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78 Commits

Author SHA1 Message Date
Adeeb Shihadeh
1945c356c2 agnos 8 (#28843) 
* agnos 8

* update to python 3.11.4 (#27452)

* rebase

* optional

* lower cython

* TEMP don't pull cl to use python3.11

* Revert "lower cython"

This reverts commit c5132f8a2727c212bdfc01e77aa53e50a17ead9d.

* fix cython

* remove tensorrt

* carla + opencv

* macos

* update timm and smp

* pynvc

* https

* downgrade numpy

* pin scipy

---------

Co-authored-by: Maxime Desroches <desroches.maxime@gmail.com>
Co-authored-by: Yassine <yassine.y10@gmail.com>

* revert that

* fix linter

---------

Co-authored-by: Maxime Desroches <desroches.maxime@gmail.com>
Co-authored-by: Yassine <yassine.y10@gmail.com>
 2023-07-20 21:56:57 -07:00
Adeeb Shihadeh
9c307f2550 Revert "Update pycapnp and Cython (#29021)" 
This reverts commit 76ef1b9b9f.
 2023-07-18 18:47:35 -07:00
Maxime Desroches
76ef1b9b9f Update pycapnp and Cython (#29021) 
* cython + pycapnp

* from_bytes with context

* poetry lock

* limit numpy

* force build

* Revert "force build"

This reverts commit 8c7cb00421da9d0f1b7da2c94f75e9c43733f840.

---------

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
 2023-07-18 16:40:36 -07:00
Harald Schäfer
47ee0932db Qcom rawgps: Timestamp svpolys (#28738) 
* Timestamp svpolys

* leap seconds handled fine

* Fix error

* bump laika

* Update test route

* update ref
 2023-07-11 13:22:09 -07:00
Harald Schäfer
221cd0ab09 Laikad: fix qcom report collection (#28879) 
* Make report aggregation variable

* Add laikad test now it passes

---------

Co-authored-by: Comma Device <device@comma.ai>
 2023-07-11 01:25:49 -07:00
Adeeb Shihadeh
e63e2dde18 don't block on reading ublox param (#28859) 2023-07-10 15:33:58 -07:00
Harald Schäfer
5c6efd2aab Laikad: more sensible ephemeris management (#28721) 
* Laikad: more sensible ephemeris management

* Tow

* fix test

* Also publish qcom

* Update

* Update laikad.py
 2023-06-28 21:08:18 -07:00
Harald Schäfer
6d25f66cf1 Laikad: Need to understand constellationId to understand clock (#28552) 
Need to understand constellationId to understand clock
 2023-06-14 19:54:51 -07:00
Harald Schäfer
155cab9ec4 Disable internet in laikad.py, even in CI (#28535) 
* Limit OPENBLAS to 1 thread in manager

* Restrict openblas threads when running openpilot

* print in CI

* Disable internet for laika, even in CI

* update ref
 2023-06-13 23:39:11 -07:00
Dean Lee
825c5a87df laikad: move 'from_qcom_source' into try block (#28510) 
fix not cached except
 2023-06-12 17:05:43 -07:00
Harald Schäfer
703fe85cf5 QCOM laikad: add glonass support (#28217) 
* QCOM laikad: add glonass support

* reject garbage timestamps

* update ref
 2023-05-18 00:19:40 -07:00
Harald Schäfer
bb3388f9d2 Laikad: blocking raw_gnss receive (#28083) 
* Blocking receive

* redundant

* rm clocks

* timeout irrelevant now
 2023-05-03 13:03:25 -07:00
Adeeb Shihadeh
9f87df66cb laikad: disable internet in non-replay CI (#28076) 2023-05-01 22:02:06 -07:00
Bruce Wayne
613bbcd626 Revert "LaikaD: new proc_replay segment and no internet laikad (#28029)" 
This reverts commit fbb7dcb19c.
 2023-04-26 19:20:05 -07:00
Harald Schäfer
fbb7dcb19c LaikaD: new proc_replay segment and no internet laikad (#28029) 
* no internet in CI

* add new segment

* new ref
 2023-04-26 16:01:39 -07:00
Harald Schäfer
922b09de96 Laikad: fix bad init elevation incorrect (#27974) 
* Laikad: fix bad init elevation incorrect

* update ref
 2023-04-19 14:04:24 -07:00
Shane Smiskol
28cd8fc402 laikad: clean up cloudlog usage (#27701) 
make an error, no need to pass e
 2023-03-26 23:06:09 -07:00
Harald Schäfer
b418cbcbcf Laikad: catch and log ephemerides parsing errors (#27698) 
* Laikad: catch and log ephemerides parsing errors

* exception instead of error
 2023-03-26 22:17:30 -07:00
Harald Schäfer
e05e7850e1 Laika cleaner flow (#27633) 
* laika flow

