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IQ.Pilot Release Commit @ bec7652

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This commit is contained in:
IQ.Lvbs CI [bot]
2026-08-22 21:28:16 -05:00
parent 9e52535231
commit e0fd0efe96
4825 changed files with 177522 additions and 75780 deletions
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4
iqpilot/iq_maps/__init__.py
View File

@@ -1,5 +1,5 @@
import os
from openpilot.common.basedir import BASEDIR
from iqpilot.common.basedir import BASEDIR
VENDOR_MAPD_BIN_DIR = os.path.join(BASEDIR, "third_party/mapd_pfeiferj")
VENDOR_MAPD_BIN_DIR = os.path.join(BASEDIR, "iqpilot/third_party/mapd_pfeiferj")
VENDOR_MAPD_PATH = os.path.join(VENDOR_MAPD_BIN_DIR, "mapd")

64
iqpilot/iq_maps/orchestrator.py
View File

@@ -12,39 +12,23 @@ import threading
import time
from datetime import datetime
import cereal.messaging as messaging
from cereal import custom
from openpilot.common.params import Params
from openpilot.common.realtime import Ratekeeper, config_realtime_process
from openpilot.common.swaglog import cloudlog
from openpilot.selfdrive.selfdrived.alertmanager import set_offroad_alert
from openpilot.system.hardware.hw import Paths
from openpilot.iqpilot.iq_maps import VENDOR_MAPD_BIN_DIR, VENDOR_MAPD_PATH
from openpilot.iqpilot.iq_maps.tile_bundle_downloader import TileBundleDownloader, region_bundle_installed
from openpilot.iqpilot.iq_maps.vendor_mapd_installer import VendorMapdInstaller
import iqpilot.cereal.messaging as messaging
from iqpilot.cereal import custom
from iqpilot.common.params import Params
from iqpilot.common.realtime import Ratekeeper, config_realtime_process
from iqpilot.common.swaglog import cloudlog
from iqpilot.selfdrive.selfdrived.alertmanager import set_offroad_alert
from iqpilot.system.hardware.hw import Paths
from iqpilot.iq_maps import VENDOR_MAPD_BIN_DIR, VENDOR_MAPD_PATH
from iqpilot.iq_maps.tile_bundle_downloader import TileBundleDownloader, region_bundle_installed
from iqpilot.iq_maps.vendor_mapd_installer import VendorMapdInstaller
OfflineMapAction = custom.MapdInputType
_region_sync_worker: threading.Thread | None = None
# mapd_manager only runs offroad (process_config.only_offroad) and the onroad
# NativeProcess("mapd", ...) is started the instant `started` flips True. If a
# vendor-map download is in flight at that exact moment, the two `mapd`
# binaries end up pointed at the same Paths.mapd_root() tile directory at the
# same time: this one still downloading/writing, the onroad one already
# mmap-reading. Manager only sends SIGINT/SIGTERM to stop mapd_manager, which
# by default only interrupts the main thread — the background download thread
# and the vendor `mapd` subprocess it spawned are otherwise orphaned and keep
# writing into the tile directory the onroad reader just opened, which is what
# was segfaulting (-12) the onroad process in a tight restart loop. The lock +
# pidfile below make sure that subprocess is always killed (on clean shutdown
# via the signal handlers, and on the next boot if this process itself got
# SIGKILLed) before anything else is allowed to read the tile directory.
_active_proc_lock = threading.Lock()
_active_proc: subprocess.Popen | None = None
_shutdown = threading.Event()
# Display-tile bundles for the offline on-screen map (separate asset from mapd's routing
# data). Downloaded after the mapd fetch in the same worker so a region selection installs
# both, and independently restorable when only the tile bundle is missing.
_tile_downloader: TileBundleDownloader | None = None
@@ -62,7 +46,6 @@ def _pid_is_vendor_fetch(pid: int) -> bool:
def _reap_orphaned_vendor_fetch() -> None:
"""Kill any vendor-fetch mapd subprocess left running from a prior, uncleanly-terminated run."""
pidfile = _vendor_fetch_pidfile()
try:
with open(pidfile) as f:
@@ -122,8 +105,6 @@ def _install_signal_handlers() -> None:
def ensure_vendor_runtime() -> None:
# verify-only: a hash-mismatched binary is quarantined, never replaced from
# the network — the updater restores the checked-in one
try:
