rename rawgpsd to qcomgpsd (#30493)

* rename rawgpsd to qcomgpsd

* fix more paths

* that moved

* forgot the d
old-commit-hash: 4cae08e6369c0f63229222c0b3815da983928787

Jenkinsfile

@@ -216,7 +216,7 @@ node {
           ["test pandad", "pytest selfdrive/boardd/tests/test_pandad.py"],
           ["test amp", "pytest system/hardware/tici/tests/test_amplifier.py"],
           ["test hw", "pytest system/hardware/tici/tests/test_hardware.py"],
-          ["test rawgpsd", "pytest system/sensord/rawgps/test_rawgps.py"],
+          ["test qcomgpsd", "pytest system/qcomgpsd/tests/test_qcomgpsd.py"],
         ])
       },
 

release/files_tici

@@ -12,7 +12,7 @@ system/camerad/cameras/camera_util.cc
 system/camerad/cameras/camera_util.h
 system/camerad/cameras/real_debayer.cl
 
-system/sensord/rawgps/*
+system/qcomgpsd/*
 
 selfdrive/ui/qt/spinner_larch64
 selfdrive/ui/qt/text_larch64

selfdrive/manager/process_config.py

@@ -68,7 +68,7 @@ procs = [
   PythonProcess("controlsd", "selfdrive.controls.controlsd", only_onroad),
   PythonProcess("deleter", "system.loggerd.deleter", always_run),
   PythonProcess("dmonitoringd", "selfdrive.monitoring.dmonitoringd", driverview, enabled=(not PC or WEBCAM)),
-  PythonProcess("rawgpsd", "system.sensord.rawgps.rawgpsd", qcomgps, enabled=TICI),
+  PythonProcess("qcomgpsd", "system.qcomgpsd.qcomgpsd", qcomgps, enabled=TICI),
   PythonProcess("navd", "selfdrive.navd.navd", only_onroad),
   PythonProcess("pandad", "selfdrive.boardd.pandad", always_run),
   PythonProcess("paramsd", "selfdrive.locationd.paramsd", only_onroad),

selfdrive/test/test_onroad.py

@@ -69,7 +69,7 @@ PROCS.update({
   },
   "tizi": {
      "./boardd": 19.0,
-    "system.sensord.rawgps.rawgpsd": 1.0,
+    "system.qcomgpsd.qcomgpsd": 1.0,
   }
 }.get(HARDWARE.get_device_type(), {}))
 

system/qcomgpsd/nmeaport.py

@@ -120,11 +120,11 @@ def process_nmea_port_messages(device:str="/dev/ttyUSB1") -> NoReturn:
 def main() -> NoReturn:
   from openpilot.common.gpio import gpio_init, gpio_set
   from openpilot.system.hardware.tici.pins import GPIO
-  from openpilot.system.sensord.rawgps.rawgpsd import at_cmd
+  from openpilot.system.qcomgpsd.qcomgpsd import at_cmd
 
   try:
-    check_output(["pidof", "rawgpsd"])
-    print("rawgpsd is running, please kill openpilot before running this script! (aborted)")
+    check_output(["pidof", "qcomgpsd"])
+    print("qcomgpsd is running, please kill openpilot before running this script! (aborted)")
     sys.exit(1)
   except CalledProcessError as e:
     if e.returncode != 1: # 1 == no process found (boardd not running)

system/qcomgpsd/qcomgpsd.py

@@ -18,8 +18,8 @@ import cereal.messaging as messaging
 from openpilot.common.gpio import gpio_init, gpio_set
 from openpilot.system.hardware.tici.pins import GPIO
 from openpilot.system.swaglog import cloudlog
-from openpilot.system.sensord.rawgps.modemdiag import ModemDiag, DIAG_LOG_F, setup_logs, send_recv
-from openpilot.system.sensord.rawgps.structs import (dict_unpacker, position_report, relist,
+from openpilot.system.qcomgpsd.modemdiag import ModemDiag, DIAG_LOG_F, setup_logs, send_recv
+from openpilot.system.qcomgpsd.structs import (dict_unpacker, position_report, relist,
                                               gps_measurement_report, gps_measurement_report_sv,
                                               glonass_measurement_report, glonass_measurement_report_sv,
                                               oemdre_measurement_report, oemdre_measurement_report_sv, oemdre_svpoly_report,
@@ -101,7 +101,7 @@ def at_cmd(cmd: str) -> Optional[str]:
     try:
       return subprocess.check_output(f"mmcli -m any --timeout 30 --command='{cmd}'", shell=True, encoding='utf8')
     except subprocess.CalledProcessError:
-      cloudlog.exception("rawgps.mmcli_command_failed")
+      cloudlog.exception("qcomgps.mmcli_command_failed")
       time.sleep(1.0)
   raise Exception(f"failed to execute mmcli command {cmd=}")
 