* test fixes

* unexpected type

* unexpected type

* explicit type

* ref commit

* back to prev val

* ref 2
 2023-03-22 19:10:19 -07:00
Gijs Koning
fc5a575ba3 laikad: use non-conflating socket for gnss msgs (#24888) 
* Use subsock

* wait for one

* wrong name

* try cpp proc replay

* fix recv pattern

---------

Co-authored-by: Bruce Wayne <harald.the.engineer@gmail.com>
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
 2023-03-21 17:07:19 -07:00
Adeeb Shihadeh
7319afbd51 process replay: prep for laikad subsock + QCOM GPS (#27632) 
* process replay: prep for laikad subsock

* cleanup

* fix for qcomGnss

* detect ublox

* more debug info in err

* wip

* cleanup
 2023-03-21 16:43:40 -07:00
Harald Schäfer
4718fa5748 Bump laika (#27618) 
* Laika on master

* use constellation id
 2023-03-17 16:39:44 -07:00
Harald Schäfer
204f7d8623 Ttff logs (#27610) 
* ttff in logs

* More meta info

* cleanup

* passess tests

* unused import

* fix linting

* ttff of 0 is invalid

* ref commit

* bump cereal

* Update ref_commit

* sort ephem status list

* sort ephem status list

* update ref
 2023-03-16 22:09:05 -07:00
Adeeb Shihadeh
4cff94366f Revert "LAIKAD: TTFF, and ephemeris statuses in logs (#27591)" 
This reverts commit 95216de591.
 2023-03-16 19:01:45 -07:00
Harald Schäfer
95216de591 LAIKAD: TTFF, and ephemeris statuses in logs (#27591) 
* ttff in logs

* More meta info

* cleanup

* passess tests

* unused import

* fix linting

* ttff of 0 is invalid

* ref commit

* bump cereal
 2023-03-16 17:00:54 -07:00
Harald Schäfer
5c38392785 Laikad: always return msg (#27599) 
* always return msg

* always return msg

* Not all qcom constellations are understood

* call error error
 2023-03-16 13:29:02 -07:00
Harald Schäfer
38cb42f76a LaikaD new cache version (#27596) 2023-03-15 20:26:19 -07:00
Harald Schäfer
896fa029f9 Laikad: cleanup time range holder (#27595) 
* cleanup time range holder

* update

* unused import

* unused import

* unused import

* bump laika
 2023-03-15 20:06:29 -07:00
Harald Schäfer
629e5f6bf2 Fix qcom laika caching and test (#27594) 2023-03-15 15:16:47 -07:00
Harald Schäfer
5c70482761 Use structs in laika (#27585) 
* doesnt crash

* New cacher

* unused import

* help linter

* Annotate list

* print error

* fix caching bugs

* wrong name

* small fixes

* fix sum

* wrong brackets

* fix tests

* update ref

* bump submodules
 2023-03-15 00:02:56 -07:00
Kurt Nistelberger
cb2a53ae80 laikad: fix qcom without internet (#27468) 
move week

Co-authored-by: Kurt Nistelberger <kurt.nistelberger@gmail.com>
 2023-03-01 19:01:08 -08:00
Kurt Nistelberger
b688122042 laikad: reduce min satellite number (#27440) 
* bump laika

* update laikad tests

* update refs

* bump laika

* update refs

---------

Co-authored-by: Kurt Nistelberger <kurt.nistelberger@gmail.com>
 2023-02-28 21:40:54 -08:00
Kurt Nistelberger
6b4ac801e7 laikad: use new cache param (#27404) 
* add backward compatibility

* rename laikad cache file

* rm and update

---------

Co-authored-by: Kurt Nistelberger <kurt.nistelberger@gmail.com>
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
 2023-02-22 14:11:04 -08:00
Kurt Nistelberger
04a7808590 glonass support laikad (#27173) 
* add glonass kaitai parsing

* add kaita generated files

* remove glonass from build

* add string non immediate type

* fix kaitai bug

* cleanUp

* add patch file

* fix scons order

* make lookup const

* remove comments

* add to release files

* init

* add laika

* remove printf

* laikad add glonass ephem parsing

* add signs

* final ublox parsing

* rev gps

* bump subs

* address comments

* disable internet for laikad

---------

Co-authored-by: Kurt Nistelberger <kurt.nistelberger@gmail.com>
 2023-02-02 20:16:28 -08:00
Kurt Nistelberger
9131da9103 Revert "Add low Gnss laikad test (#26987)" 
This reverts commit b7ce77b3aa.
 2023-01-19 11:46:22 -08:00
Kurt Nistelberger
b7ce77b3aa Add low Gnss laikad test (#26987) 
* add low gnss test

* enable laikad

* temp fix for cache

* update replay

* save LaikadEphemeris for testing

* rem

* update refs

* add comment

Co-authored-by: Kurt Nistelberger <kurt.nistelberger@gmail.com>
 2023-01-18 22:29:12 -08:00
Kurt Nistelberger
88423e25df Laikad: set active (#26850) 
* laikad update, renaming

* update locationd

* fix naming

* address PR comments

* upsi

* .

