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openpilot
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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
This commit is contained in:
Kacper Rączy 2023-11-15 01:06:37 -08:00 committed by GitHub
parent 7ded7a0720
commit 2de13bea91
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GPG Key ID: 4AEE18F83AFDEB23
12 changed files with 33 additions and 159 deletions
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3
.gitmodules vendored
View File

@ -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

6
.pre-commit-config.yaml
View File

@ -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

2
Dockerfile.openpilot
View File

@ -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

2
SConstruct
View File

@ -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)

2
docs/Makefile
View File

@ -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 \

8
docs/overview.rst
View File

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

1
laika
View File

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

1
laika_repo

@ -1 +0,0 @@
Subproject commit 8861844c9b577ff7de7d03fab9f4d7f560415fc9

123
poetry.lock generated
View File

@ -1549,27 +1549,6 @@ all = ["flake8", "numpy", "pylint", "pytest", "pytest-cov"]
numpy = ["numpy"]
test = ["flake8", "pylint", "pytest", "pytest-cov"]
[[package]]
name = "hatanaka"
version = "2.4.0"
description = "Effortlessly compress / decompress any RINEX file"
optional = false
python-versions = ">=3.6"
files = [
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]
[package.dependencies]
importlib-resources = "*"
ncompress = "*"
[package.extras]
dev = ["pytest"]
tests = ["pytest"]
[[package]]
name = "hexdump"
version = "3.3"
@ -1688,21 +1667,6 @@ docs = ["furo", "jaraco.packaging (>=9)", "jaraco.tidelift (>=1.4)", "rst.linker
perf = ["ipython"]
testing = ["flufl.flake8", "importlib-resources (>=1.3)", "packaging", "pyfakefs", "pytest (>=6)", "pytest-black (>=0.3.7)", "pytest-checkdocs (>=2.4)", "pytest-cov", "pytest-enabler (>=2.2)", "pytest-mypy (>=0.9.1)", "pytest-perf (>=0.9.2)", "pytest-ruff"]
[[package]]
name = "importlib-resources"
version = "6.1.1"
description = "Read resources from Python packages"
optional = false
python-versions = ">=3.8"
files = [
{file = "importlib_resources-6.1.1-py3-none-any.whl", hash = "sha256:e8bf90d8213b486f428c9c39714b920041cb02c184686a3dee24905aaa8105d6"},
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]
[package.extras]
docs = ["furo", "jaraco.packaging (>=9.3)", "jaraco.tidelift (>=1.4)", "rst.linker (>=1.9)", "sphinx (<7.2.5)", "sphinx (>=3.5)", "sphinx-lint"]
testing = ["pytest (>=6)", "pytest-black (>=0.3.7)", "pytest-checkdocs (>=2.4)", "pytest-cov", "pytest-enabler (>=2.2)", "pytest-mypy (>=0.9.1)", "pytest-ruff", "zipp (>=3.17)"]
[[package]]
name = "iniconfig"
version = "2.0.0"
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@ -2577,70 +2531,6 @@ files = [
fast = ["fastnumbers (>=2.0.0)"]
icu = ["PyICU (>=1.0.0)"]
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name = "ncompress"
version = "1.0.1"
description = "LZW compression and decompression"
optional = false
python-versions = ">=3.8"
files = [
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{file = "ncompress-1.0.1-cp39-cp39-musllinux_1_1_x86_64.whl", hash = "sha256:4abc4469666f6cf7f7e27fc8c1e629088c075ef5dfb22ad55cb80a193d745fdc"},
{file = "ncompress-1.0.1-cp39-cp39-win_amd64.whl", hash = "sha256:a1f9b16445da8af82073b5e7a9b33c024bd4299bfecfba1da636d32da5c9c399"},
{file = "ncompress-1.0.1-cp39-cp39-win_arm64.whl", hash = "sha256:7be5cca28b1a7c8df5d989d90c80d316b486bc8d32c67aec2029b27b9589c5df"},
{file = "ncompress-1.0.1.tar.gz", hash = "sha256:a27a54b572da8f14ac0c0689660f13cddb02a2822b03048d3c2ce3d28fb11027"},
]
[package.extras]
tests = ["pytest"]
[[package]]
name = "nodeenv"
version = "1.8.0"
@ -4897,17 +4787,6 @@ files = [
{file = "types_atomicwrites-1.4.5.1-py3-none-any.whl", hash = "sha256:2f1febbdc78b55453b189fa5b136dce34bab7d1d82319163d470e404aab55c83"},
]
[[package]]
name = "types-certifi"
version = "2021.10.8.3"
description = "Typing stubs for certifi"
optional = false
python-versions = "*"
files = [
{file = "types-certifi-2021.10.8.3.tar.gz", hash = "sha256:72cf7798d165bc0b76e1c10dd1ea3097c7063c42c21d664523b928e88b554a4f"},
{file = "types_certifi-2021.10.8.3-py3-none-any.whl", hash = "sha256:b2d1e325e69f71f7c78e5943d410e650b4707bb0ef32e4ddf3da37f54176e88a"},
]
[[package]]
name = "types-pycurl"
version = "7.45.2.5"
@ -5150,4 +5029,4 @@ testing = ["big-O", "jaraco.functools", "jaraco.itertools", "more-itertools", "p
[metadata]
lock-version = "2.0"
python-versions = "~3.11"
content-hash = "9538e574ca03437994b7b0a0b6cb41842256162a2f14abfd0da26587709f145a"
content-hash = "f0abc0f53443c3b98eb06fc4dd0ff736e39197bc68c79db9aeffb4736657b676"

7
pyproject.toml
View File

@ -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",

1
release/files_common
View File

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

36
selfdrive/locationd/models/gnss_helpers.py
View File

@ -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