VendorMapdInstaller().verify()
except Exception:
@@ -173,10 +154,6 @@ def _compose_region_selector(nations: list[str], states: list[str] | None = None
def _fetch_tile_bundles(region_selector: str, abort_check=None) -> None:
"""Download the offline on-screen map display tiles for the selected regions.
Separate asset from mapd's routing data: the on-screen map's OsmOfflineProvider reads
raster .mbtiles bundles, so a region selection installs both when OfflineOSMaps is on."""
global _tile_downloader
if not params.get_bool("OfflineOSMaps"):
return
@@ -239,8 +216,6 @@ def _drive_vendor_fetch(region_selector: str, requested_regions: dict) -> None:
break
cloudlog.info(f"iq_maps: vendor map download finished for {region_selector}")
if not cancelled and not _shutdown.is_set():
# OSMDownloadLocations stays set until the finally below, so the konn3kt cancel RPC
# (which removes it) aborts the tile phase exactly like it cancels the mapd phase.
_fetch_tile_bundles(region_selector, abort_check=lambda: _shutdown.is_set() or not mem_params.get("OSMDownloadLocations"))
except Exception:
cloudlog.exception("iq_maps: vendor map download failed")
@@ -304,17 +279,12 @@ _last_auto_restore_t = 0.0
def region_data_missing() -> bool:
# a media wipe (reflash/format) can delete the downloaded region while the params
# that configure offline maps survive; mapd then retries the missing files forever
# and nothing re-downloads (stale_region_artifacts only sees leftover files)
if not params.get_bool("OsmLocal"):
return False
if not params.get("OsmDownloadedDate"):
return False
if glob.glob(f"{Paths.mapd_root()}/db") or glob.glob(f"{Paths.mapd_root()}/v*"):
return False
# mapd v2 stores region tiles under offline/<evenLat>/<evenLon>.tar.gz — without this
# check a v2 install looks perpetually wiped and re-downloads every backoff interval
if glob.glob(f"{Paths.mapd_root()}/offline/*/*"):
return False
country = params.get("OsmLocationName", return_default=True)
@@ -322,8 +292,6 @@ def region_data_missing() -> bool:
def configured_states() -> list[str]:
"""Selected US states: OsmStateNames (JSON list, multi-state) wins; the legacy
single OsmStateName remains the fallback for pre-list configs."""
try:
states = params.get("OsmStateNames")
if isinstance(states, bytes):
@@ -370,8 +338,6 @@ def _configured_region_selector() -> str:
def tile_bundles_missing() -> bool:
# covers a media wipe AND the user enabling OfflineOSMaps after the region download
# already ran (the vendor fetch only pulls tile bundles when the toggle is on)
if not params.get_bool("OfflineOSMaps"):
return False
selector = _configured_region_selector()
@@ -381,8 +347,6 @@ def tile_bundles_missing() -> bool:
def maybe_restore_tile_bundles() -> None:
"""Tile-only download: don't re-run the whole mapd vendor fetch when only the display
tiles are missing."""
global _last_tile_restore_t, _tile_only_worker
if not tile_bundles_missing():
return
@@ -410,9 +374,6 @@ def sync_osm_request_flags() -> None:
maybe_restore_tile_bundles()
if params.get_bool("OsmDbUpdatesCheck"):
if _region_sync_worker is not None and _region_sync_worker.is_alive():
# A download is already writing into Paths.mapd_root() - deleting/rewriting
# files under it right now would race the writer (and any onroad mapd
# reader) the same way the orphaned-subprocess bug did. Wait for it to finish.
return
purge_stale_region_artifacts(stale_region_artifacts())
country = params.get("OsmLocationName", return_default=True)
@@ -439,11 +400,6 @@ def run_loop():
pass
except PermissionError:
cloudlog.exception(f"iq_maps: failed to make {Paths.mapd_root()}")
# A prior run that got SIGKILLed (or crashed) may have left its vendor-fetch
# mapd subprocess running and still writing into Paths.mapd_root(); clear it
# before anything (including the onroad mapd, once `started` flips) reads
# from that directory. Signal handlers cover the graceful-shutdown path.
_reap_orphaned_vendor_fetch()
_install_signal_handlers()

