigeon(pigeon)
+  r = initialize_pigeon(pigeon)
+  Params().put_bool("UbloxAvailable", r)
 
   # start receiving data
   while True:

selfdrive/test/process_replay/process_replay.py

@@ -417,6 +417,7 @@ def setup_env(simulation=False, CP=None, cfg=None, controlsState=None):
   params.put_bool("DisengageOnAccelerator", True)
   params.put_bool("WideCameraOnly", False)
   params.put_bool("DisableLogging", False)
+  params.put_bool("UbloxAvailable", True)
 
   os.environ["NO_RADAR_SLEEP"] = "1"
   os.environ["REPLAY"] = "1"

tools/sim/bridge.py

@@ -244,11 +244,13 @@ class CarlaBridge:
   def __init__(self, arguments):
     set_params_enabled()
 
+    self.params = Params()
+
     msg = messaging.new_message('liveCalibration')
     msg.liveCalibration.validBlocks = 20
     msg.liveCalibration.rpyCalib = [0.0, 0.0, 0.0]
-    Params().put("CalibrationParams", msg.to_bytes())
-    Params().put_bool("WideCameraOnly", not arguments.dual_camera)
+    self.params.put("CalibrationParams", msg.to_bytes())
+    self.params.put_bool("WideCameraOnly", not arguments.dual_camera)
 
     self._args = arguments
     self._carla_objects = []
@@ -363,6 +365,7 @@ class CarlaBridge:
     gps_bp = blueprint_library.find('sensor.other.gnss')
     gps = world.spawn_actor(gps_bp, transform, attach_to=vehicle)
     gps.listen(lambda gps: gps_callback(gps, vehicle_state))
+    self.params.put_bool("UbloxAvailable", True)
 
     self._carla_objects.extend([imu, gps])
     # launch fake car threads