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firestar5683
ab81464bd1
Add navigation and map matching providers with the vendored map service sources. Co-authored-by: Daniel Koepping <elkoled@gmail.com> Co-authored-by: Danny <dannyirwin31@yahoo.com> Co-authored-by: Prabhaav Pillai <prabhaav@msu.edu> Co-authored-by: dirwin31 <83434411+dirwin31@users.noreply.github.com>
107 lines
6.8 KiB
Markdown
107 lines
6.8 KiB
Markdown
# Map provider source
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This ordinary source folder starts from Jacob Pfeifer's mapd v2.3.1. The exact
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commit, pristine tree and import exclusions are recorded in `../upstream-sync.json`.
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The upstream MIT notice is retained in `LICENSE`. Map datasets have separate
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attribution and distribution requirements; no map dataset is bundled here.
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The tile loader validates the known reachable tile graph before caching it,
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including road/node structure, geometry, text and speed values. Packed and decoded
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sizes are bounded, historical tiles remain supported, and replaced or changed
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files invalidate cached road evidence. Tests preserve valid empty coverage and a
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synthetic road's identity, speed and geometry. This does not establish dataset
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provenance or correct-road applicability; see `maps/OFFLINE_VALIDATION.md`.
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Bearing alignment is a nonnegative undirected-axis penalty. The original angle
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wrapping could give a negative penalty to a crossing road, increasing its score;
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the regression covers cardinal and diagonal segments with wrapped headings.
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This mathematical correction does not qualify the road-selection heuristic.
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Downloads use an owned staging directory and validate the complete tar/gzip
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archive before replacing installed files. Members are restricted to the requested
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map group; links, escaping paths, duplicates and corrupt/truncated streams are
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rejected. Failed downloads preserve prior files, shorter replacements have no
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old suffix, and only successful installations count toward progress. Cancellation
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and progress snapshots are tested with synthetic HTTP responses and temporary
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directories. Each file replacement is atomic; a failure during installation can
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still leave a group containing different dataset versions. Whole-group versioning,
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install-time tile-content validation and authenticated dataset provenance remain
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separate work; the loader checks content before using an installed tile.
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From the repository root, with Go 1.25.1, a C compiler, pkg-config and zlib:
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```sh
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python3 tools/ci/run_map_tests.py --output /tmp/map-provider-check
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```
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The output directory must be new. The command records every Go test outcome,
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vet/build results, source hashes, compiler build information and the binary hash.
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Dependency resolution is read-only against go.mod/go.sum. The build explicitly
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embeds the parent revision, pinned provider revision and actual source digest;
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the provider logs those identifiers on startup. This avoids relying on automatic
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VCS detection for the nested module. The evidence also records individual source
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hashes, including local uncommitted changes. It builds for the current host and never starts the provider or downloads
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maps. A Linux ARM64/device build remains a separate gate.
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For a local development binary, `make -C mapd_repo build` uses the checked-in Go
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bindings and a read-only module graph. It does not regenerate schemas, upgrade
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dependencies, or download another Go toolchain. Install the pinned Go version
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first. On Linux, `make -C mapd_repo build-static` additionally selects the pure-Go
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network/user implementations and static linking. Both accept `BUILD_OUTPUT` to
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choose the output file. These convenience binaries have unrecorded source stamps;
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use the evidence runner above for a source-stamped test/build record.
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Schema generation is a separate, deliberate operation. `capnp-deps` installs the
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pinned Go plugin and its matching module-cache includes without creating a sibling
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Git checkout. The container recipe supplies Go 1.25.1 explicitly and selects the
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Linux static target; its existing entrypoint remains the map-data generation tool,
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not a managed device-provider launcher.
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The producer now reads both GPS sources and falls back from external to internal
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GPS when needed. Python GPS Events carry MONOTONIC timestamps while Mapd output
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uses BOOTTIME. V2 samples both clocks, rejects queued pre-start/resume fixes,
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clears source evidence on a suspend offset step, and retains the accepted fix's
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original observation time converted to BOOTTIME. The executable host fixture
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uses the Python publisher's ordinary timestamp instead of overriding it.
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External fixes expire
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after 500 ms and internal fixes after 2 s, matching their different source rates.
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The 50 m horizontal-accuracy ceiling is an input sanity bound, not proof that a
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particular nearby road is correct. Invalid fixes and bearing values are rejected.
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Boot-time timestamps use the same Linux clock as the host, with the same Apple
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fallback. The publisher sends each queued sample once without refreshing its age.
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Road computation runs before publication. Source changes, lost GPS, missing tiles
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and failed road matches clear the old road, speed-limit and upcoming state. A
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matched road without a posted limit has a distinct status and zero posted speed;
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it does not inherit the previous road's accepted limit. The v1 output carries
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original GPS time, computation time, source generation and a process session.
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Historical fields and type IDs are retained. Messages without the v1 fields have
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unknown sample evidence. A shared actual Go wire fixture is decoded by the host
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Python tests; the compiled contract also retains historical field meanings.
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The host has a compatible `MapdOut` schema and service registration. An
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opt-in managed shadow and explicit local whole-generation snapshot admission
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are implemented; see `maps/SNAPSHOTS.md`. In particular,
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wrong-road/parallel-road/junction selection, heading accuracy and independent
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source-age evidence still need
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qualification. The provider's valid flag records its computed sample status; it
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does not establish correct-road or installed-vehicle behavior. Host SLC must check
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source and computation age, session/generation, numeric validity and match quality
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before using a posted limit. No SLC control consumer is connected by this batch.
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The existing SLC decision policy remains the control owner. Provider car/model
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inputs do not yet have independent freshness gates, so suggested-speed and vision
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curve outputs can retain stale input. Those outputs must not become SLC authority.
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The manager entry remains default-off and launches only a packaged diagnostic
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shadow with an admitted snapshot; no automatic download or control activation
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is added. The host also restores the historical map input and extended
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status reservations, with append-compatible fields from this provider. Original
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helper type IDs, field meanings and input enum ordinals are retained inside the
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reserved custom roots. Go and Python share synthetic status/input wire fixtures,
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including a host-created input decoded by the provider. This defines the transport;
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no settings command or download action is wired to it yet.
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Schema updates use Cap'n Proto 1.0.1 and `capnpc-go` v3.1.0-alpha.2, matching the
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Go dependency pin. Generate only the changed provider binding, then run the shared
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Go/Python wire fixtures and compiled-layout tests before accepting the change.
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