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GPS fix + log directory redesign + dashcamd binary

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GPS: fix AT response parsing (strip mmcli `response: '...'` wrapper),
fix capnp field names (horizontalAccuracy, hasFix), set system clock
directly from first GPS fix when time is invalid, kill system gpsd on
startup.

Logging: replace module-level log dir creation with init_log_dir()
called from manager_init(). Active session always at /data/log2/current
(real dir until time resolves, then symlink to timestamped dir). Add
LogDirInitialized param. Redirect both stdout+stderr for all processes.

Also: thorough process cleanup in launch scripts, dashcamd binary,
CLAUDE.md updates for GPS/telemetry/bench/logging docs.

Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
This commit is contained in:
Brian Hanson
2026-04-13 04:51:33 +00:00
parent f969214a3d
commit 4f16a8953a
11 changed files with 324 additions and 48 deletions
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3
selfdrive/manager/process_config.py
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@@ -84,7 +84,8 @@ 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("qcomgpsd", "system.qcomgpsd.qcomgpsd", qcomgps, enabled=TICI),
# PythonProcess("qcomgpsd", "system.qcomgpsd.qcomgpsd", qcomgps, enabled=TICI),
PythonProcess("gpsd", "system.clearpilot.gpsd", qcomgps, enabled=TICI),
# PythonProcess("ugpsd", "system.ugpsd", only_onroad, enabled=TICI),
#PythonProcess("navd", "selfdrive.navd.navd", only_onroad),
PythonProcess("pandad", "selfdrive.boardd.pandad", always_run),