IQ.Pilot Release Commit @ bec7652

iqpilot/system/proprietary_runtime/SConscript

@@ -0,0 +1,71 @@
+# Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
+import os
+import sysconfig
+
+Import('env', 'common')
+
+_PRIVATE_ROOT_RAW = os.environ.get("IQPILOT_PROPRIETARY_RUNTIME_SOURCE_ROOT", "").strip()
+_REQUIRE_PRIVATE_SOURCE = os.environ.get("IQPILOT_BUILD_PROPRIETARY_RUNTIME", "") == "1"
+_ALLOW_HOST_RUNTIME = os.environ.get("IQPILOT_BUILD_HOST_RUNTIME", "") == "1"
+_BUILD_NATIVE_RUNTIME = env["PLATFORM"] != "darwin" or _ALLOW_HOST_RUNTIME
+
+if _PRIVATE_ROOT_RAW:
+  from pathlib import Path
+  _PRIVATE_ROOT = Path(_PRIVATE_ROOT_RAW).resolve()
+  _PRIVATE_SOURCES = {
+    name: _PRIVATE_ROOT / name
+    for name in ("runner.cc", "bundle_common.cc", "bundle_common.h", "verified_import.cc")
+  }
+else:
+  _PRIVATE_ROOT = None
+  _PRIVATE_SOURCES = {}
+
+
+def _private_sources_ready() -> bool:
+  if _PRIVATE_ROOT is None:
+    if _REQUIRE_PRIVATE_SOURCE:
+      raise FileNotFoundError(
+        "IQPILOT_PROPRIETARY_RUNTIME_SOURCE_ROOT is not set"
+      )
+    print(env.PrettyNote('SKIP', "proprietary runtime native build — no private source root configured"))
+    return False
+
+  missing = [str(path) for path in _PRIVATE_SOURCES.values() if not path.exists()]
+  if not missing:
+    return True
+
+  if _REQUIRE_PRIVATE_SOURCE:
+    raise FileNotFoundError(
+      "missing proprietary runtime source files:\n" + "\n".join(missing)
+    )
+  print(env.PrettyNote('SKIP', f"proprietary runtime native build — private source unavailable at {_PRIVATE_ROOT}"))
+  return False
+
+
+runner = None
+verified_import = None
+
+if not _BUILD_NATIVE_RUNTIME:
+  print(env.PrettyNote('SKIP', "proprietary runtime host build on darwin (IQPILOT_BUILD_HOST_RUNTIME=1 to override)"))
+elif _private_sources_ready():
+  runner = env.Program(
+    'iqpilot_bundle_runner',
+    [str(_PRIVATE_SOURCES["runner.cc"]), str(_PRIVATE_SOURCES["bundle_common.cc"])],
+    LIBS=common + ['json11', 'crypto', 'pthread'],
+  )
+
+  python_module_env = env.Clone()
+  python_module_env["SHLIBPREFIX"] = ""
+  python_module_env["SHLIBSUFFIX"] = ".so"
+  python_module_env.Append(CPPPATH=[sysconfig.get_paths()["include"], str(_PRIVATE_ROOT)])
+  python_module_env["LINKFLAGS"] = [flag for flag in python_module_env["LINKFLAGS"] if flag != "-Wl,--no-undefined"]
+  if python_module_env["PLATFORM"] == "darwin":
+    python_module_env.Append(LINKFLAGS=["-undefined", "dynamic_lookup"])
+
+  verified_import = python_module_env.SharedLibrary(
+    '_verified_import',
+    [str(_PRIVATE_SOURCES["verified_import.cc"]), str(_PRIVATE_SOURCES["bundle_common.cc"])],
+    LIBS=common + ['json11', 'crypto', 'pthread'],
+  )
+
+Export('runner', 'verified_import')

