  from system.swaglog import cloudlog
  from laika.gps_time import GPSTime
  
  from selfdrive.sensord.rawgps.modemdiag import ModemDiag, DIAG_LOG_F, setup_logs, send_recv
  from selfdrive.sensord.rawgps.structs import dict_unpacker
  from selfdrive.sensord.rawgps.structs import gps_measurement_report, gps_measurement_report_sv
  from selfdrive.sensord.rawgps.structs import glonass_measurement_report, glonass_measurement_report_sv
  from selfdrive.sensord.rawgps.structs import oemdre_measurement_report, oemdre_measurement_report_sv
  from selfdrive.sensord.rawgps.structs import LOG_GNSS_GPS_MEASUREMENT_REPORT, LOG_GNSS_GLONASS_MEASUREMENT_REPORT
  from selfdrive.sensord.rawgps.structs import position_report, LOG_GNSS_POSITION_REPORT, LOG_GNSS_OEMDRE_MEASUREMENT_REPORT
  
  DEBUG = int(os.getenv("DEBUG", "0"))==1
  
  miscStatusFields = {
    "multipathEstimateIsValid": 0,
 
</s> remove 
 </s> add from system.swaglog import cloudlog </s> remove from system.swaglog import cloudlog
 </s> add import cereal.messaging as messaging </s> remove import cereal.messaging as messaging
 </s> add 
from selfdrive.sensord.rawgps.structs import (dict_unpacker, position_report,
                                              gps_measurement_report, gps_measurement_report_sv,
                                              glonass_measurement_report, glonass_measurement_report_sv,
                                              oemdre_measurement_report, oemdre_measurement_report_sv,
                                              LOG_GNSS_GPS_MEASUREMENT_REPORT, LOG_GNSS_GLONASS_MEASUREMENT_REPORT,
                                              LOG_GNSS_POSITION_REPORT, LOG_GNSS_OEMDRE_MEASUREMENT_REPORT)
  from system.swaglog import cloudlog
  from laika.gps_time import GPSTime
  
  from selfdrive.sensord.rawgps.modemdiag import ModemDiag, DIAG_LOG_F, setup_logs, send_recv
from selfdrive.sensord.rawgps.structs import (dict_unpacker, position_report,
                                              gps_measurement_report, gps_measurement_report_sv,
                                              glonass_measurement_report, glonass_measurement_report_sv,
                                              oemdre_measurement_report, oemdre_measurement_report_sv,
                                              LOG_GNSS_GPS_MEASUREMENT_REPORT, LOG_GNSS_GLONASS_MEASUREMENT_REPORT,
                                              LOG_GNSS_POSITION_REPORT, LOG_GNSS_OEMDRE_MEASUREMENT_REPORT)
from selfdrive.sensord.rawgps.structs import (dict_unpacker, position_report,
                                              gps_measurement_report, gps_measurement_report_sv,
                                              glonass_measurement_report, glonass_measurement_report_sv,
                                              oemdre_measurement_report, oemdre_measurement_report_sv,
                                              LOG_GNSS_GPS_MEASUREMENT_REPORT, LOG_GNSS_GLONASS_MEASUREMENT_REPORT,
                                              LOG_GNSS_POSITION_REPORT, LOG_GNSS_OEMDRE_MEASUREMENT_REPORT)
from selfdrive.sensord.rawgps.structs import (dict_unpacker, position_report,
                                              gps_measurement_report, gps_measurement_report_sv,
                                              glonass_measurement_report, glonass_measurement_report_sv,
                                              oemdre_measurement_report, oemdre_measurement_report_sv,
                                              LOG_GNSS_GPS_MEASUREMENT_REPORT, LOG_GNSS_GLONASS_MEASUREMENT_REPORT,
                                              LOG_GNSS_POSITION_REPORT, LOG_GNSS_OEMDRE_MEASUREMENT_REPORT)
from selfdrive.sensord.rawgps.structs import (dict_unpacker, position_report,
                                              gps_measurement_report, gps_measurement_report_sv,
                                              glonass_measurement_report, glonass_measurement_report_sv,
                                              oemdre_measurement_report, oemdre_measurement_report_sv,
                                              LOG_GNSS_GPS_MEASUREMENT_REPORT, LOG_GNSS_GLONASS_MEASUREMENT_REPORT,
                                              LOG_GNSS_POSITION_REPORT, LOG_GNSS_OEMDRE_MEASUREMENT_REPORT)
from selfdrive.sensord.rawgps.structs import (dict_unpacker, position_report,
                                              gps_measurement_report, gps_measurement_report_sv,
                                              glonass_measurement_report, glonass_measurement_report_sv,
                                              oemdre_measurement_report, oemdre_measurement_report_sv,
                                              LOG_GNSS_GPS_MEASUREMENT_REPORT, LOG_GNSS_GLONASS_MEASUREMENT_REPORT,
                                              LOG_GNSS_POSITION_REPORT, LOG_GNSS_OEMDRE_MEASUREMENT_REPORT)
from selfdrive.sensord.rawgps.structs import (dict_unpacker, position_report,
                                              gps_measurement_report, gps_measurement_report_sv,
                                              glonass_measurement_report, glonass_measurement_report_sv,
                                              oemdre_measurement_report, oemdre_measurement_report_sv,
                                              LOG_GNSS_GPS_MEASUREMENT_REPORT, LOG_GNSS_GLONASS_MEASUREMENT_REPORT,
                                              LOG_GNSS_POSITION_REPORT, LOG_GNSS_OEMDRE_MEASUREMENT_REPORT)
  
  DEBUG = int(os.getenv("DEBUG", "0"))==1
  
  miscStatusFields = {
    "multipathEstimateIsValid": 0,
keep keep keep keep replace replace replace replace replace replace keep keep keep keep keep
 rawgpsd: more robust + simple test (#25977)

* rawgps cleanup

* wait for modem manager

* cleanup

Co-authored-by: Comma Device <device@comma.ai> 
selfdrive/sensord/rawgps/rawgpsd.py