@@ -163,7 +163,7 @@ def inject_assistance():
       return
     except subprocess.CalledProcessError as e:
       cloudlog.event(
-        "rawgps.assistance_loading_failed",
+        "qcomgps.assistance_loading_failed",
         error=True,
         cmd=e.cmd,
         output=e.output,

system/qcomgpsd/tests/test_qcomgpsd.py

@@ -8,7 +8,7 @@ import unittest
 import subprocess
 
 import cereal.messaging as messaging
-from openpilot.system.sensord.rawgps.rawgpsd import at_cmd, wait_for_modem
+from openpilot.system.qcomgpsd.qcomgpsd import at_cmd, wait_for_modem
 from openpilot.selfdrive.manager.process_config import managed_processes
 
 GOOD_SIGNAL = bool(int(os.getenv("GOOD_SIGNAL", '0')))
@@ -24,7 +24,7 @@ class TestRawgpsd(unittest.TestCase):
 
   @classmethod
   def tearDownClass(cls):
-    managed_processes['rawgpsd'].stop()
+    managed_processes['qcomgpsd'].stop()
     os.system("sudo systemctl restart systemd-resolved")
     os.system("sudo systemctl restart ModemManager lte")
 
@@ -33,7 +33,7 @@ class TestRawgpsd(unittest.TestCase):
     self.sm = messaging.SubMaster(['qcomGnss', 'gpsLocation', 'gnssMeasurements'])
 
   def tearDown(self):
-    managed_processes['rawgpsd'].stop()
+    managed_processes['qcomgpsd'].stop()
     os.system("sudo systemctl restart systemd-resolved")
 
   def _wait_for_output(self, t):
@@ -51,7 +51,7 @@ class TestRawgpsd(unittest.TestCase):
 
   def test_wait_for_modem(self):
     os.system("sudo systemctl stop ModemManager")
-    managed_processes['rawgpsd'].start()
+    managed_processes['qcomgpsd'].start()
     assert not self._wait_for_output(5)
 
     os.system("sudo systemctl restart ModemManager")
@@ -62,15 +62,15 @@ class TestRawgpsd(unittest.TestCase):
       if not internet:
         os.system("sudo systemctl stop systemd-resolved")
       with self.subTest(internet=internet):
-        managed_processes['rawgpsd'].start()
+        managed_processes['qcomgpsd'].start()
         assert self._wait_for_output(7)
-        managed_processes['rawgpsd'].stop()
+        managed_processes['qcomgpsd'].stop()
 
   def test_turns_off_gnss(self):
     for s in (0.1, 1, 5):
-      managed_processes['rawgpsd'].start()
+      managed_processes['qcomgpsd'].start()
       time.sleep(s)
-      managed_processes['rawgpsd'].stop()
+      managed_processes['qcomgpsd'].stop()
 
       ls = subprocess.check_output("mmcli -m any --location-status --output-json", shell=True, encoding='utf-8')
       loc_status = json.loads(ls)
@@ -94,29 +94,29 @@ class TestRawgpsd(unittest.TestCase):
       assert valid_duration == '0'
 
   def test_assistance_loading(self):
-    managed_processes['rawgpsd'].start()
+    managed_processes['qcomgpsd'].start()
     assert self._wait_for_output(10)
-    managed_processes['rawgpsd'].stop()
+    managed_processes['qcomgpsd'].stop()
     self.check_assistance(True)
 
   def test_no_assistance_loading(self):
     os.system("sudo systemctl stop systemd-resolved")
 
-    managed_processes['rawgpsd'].start()
+    managed_processes['qcomgpsd'].start()
     assert self._wait_for_output(10)
-    managed_processes['rawgpsd'].stop()
+    managed_processes['qcomgpsd'].stop()
     self.check_assistance(False)
 
   def test_late_assistance_loading(self):
     os.system("sudo systemctl stop systemd-resolved")
 
-    managed_processes['rawgpsd'].start()
+    managed_processes['qcomgpsd'].start()
     self._wait_for_output(17)
     assert self.sm.updated['qcomGnss']
 
     os.system("sudo systemctl restart systemd-resolved")
     time.sleep(15)
-    managed_processes['rawgpsd'].stop()
+    managed_processes['qcomgpsd'].stop()
     self.check_assistance(True)
 
 if __name__ == "__main__":