* draft to fix replay

* fix process relay to allow no response for messages

* final fix for process replay

* .

* bump cereal

* update process replay ref commit

* reduce wait time

* .

* last ref change

* move laikad helpers to laika

* .

* fix ublox test

* update refs

* add proper qcom replay support

* fix gnss support if both is available

* update refs

* remove left over

* revert laikad msg

* move laika back to master

* init

* fix gps valid flag

* change time

* add gnss to ignore

* remove gps_valid flag

* .

* adopt orientation reset threshold

* .

* update laikad

* .

* fix stanstill KF resets

* test orienation reset count

* update laika

* bump cereal

* fix process replay

* update laika repo

* remove handle gps

* add extra logging for cache

* .

* add more log

* .

* .

* update laika

* dont remove gps code

* inc min satellite count

* update magic vals and add acc drop

* update laika

* upsi

* rem

* bump laika

* use nav and correct

* more fixes

* use sftp

* No more glonass

* Revert "No more glonass"

This reverts commit a76124da50a1e25f423ad1137c7a046e1d57811d.

* nump laika

* back support old ephemeris cache

* add health to ephemeris message

* bump laika

* remove print

* fix laikad tests

* clean

* remove extra log

* bump laika

* inc timeout for plotjuggler build

* rem cache clear

* .

* enable gps after checks

Co-authored-by: Kurt Nistelberger <kurt.nistelberger@gmail.com>
Co-authored-by: Bruce Wayne <harald.the.engineer@gmail.com>
Co-authored-by: Shane Smiskol <shane@smiskol.com>
 2023-01-13 11:37:38 -08:00
Kurt Nistelberger
981532f0c3 Laikad preperation (#26800) 
* laikad update, renaming

* update locationd

* address PR comments

* draft to fix replay

* fix process relay to allow no response for messages

* bump cereal

* update process replay ref commit

* move laikad helpers to laika

* fix ublox test

* update refs

* add proper qcom replay support

* fix gnss support if both is available

* update refs

* move laika back to master

* move cereal back to master

Co-authored-by: Kurt Nistelberger <kurt.nistelberger@gmail.com>
 2022-12-29 16:56:35 -08:00
Kurt Nistelberger
4eda53cef2 add laikad comment 2022-11-15 16:41:27 -08:00
HaraldSchafer
57a82ced28 rawgpsd: publish ephemerides (#25931) 
* add svpoly parsing

* Publish poly

* add source check

* add safety check for invalid gpsWeek values

* address PR comments

* add qcom ephemeris source type

* bump cereal and laika

Co-authored-by: Kurt Nistelberger <kurt.nistelberger@gmail.com>
 2022-10-07 17:27:09 -07:00
Adeeb Shihadeh
01d05f66fe 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>
 2022-10-06 16:46:15 -07:00
Adeeb Shihadeh
6334980949 laikad: fix cache path 2022-08-29 14:08:21 -07:00
HaraldSchafer
11da2804f6 Support quectel gps (#25299) 
* qcom clock gets corrected randomly it seems

* Use quectel gps

* fix small laikad bugs

* Support both

* Support ublox and qcom clock model

* fix laikad test

* fix typo

* Back to original value

* More typos

Co-authored-by: Comma Device <device@comma.ai>
 2022-07-28 10:56:59 -07:00
Gijs Koning
5ccc2b8921 Laikad: improve logging + posfix every 2 sec (#25184) 
* Improve logging for pos fix and caching

* Set to debug
 2022-07-15 13:18:52 +02:00
Gijs Koning
c7771d1783 Bump laika and catch Downloadfiles exception. 2022-07-14 11:49:27 +02:00
Gijs Koning
105afee4a2 Laikad: set cache dir to comma_download_cache (#25131) 
* Cache downloads for process replay

* set cache dir permanent

* Create constant
 2022-07-12 09:11:47 -07:00
Gijs Koning
cf862b6576 Laikad: Fix getting covariances for pos and velocity (#25084) 
* Fix getting covariances for pos and velocity

* ref commit
 2022-07-08 10:03:42 -07:00
Willem Melching
7a4c33795a laikad: add residual threshold for pos_fix (#25082) 
* laikad: add residual threshold for pos_fix

* update ref

* update test
 2022-07-08 09:20:16 -07:00
Gijs Koning
eaf7eb4278 Laikad: Use clocks for faster fetching orbits (#25060) 
* Use clocks msg to for first fetch of orbits. Which is sent earlier than ublox msgs

* refactor last_fetch_orbits

* Add comment.
Add test

* increase timeout

* Add clocks to process replay
 2022-07-07 04:06:51 -07:00
Gijs Koning
b88d7c89fa laikad: Filter unwanted pseudoranges (#25051) 
Filter unwanted pseudoranges
 2022-07-06 10:01:19 -07:00