diff --git a/Jenkinsfile b/Jenkinsfile index 1e1d485b10f5e7..5859920a56369a 100644 --- a/Jenkinsfile +++ b/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"], ]) }, diff --git a/release/files_tici b/release/files_tici index ab49de34f68b2d..1e5adab4985353 100644 --- a/release/files_tici +++ b/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 diff --git a/selfdrive/manager/process_config.py b/selfdrive/manager/process_config.py index 320958d3440515..6f974b0687bc67 100644 --- a/selfdrive/manager/process_config.py +++ b/selfdrive/manager/process_config.py @@ -68,7 +68,7 @@ def only_offroad(started, params, CP: car.CarParams) -> bool: 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), diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py index 0e9d207da379cc..17026dc69fb9ff 100755 --- a/selfdrive/test/test_onroad.py +++ b/selfdrive/test/test_onroad.py @@ -69,7 +69,7 @@ }, "tizi": { "./boardd": 19.0, - "system.sensord.rawgps.rawgpsd": 1.0, + "system.qcomgpsd.qcomgpsd": 1.0, } }.get(HARDWARE.get_device_type(), {})) diff --git a/system/sensord/rawgps/modemdiag.py b/system/qcomgpsd/modemdiag.py similarity index 100% rename from system/sensord/rawgps/modemdiag.py rename to system/qcomgpsd/modemdiag.py diff --git a/system/sensord/rawgps/nmeaport.py b/system/qcomgpsd/nmeaport.py similarity index 96% rename from system/sensord/rawgps/nmeaport.py rename to system/qcomgpsd/nmeaport.py index 01b9b179b9506b..231096fc5da813 100644 --- a/system/sensord/rawgps/nmeaport.py +++ b/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) diff --git a/system/sensord/rawgps/rawgpsd.py b/system/qcomgpsd/qcomgpsd.py similarity index 98% rename from system/sensord/rawgps/rawgpsd.py rename to system/qcomgpsd/qcomgpsd.py index 787a9316d37dbc..bfd81e4b32f770 100755 --- a/system/sensord/rawgps/rawgpsd.py +++ b/system/qcomgpsd/qcomgpsd.py @@ -18,8 +18,8 @@ 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, diff --git a/system/sensord/rawgps/structs.py b/system/qcomgpsd/structs.py similarity index 100% rename from system/sensord/rawgps/structs.py rename to system/qcomgpsd/structs.py diff --git a/system/sensord/rawgps/test_rawgps.py b/system/qcomgpsd/tests/test_qcomgpsd.py similarity index 84% rename from system/sensord/rawgps/test_rawgps.py rename to system/qcomgpsd/tests/test_qcomgpsd.py index 36424381321157..8291f2cc32a92a 100755 --- a/system/sensord/rawgps/test_rawgps.py +++ b/system/qcomgpsd/tests/test_qcomgpsd.py @@ -8,7 +8,7 @@ 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 @@ def setUpClass(cls): @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 @@ def setUp(self): 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 @@ def test_no_crash_double_command(self): 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 @@ def test_startup_time(self): 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 @@ def check_assistance(self, should_be_loaded): 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__":