25
iqpilot/iq_maps/road_data/__init__.py
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@@ -1,25 +0,0 @@
"""
Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
Shared tunables and a small debug logger for the offline road-name / turn-speed path.
"""
from openpilot.common.swaglog import cloudlog
# seconds of road ahead we scan for upcoming turn-speed zones published on iqLiveData
LOOK_AHEAD_HORIZON_TIME = 15.0
# clear the on-screen road name once it has gone this long without a refresh (s)
ROAD_NAME_TIMEOUT = 30
R = 6373000.0 # mean Earth radius in metres (great-circle distance math)
QUERY_RADIUS = 3000 # online OSM query reach, metres
QUERY_RADIUS_OFFLINE = 2250 # offline-tile OSM query reach, metres
_DEBUG = False
_CLOUDLOG_DEBUG = False
def debug_road_data(msg, log_to_cloud=True):
if _CLOUDLOG_DEBUG and log_to_cloud:
cloudlog.debug(msg)
if _DEBUG:
print(msg)

67
iqpilot/iq_maps/road_data/iq_road_layer.py
View File

@@ -1,67 +0,0 @@
"""
Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
"""
import json
import math
import platform
from cereal import custom
from openpilot.common.params import Params
from openpilot.iqpilot.iq_maps.road_data.signal_bridge import RoadSignalBridge
from openpilot.iqpilot.navd.helpers import Coordinate
class IQRoadLayer(RoadSignalBridge):
def __init__(self):
super().__init__()
self.mem_params = Params("/dev/shm/params") if platform.system() != "Darwin" else self.params
def refresh_position(self) -> None:
location = self.location_sub['iqLiveLocation']
self.fix_ready = (
location.solutionState == custom.IQLiveLocation.SolutionState.ready
and location.geodeticPosition.isValid
)
if self.fix_ready:
self.heading_deg = math.degrees(location.alignedOrientationNed.values[2])
self.last_coordinate = Coordinate(location.geodeticPosition.values[0], location.geodeticPosition.values[1])
if self.last_coordinate is None:
return
payload = {
"latitude": self.last_coordinate.latitude,
"longitude": self.last_coordinate.longitude,
}
if self.heading_deg is not None:
payload["bearing"] = self.heading_deg
self.mem_params.put("LastGPSPosition", json.dumps(payload))
def read_current_limit(self) -> float:
return float(self.mem_params.get("MapSpeedLimit") or 0.0)
def read_current_road(self) -> str:
return str(self.mem_params.get("RoadName") or "")
def read_upcoming_limit(self) -> tuple[float, float]:
raw_segment = self.mem_params.get("NextMapSpeedLimit")
if isinstance(raw_segment, bytes):
raw_segment = raw_segment.decode("utf-8")
try:
upcoming_segment = json.loads(raw_segment) if isinstance(raw_segment, str) and raw_segment else (raw_segment or {})
except json.JSONDecodeError:
upcoming_segment = {}
next_limit = float(upcoming_segment.get("speedlimit", 0.0) or 0.0)
target_lat = upcoming_segment.get("latitude")
target_lon = upcoming_segment.get("longitude")
distance_to_limit = 0.0
if target_lat is not None and target_lon is not None:
limit_coordinate = Coordinate(float(target_lat), float(target_lon))
distance_to_limit = (self.last_coordinate or Coordinate(0, 0)).distance_to(limit_coordinate)
return next_limit, distance_to_limit

35
iqpilot/iq_maps/road_data/road_daemon.py
View File

@@ -1,35 +0,0 @@
"""
Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
"""
import threading
import traceback
from openpilot.common.realtime import Ratekeeper, config_realtime_process
from openpilot.iqpilot.iq_maps.road_data import debug_road_data
from openpilot.iqpilot.iq_maps.road_data.iq_road_layer import IQRoadLayer
ROAD_LAYER_HZ = 1
ROAD_LAYER_CORES = [0, 1, 2, 3]
def _log_thread_exception(args) -> None:
debug_road_data(f"IQ maps threading exception:\n{args}")
traceback.print_exception(args.exc_type, args.exc_value, args.exc_traceback)
def run() -> None:
config_realtime_process(ROAD_LAYER_CORES, 5)
layer = IQRoadLayer()
rk = Ratekeeper(ROAD_LAYER_HZ, print_delay_threshold=None)
while True:
layer.step()
rk.keep_time()
def main() -> None:
threading.excepthook = _log_thread_exception
run()
if __name__ == "__main__":
main()

