Fix navigation GPS carrier subscriptions

Use GPS transport services in navtilesd and MapFeed, preserving phone GPS through starpilotNavigation. Add startup subscription regressions.

Source-only correction; no prebuilt receipt or native artifacts changed.

openpilot/starpilot/navigation/navtilesd.py

@@ -487,8 +487,8 @@ def main() -> None:
     pass
   daemon = TileDaemon()
   owner = NavigationOwner()
-  from openpilot.starpilot.gps.source import GPS_SOURCES
-  sm = messaging.SubMaster(["deviceState", *GPS_SOURCES, "starpilotNavigation"])
+  from openpilot.starpilot.gps.source import GPS_SERVICES
+  sm = messaging.SubMaster(["deviceState", *GPS_SERVICES])
   map_enabled, layout_checked = False, -math.inf
   while True:
     sm.update(0)

openpilot/starpilot/navigation/tests/test_navtilesd.py

@@ -322,3 +322,32 @@ def test_status_reports_sizes_and_failure(tmp_path):
   assert status["failure"] == "key" and status["hasKey"] and status["network"] == "wifi"
   assert set(status["bytes"]) == {"saved", "driven", "cache"}
   assert navtilesd.FAILURE_KEY == "key"
+
+
+def test_main_subscribes_to_registered_gps_carriers(monkeypatch):
+  import sys
+  from types import SimpleNamespace
+  from openpilot.cereal.services import SERVICE_LIST
+  from openpilot.starpilot.navigation import navtilesd, owner
+
+  class SubscriptionsChecked(Exception):
+    pass
+
+  def submaster(services):
+    assert len(services) == len(set(services))
+    assert set(services) <= SERVICE_LIST.keys()
+    assert {"gpsLocationExternal", "gpsLocation", "starpilotCarState"} <= set(services)
+    assert "phoneGps" not in services
+    assert services.count("starpilotNavigation") == 1
+    assert "deviceState" in services
+    raise SubscriptionsChecked
+
+  messaging = SimpleNamespace(SubMaster=submaster)
+  from openpilot import cereal
+  monkeypatch.setattr(cereal, "messaging", messaging, raising=False)
+  monkeypatch.setitem(sys.modules, "openpilot.cereal.messaging", messaging)
+  monkeypatch.setattr(navtilesd, "TileDaemon", lambda: None)
+  monkeypatch.setattr(owner, "NavigationOwner", lambda: None)
+  monkeypatch.setattr(navtilesd.os, "nice", lambda _: None)
+  with pytest.raises(SubscriptionsChecked):
+    navtilesd.main()

openpilot/starpilot/ui/onroad_map.py

@@ -787,10 +787,10 @@ class MapFeed:
   """The same GPS choice as navigation (either receiver, then the car's own), and the active route."""
 
   def __init__(self, sm=None, *, acquisition=None):
-    from openpilot.starpilot.gps.source import GPS_SOURCES
+    from openpilot.starpilot.gps.source import GPS_SERVICES
     if sm is None:
       from openpilot.cereal import messaging
-      sm = messaging.SubMaster(list(GPS_SOURCES))
+      sm = messaging.SubMaster(list(GPS_SERVICES))
     self.sm = sm
     self._fix: MapFix | None = None
     self._route_stamp = None

openpilot/starpilot/ui/tests/test_onroad_map.py

@@ -583,3 +583,28 @@ def test_culled_guidance_draws_the_same_inside_the_canvas():
   assert len(core) < len(full) / 3, "most of the route is off this canvas"
   inside = (full[:, 1] > 0) & (full[:, 1] < 1024)
   assert np.isin(full[inside].view(np.complex64), core.view(np.complex64)).all(), "the on-canvas strip is unchanged"
+
+
+def test_map_feed_subscribes_to_registered_gps_carriers(monkeypatch):
+  import sys
+  from openpilot.cereal.services import SERVICE_LIST
+  from openpilot.starpilot.ui.onroad_map import MapFeed
+
+  subscriptions = []
+
+  def submaster(services):
+    assert len(services) == len(set(services))
+    assert set(services) <= SERVICE_LIST.keys()
+    assert {"gpsLocationExternal", "gpsLocation", "starpilotCarState"} <= set(services)
+    assert "phoneGps" not in services
+    assert services.count("starpilotNavigation") == 1
+    subscriptions.extend(services)
+    return NS()
+
+  messaging = NS(SubMaster=submaster)
+  from openpilot import cereal
+  monkeypatch.setattr(cereal, "messaging", messaging, raising=False)
+  monkeypatch.setitem(sys.modules, "openpilot.cereal.messaging", messaging)
+  feed = MapFeed(acquisition=NS())
+  assert feed.sm is not None
+  assert subscriptions