iqpilot/system/proprietary_runtime/__init__.py

@@ -0,0 +1,16 @@
+import os
+
+from iqpilot.common.basedir import BASEDIR
+
+
+os.environ.setdefault("OPENPILOT_BASEDIR", BASEDIR)
+os.environ.setdefault("IQPILOT_PROPRIETARY_ROOT", os.path.join(BASEDIR, ".iqpilot", "bundles"))
+
+# _verified_import.so ships ONLY in the signed rootfs runtime. It MUST be prepended so a
+# repo-side _verified_import.py can never shadow the signed native module via __path__
+# order. runtime_paths.py lives in the repo copy and still resolves from the fall-through.
+_ROOTFS_PKG = "/usr/libexec/iqpilot/python/openpilot/system/proprietary_runtime"
+if os.path.isdir(_ROOTFS_PKG):
+  if _ROOTFS_PKG in __path__:
+    __path__.remove(_ROOTFS_PKG)
+  __path__.insert(0, _ROOTFS_PKG)

iqpilot/system/proprietary_runtime/install_verified_runtime.sh

@@ -0,0 +1,54 @@
+#!/usr/bin/env bash
+set -euo pipefail
+
+ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/../../.." && pwd)"
+RUNTIME_ROOT="${IQPILOT_VERIFIED_RUNTIME_ROOT:-/usr/libexec/iqpilot}"
+PYTHON_ROOT="${RUNTIME_ROOT}/python"
+TARGET_EXT_DIR="${PYTHON_ROOT}/openpilot/system/proprietary_runtime"
+MANIFEST_SRC="${ROOT}/iqpilot/system/proprietary_runtime/rootfs_integrity.json"
+MANIFEST_SIG_SRC="${ROOT}/iqpilot/system/proprietary_runtime/rootfs_integrity.json.sig"
+
+RUNNER_SRC="${ROOT}/iqpilot/system/proprietary_runtime/iqpilot_bundle_runner"
+EXT_SRC="${ROOT}/iqpilot/system/proprietary_runtime/_verified_import.so"
+STUB_ROOT="${ROOT}/iqpilot/system/proprietary_runtime/rootfs_python"
+
+if [ ! -x "${RUNNER_SRC}" ]; then
+  echo "missing runner: ${RUNNER_SRC}"
+  exit 1
+fi
+
+if [ ! -f "${EXT_SRC}" ]; then
+  # No locally-built _verified_import.so staged in the tree. This is the NORMAL prebuilt/release case:
+  # the .so is gitignored and ships baked into the OS image at /usr/libexec/iqpilot, so there is
+  # nothing to install from /data. Quietly no-op and let the OS-baked verified runtime be used.
+  exit 0
+fi
+
+if [ ! -f "${MANIFEST_SRC}" ] || [ ! -f "${MANIFEST_SIG_SRC}" ]; then
+  if [ -n "${IQPILOT_SIGNING_KEY:-}" ]; then
+    "${ROOT}/.venv/bin/python" \
+      "${ROOT}/scripts/iqpilot/build_proprietary_runtime_manifest.py" \
+      --repo-root "${ROOT}" \
+      --output "${MANIFEST_SRC}"
+  fi
+fi
+
+if [ ! -f "${MANIFEST_SRC}" ] || [ ! -f "${MANIFEST_SIG_SRC}" ]; then
+  echo "missing rootfs runtime integrity manifest or signature"
+  exit 1
+fi
+
+sudo mount -o remount,rw /
+trap 'sudo mount -o remount,ro /' EXIT
+
+sudo mkdir -p "${RUNTIME_ROOT}" "${TARGET_EXT_DIR}"
+sudo install -m 0755 "${RUNNER_SRC}" "${RUNTIME_ROOT}/iqpilot_bundle_runner"
+sudo install -m 0755 "${EXT_SRC}" "${TARGET_EXT_DIR}/_verified_import.so"
+sudo install -m 0644 "${MANIFEST_SRC}" "${RUNTIME_ROOT}/runtime_integrity.json"
+sudo install -m 0644 "${MANIFEST_SIG_SRC}" "${RUNTIME_ROOT}/runtime_integrity.json.sig"
+sudo install -m 0644 "${STUB_ROOT}/openpilot/__init__.py" "${PYTHON_ROOT}/openpilot/__init__.py"
+sudo mkdir -p "${PYTHON_ROOT}/openpilot/system"
+sudo install -m 0644 "${STUB_ROOT}/openpilot/system/__init__.py" "${PYTHON_ROOT}/openpilot/system/__init__.py"
+sudo install -m 0644 "${STUB_ROOT}/openpilot/system/proprietary_runtime/__init__.py" "${TARGET_EXT_DIR}/__init__.py"
+
+echo "installed verified runtime to ${RUNTIME_ROOT}"