62
iqpilot/iq_maps/road_data/signal_bridge.py
View File

@@ -1,62 +0,0 @@
"""
Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
"""
from abc import abstractmethod, ABC
import cereal.messaging as messaging
from openpilot.common.params import Params
from openpilot.common.constants import CV
from openpilot.selfdrive.car.cruise import V_CRUISE_UNSET
from openpilot.iqpilot.navd.helpers import coordinate_from_param
ROAD_SPEED_CEILING = V_CRUISE_UNSET * CV.KPH_TO_MS
class RoadSignalBridge(ABC):
def __init__(self):
self.params = Params()
self.location_sub = messaging.SubMaster(['iqLiveLocation'])
self.output_pub = messaging.PubMaster(['iqLiveData'])
self.fix_ready = False
self.heading_deg = None
self.last_coordinate = coordinate_from_param("LastGPSPositionIQLoc", self.params)
@abstractmethod
def refresh_position(self) -> None:
pass
@abstractmethod
def read_current_limit(self) -> float:
pass
@abstractmethod
def read_upcoming_limit(self) -> tuple[float, float]:
pass
@abstractmethod
def read_current_road(self) -> str:
pass
def publish_snapshot(self) -> None:
active_limit = self.read_current_limit()
next_limit, next_limit_distance = self.read_upcoming_limit()
outbound = messaging.new_message('iqLiveData')
outbound.valid = self.location_sub['iqLiveLocation'].gpsHealthy
live_data = outbound.iqLiveData
live_data.speedLimitValid = bool(ROAD_SPEED_CEILING > active_limit > 0)
live_data.speedLimit = active_limit
live_data.speedLimitAheadValid = bool(ROAD_SPEED_CEILING > next_limit > 0)
live_data.speedLimitAhead = next_limit
live_data.speedLimitAheadDistance = next_limit_distance
live_data.roadName = self.read_current_road()
self.output_pub.send('iqLiveData', outbound)
def step(self) -> None:
self.location_sub.update(0)
self.refresh_position()
self.publish_snapshot()

45
iqpilot/iq_maps/tile_bundle_downloader.py
View File

@@ -1,20 +1,6 @@
#!/usr/bin/env python3
"""
Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
Downloads per-region raster display-tile bundles (.mbtiles) for the offline on-screen map.
These are a separate asset from mapd's routing/speed-limit data: mapd pulls OSM way tiles
into Paths.mapd_root(), while the on-screen map (OsmOfflineProvider) reads raster .mbtiles
from offline_map_root()/regions/<selector>/tiles/offline.mbtiles. Bundles are built per
state/nation by scripts/iqpilot/build_state_tile_bundles.py and hosted behind a static base
URL that serves:
<base>/index.json {"version": 1, "regions": {<selector>: entry}}
<base>/<entry["path"]> the raster .mbtiles for that region
Entry fields: path, bytes, sha256, bounds ("minLon,minLat,maxLon,maxLat"), minzoom, maxzoom.
Selectors match the mapd region menu naming: us_state.CA, nation.US.
"""
import hashlib
import json
@@ -25,20 +11,16 @@ from pathlib import Path
import requests
from openpilot.common.params import Params
from openpilot.common.swaglog import cloudlog
from openpilot.iqpilot.ui.onroad.offline_tiles import offline_map_root
from iqpilot.common.params import Params
from iqpilot.common.swaglog import cloudlog
from iqpilot.ui.onroad.offline_tiles import offline_map_root
# Proprietary auth + hosted endpoints (gitea raw with an embedded read-only PAT, same
# pattern as the model selector). Optional: without the private bundle the downloader
# still works anonymously against OfflineTilesBaseUrl (e.g. a public R2 bucket).
try:
from openpilot.iqpilot.iq_maps.tiles_auth import get_base_urls as _private_base_urls, get_requests_auth as _private_auth
from iqpilot.iq_maps.tiles_auth import get_base_urls as _private_base_urls, get_requests_auth as _private_auth
except Exception: # ProprietaryModuleMissing or import errors in stripped builds
_private_base_urls = None
_private_auth = None
# R2 bucket iqnav behind the public custom domain (see scripts/iqpilot/tile_factory/r2_sync_watch.py)
DEFAULT_TILE_BUNDLE_BASE_URL = "https://maps.konn3kt.com/iqosmd/v1"
BASE_URL_PARAM = "OfflineTilesBaseUrl"
PROGRESS_PARAM = "OfflineTilesDownloadProgress"
@@ -49,8 +31,6 @@ STREAM_RETRIES = 8
def candidate_base_urls(params: Params) -> list[str]:
"""Hosts to try in order: user/param override first, then the embedded private
endpoints (gitea raw), then the public default."""
override = params.get(BASE_URL_PARAM)
if isinstance(override, bytes):
override = override.decode("utf-8", errors="ignore")
@@ -144,12 +124,6 @@ def _write_manifest(selector: str, entry: dict) -> None:
class TileBundleDownloader:
"""Streams region bundles to disk with resume + sha256 verify + atomic install.
Cancellation matches the mapd flow: the caller sets REQUEST_PARAM in mem params while a
download runs; removing it (konn3kt cancel RPC or settings) aborts between chunks. The
partial .part file is kept so a retry resumes instead of restarting.
"""
def __init__(self, params: Params | None = None, mem_params: Params | None = None,
abort_check=None):
@@ -160,7 +134,6 @@ class TileBundleDownloader:
self.mem_params = Params("/dev/shm/params") if platform.system() != "Darwin" else self.params
self.session = requests.Session()
self._cancelled = threading.Event()
# optional external cancel signal, e.g. the orchestrator's OSMDownloadLocations removal
self._abort_check = abort_check
def cancel(self) -> None:
@@ -170,7 +143,6 @@ class TileBundleDownloader:
if self._cancelled.is_set():
return True
if not self.mem_params.get(REQUEST_PARAM):
# request flag was removed out from under us -> user cancelled
self._cancelled.set()
return True
if self._abort_check is not None and self._abort_check():
@@ -188,7 +160,6 @@ class TileBundleDownloader:
def _download_one(self, selector: str, entry: dict, base_url: str,
progress_offset: int, progress_total: int) -> bool:
"""Download a region: the night bundle, plus the optional day-style variant."""
night_path = region_bundle_path(selector)
ok = self._download_file(
selector, base_url, entry["path"], int(entry.get("bytes", 0)),
@@ -205,9 +176,7 @@ class TileBundleDownloader:
progress_offset + int(entry.get("bytes", 0)), progress_total,
)
if not day_ok:
# the night set is complete and usable; a failed day variant retries next pass
cloudlog.warning(f"iq_maps: day-style bundle failed for {selector}; night set installed")
# manifest last: bounds drive region matching, so it must describe installed files
_write_manifest(selector, entry)
cloudlog.info(f"iq_maps: installed tile bundle {selector}")
return True
@@ -219,8 +188,6 @@ class TileBundleDownloader:
part_path = final_path.with_name(final_path.name + ".part")
part_path.parent.mkdir(parents=True, exist_ok=True)
# A cellular/hotspot link routinely kills a multi-hundred-MB stream mid-flight; retry
# each interruption from the current .part offset instead of failing the whole region.
downloaded = 0
digest = hashlib.sha256()
last_error: Exception | None = None
@@ -244,7 +211,6 @@ class TileBundleDownloader:
auth = request_auth()
response = self.session.get(url, headers=headers, stream=True, timeout=HTTP_TIMEOUT_S, auth=auth)
if resume_from and response.status_code != 206:
# server ignored the Range request -> restart from scratch
digest = hashlib.sha256()
resume_from = 0
part_path.unlink(missing_ok=True)
@@ -284,8 +250,6 @@ class TileBundleDownloader:
return True
def download_regions(self, selectors: list[str]) -> bool:
"""Download the display-tile bundles for the given region selectors. Returns True if all
requested bundles are installed and current when done."""
self._cancelled.clear()
ok = True
try:
@@ -346,7 +310,6 @@ class TileBundleDownloader:
if not expected_sha or installed_sha != expected_sha:
return False
if entry.get("day_path"):
# a published day variant must be installed and current too
day_file = region_bundle_dir(selector) / "tiles" / "offline_day.mbtiles"
installed_day = str(manifest.get("mbtiles_day", {}).get("sha256", "")).strip().lower()
expected_day = str(entry.get("day_sha256", "")).strip().lower()

4
iqpilot/iq_maps/tiles_auth.py
View File

@@ -2,9 +2,9 @@
"""
Copyright (c) IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
"""
from openpilot.iqpilot._proprietary_loader import ProprietaryModuleMissing, load_private_module
from iqpilot._proprietary_loader import ProprietaryModuleMissing, load_private_module
try:
load_private_module(__name__, "iqpilot_private.maps.git_auth")
except ProprietaryModuleMissing:
from iqpilot.maps_private_src.git_auth import * # noqa: F403
from iqpilot.maps_private_src.git_auth import *