iqpilot/system/proprietary_runtime/rootfs_integrity.json

@@ -0,0 +1,53 @@
+{
+  "entries": [
+    {
+      "mode": 493,
+      "path": "iqpilot_bundle_runner",
+      "relative_to": "runtime_root",
+      "sha256": "13af5da8a783b2f2e20464187e468a2acb58fbbf03340ced6f9b8a69874fe7ed",
+      "size": 134160
+    },
+    {
+      "mode": 420,
+      "path": "python/openpilot/__init__.py",
+      "relative_to": "runtime_root",
+      "sha256": "acff7d771dbec2a17c97ea2de7c0a86f12f1119616932ddb09e7c670bf2eed25",
+      "size": 580
+    },
+    {
+      "mode": 420,
+      "path": "python/openpilot/system/__init__.py",
+      "relative_to": "runtime_root",
+      "sha256": "399977f784cfb3a5e1c1d2f4e75619214c37ec2b4127802f0b739ab8e768ce82",
+      "size": 602
+    },
+    {
+      "mode": 420,
+      "path": "python/openpilot/system/proprietary_runtime/__init__.py",
+      "relative_to": "runtime_root",
+      "sha256": "3243b0edf306e17fe860e0c2a64fc2354be0d72ad12b613eea1dfeb426bb522b",
+      "size": 742
+    },
+    {
+      "mode": 493,
+      "path": "python/openpilot/system/proprietary_runtime/_verified_import.so",
+      "relative_to": "runtime_root",
+      "sha256": "cd8cf31c11742d4f2079b398a9dec9e6df60f5a79dfe42c1d6888614bd8e500b",
+      "size": 200416
+    },
+    {
+      "mode": 420,
+      "path": "/usr/lib/systemd/system/hephaestusd.service",
+      "relative_to": "absolute",
+      "sha256": "4ae9a2ad76345019633c2fcf9698f48089576c9b7c009078a732e2a7c36006e4",
+      "size": 1418
+    },
+    {
+      "mode": 420,
+      "path": "/usr/lib/systemd/system/ble-transportd.service",
+      "relative_to": "absolute",
+      "sha256": "dfb9e18320e264c847efc01a2d58ee1850a83c49ed614527eafa7634de4ac51a",
+      "size": 1500
+    }
+  ]
+}

iqpilot/system/proprietary_runtime/rootfs_integrity.json.sig

@@ -0,0 +1 @@
+dmb/R9bZCCHK8J72JIgm8TMY7nBVVo1exmvFIodw0LSFVcGZGDrZNB74xhQTAXgzAgeYVdFQyXs0qdwpvQa2Aw==

iqpilot/system/proprietary_runtime/rootfs_python/openpilot/__init__.py

@@ -0,0 +1,23 @@
+from __future__ import annotations
+
+import os
+from pathlib import Path
+
+
+def _resolve_source_pkg() -> Path:
+  raw_root = os.environ.get("IQPILOT_SOURCE_ROOT") or os.environ.get("OPENPILOT_SOURCE_ROOT") or "/data/openpilot/iqpilot"
+  source_root = Path(raw_root)
+  if source_root.name == "openpilot":
+    return source_root
+  return source_root / "openpilot"
+
+
+def _extend_package_path() -> None:
+  source_pkg = _resolve_source_pkg()
+  if source_pkg.is_dir():
+    pkg_path = str(source_pkg)
+    if pkg_path not in __path__:
+      __path__.append(pkg_path)
+
+
+_extend_package_path()

iqpilot/system/proprietary_runtime/rootfs_python/openpilot/system/__init__.py

@@ -0,0 +1,23 @@
+from __future__ import annotations
+
+import os
+from pathlib import Path
+
+
+def _resolve_source_pkg() -> Path:
+  raw_root = os.environ.get("IQPILOT_SOURCE_ROOT") or os.environ.get("OPENPILOT_SOURCE_ROOT") or "/data/openpilot/iqpilot"
+  source_root = Path(raw_root)
+  if source_root.name == "openpilot":
+    return source_root / "system"
+  return source_root / "openpilot" / "system"
+
+
+def _extend_package_path() -> None:
+  source_pkg = _resolve_source_pkg()
+  if source_pkg.is_dir():
+    pkg_path = str(source_pkg)
+    if pkg_path not in __path__:
+      __path__.append(pkg_path)
+
+
+_extend_package_path()

iqpilot/system/proprietary_runtime/rootfs_python/openpilot/system/proprietary_runtime/__init__.py

@@ -0,0 +1,27 @@
+from __future__ import annotations
+
+import os
+from pathlib import Path
+
+from ._verified_import import import_verified_module
+
+
+def _resolve_source_pkg() -> Path:
+  raw_root = os.environ.get("IQPILOT_SOURCE_ROOT") or os.environ.get("OPENPILOT_SOURCE_ROOT") or "/data/openpilot/iqpilot"
+  source_root = Path(raw_root)
+  if source_root.name == "openpilot":
+    return source_root / "system" / "proprietary_runtime"
+  return source_root / "openpilot" / "system" / "proprietary_runtime"
+
+
+def _extend_package_path() -> None:
+  source_pkg = _resolve_source_pkg()
+  if source_pkg.is_dir():
+    pkg_path = str(source_pkg)
+    if pkg_path not in __path__:
+      __path__.append(pkg_path)
+
+
+_extend_package_path()
+
+__all__ = ["import_verified_module"]

iqpilot/system/proprietary_runtime/runtime_paths.py

@@ -0,0 +1,32 @@
+from __future__ import annotations
+
+import os
+from pathlib import Path
+
+
+VERIFIED_RUNTIME_ROOT = Path("/usr/libexec/iqpilot")
+VERIFIED_RUNNER_PATH = VERIFIED_RUNTIME_ROOT / "iqpilot_bundle_runner"
+VERIFIED_PYTHON_ROOT = VERIFIED_RUNTIME_ROOT / "python"
+FALLBACK_RUNNER_PATH = Path("/data/openpilot/iqpilot/system/proprietary_runtime/iqpilot_bundle_runner")
+DEFAULT_SOURCE_ROOT = Path("/data/openpilot/iqpilot")
+
+
+def verified_runtime_present() -> bool:
+  return VERIFIED_RUNNER_PATH.is_file() and os.access(VERIFIED_RUNNER_PATH, os.X_OK)
+
+
+def preferred_runner_path() -> Path:
+  if verified_runtime_present():
+    return VERIFIED_RUNNER_PATH
+  if os.getenv("IQPILOT_ALLOW_DEV_FALLBACKS") == "1" and FALLBACK_RUNNER_PATH.is_file():
+    return FALLBACK_RUNNER_PATH
+  return VERIFIED_RUNNER_PATH
+
+
+def preferred_pythonpath(existing: str = "") -> str:
+  parts: list[str] = []
+  if VERIFIED_PYTHON_ROOT.is_dir():
+    parts.append(str(VERIFIED_PYTHON_ROOT))
+  if existing:
+    parts.append(existing)
+  return ":".join(parts)

iqpilot/system/proprietary_runtime/test_proprietary_runtime.py

@@ -0,0 +1,35 @@
+import os
+import subprocess
+import sys
+
+from iqpilot.common.basedir import BASEDIR
+
+
+def _runtime_paths(env):
+  result = subprocess.run(
+    [
+      sys.executable,
+      "-c",
+      "import os; import iqpilot.system.proprietary_runtime; print(os.environ['OPENPILOT_BASEDIR']); "
+      + "print(os.environ['IQPILOT_PROPRIETARY_ROOT'])",
+    ],
+    env=env,
+    check=True,
+    capture_output=True,
+    text=True,
+  )
+  return result.stdout.splitlines()
+
+
+def test_basedir_contract():
+  env = os.environ.copy()
+  env.pop("OPENPILOT_BASEDIR", None)
+  env.pop("IQPILOT_PROPRIETARY_ROOT", None)
+  assert _runtime_paths(env) == [BASEDIR, os.path.join(BASEDIR, ".iqpilot", "bundles")]
+
+
+def test_explicit_basedir_is_preserved(tmp_path):
+  env = os.environ.copy()
+  env["OPENPILOT_BASEDIR"] = str(tmp_path)
+  env["IQPILOT_PROPRIETARY_ROOT"] = str(tmp_path / "bundles")
+  assert _runtime_paths(env) == [str(tmp_path), str(tmp_path / "bundles")]