12
iqpilot/iq_maps/update_vendor_version.py
View File

@@ -1,27 +1,21 @@
#!/usr/bin/env python3
"""
Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
Maintainer utility: pin a new mapd release tag and refresh the checked-in binary
hash. Not used at runtime. Binaries come from the gitlvb teal/mapd CI (built
against teal/gomsgq) — drop the artifact at third_party/mapd_pfeiferj/mapd, then
run this so the hash pin moves in the same commit.
"""
import argparse
import os
import re
import sys
from openpilot.common.basedir import BASEDIR
from openpilot.iqpilot.iq_maps import VENDOR_MAPD_PATH
from openpilot.iqpilot.iq_maps.vendor_mapd_installer import (
from iqpilot.common.basedir import BASEDIR
from iqpilot.iq_maps import VENDOR_MAPD_PATH
from iqpilot.iq_maps.vendor_mapd_installer import (
VENDOR_RELEASE_TAG,
sha256_of_file,
)
_RELEASE_SYMBOL = "VENDOR_RELEASE_TAG"
_INSTALLER_SRC = os.path.join(BASEDIR, "iqpilot", "iq_maps", "vendor_mapd_installer.py")
# public: the checked-in hash the version test compares the installed binary against
HASH_FILE = os.path.join(BASEDIR, "iqpilot", "iq_maps", "tests", "mapd_hash")
_HASH_FILE = HASH_FILE
_TAG_ASSIGN = re.compile(rf'^{_RELEASE_SYMBOL}\s*=\s*["\'][^"\']*["\']', re.MULTILINE)

25
iqpilot/iq_maps/vendor_mapd_installer.py
View File

@@ -1,25 +1,17 @@
#!/usr/bin/env python3
"""
Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
Verifies the vendored `mapd` routing binary authored by Jacob Pfeifer
(github.com/pfeiferj/mapd), built from the gitlvb teal/mapd fork against
teal/gomsgq. The only accepted binary is the checked-in one matching the pinned
hash; nothing is ever downloaded at runtime. Jacob's stock release build embeds
a 15-reader msgq header layout — on this fork (NUM_READERS=32) its registration
writes land inside other processes' reader slots, so a wrong binary is
quarantined rather than left where manager could start it.
"""
import hashlib
import os
import sys
from openpilot.common.basedir import BASEDIR
from openpilot.common.params import Params
from openpilot.common.spinner import Spinner
from openpilot.common.swaglog import cloudlog
from openpilot.iqpilot.iq_maps import VENDOR_MAPD_PATH
import openpilot.system.sentry as sentry
from iqpilot.common.basedir import BASEDIR
from iqpilot.common.params import Params
from iqpilot.common.spinner import Spinner
from iqpilot.common.swaglog import cloudlog
from iqpilot.iq_maps import VENDOR_MAPD_PATH
import iqpilot.system.sentry as sentry
VENDOR_RELEASE_TAG = "v2.0.6-iq1"
@@ -29,7 +21,6 @@ QUARANTINE_PATH = VENDOR_MAPD_PATH + ".quarantined"
def sha256_of_file(path: str) -> str:
"""Hex SHA-256 digest of a file on disk."""
digest = hashlib.sha256()
with open(path, "rb") as handle:
for block in iter(lambda: handle.read(1 << 20), b""):
@@ -50,14 +41,12 @@ class VendorMapdInstaller:
return str(self._params.get(_VERSION_PARAM) or "")
def verify(self) -> bool:
"""True iff the on-disk binary matches the pinned hash; quarantines a wrong one."""
expected = self._expected_hash()
if not expected:
cloudlog.error("iq_maps: pinned mapd hash missing, vendor binary cannot be verified")
return False
if not os.path.isfile(VENDOR_MAPD_PATH):
# the binary is a tracked file: the updater/bundle restores it
self._say("Offline maps engine missing; it will be restored by the next update.")
self._params.remove(_VERSION_PARAM)
return False
@@ -77,8 +66,6 @@ class VendorMapdInstaller:
self._say(f"Offline maps engine verified [{VENDOR_RELEASE_TAG}]")
return True
# a foreign binary — e.g. a stock release download from the retired fetch
# path — must never run: quarantine it where manager can't start it
cloudlog.error(f"iq_maps: vendor mapd hash {current[:12]} != pinned {expected[:12]}, quarantining")
self._say("Offline maps engine failed verification; quarantined until the next update.")
try:

0
iqpilot/iq_maps/version.py
View File