feat(fleet): preserve operator VESC integration before final driver merge

2026-09-25 16:40:46 +03:00
parent dad11b47d7
commit 71a648fec8
128 changed files with 22390 additions and 59 deletions
@@ -0,0 +1,34 @@
+"""Installer acceptance under the service account; never opens a USB device."""
+import hashlib
+import json
+import os
+from pathlib import Path
+import subprocess
+import tempfile
+
+
+def check(root):
+    manifest = json.loads((root / "manifest.json").read_text())
+    for name, expected in manifest["files"].items():
+        path = root / name
+        if path.is_symlink() or not path.resolve().is_relative_to(root.resolve()):
+            raise RuntimeError("Untrusted native runtime path")
+        if path.stat().st_size != expected["bytes"] or hashlib.sha256(path.read_bytes()).hexdigest() != expected["sha256"]:
+            raise RuntimeError("Native runtime integrity check failed")
+    with tempfile.TemporaryDirectory(prefix="mission-core-vesc-check-") as temporary:
+        env = {"PATH":"/usr/bin:/bin", "LANG":"C.UTF-8", "QT_QPA_PLATFORM":"offscreen",
+               "LD_LIBRARY_PATH":str(root / "lib"), "QT_PLUGIN_PATH":str(root / "plugins"),
+               "XDG_CONFIG_HOME":temporary, "XDG_CACHE_HOME":temporary}
+        result = subprocess.run([str(root / "bin/mission-core-vesc-engine"), "--offline"],
+            env=env, input=b'{"id":1,"method":"engine"}\n', capture_output=True, timeout=15, check=True)
+        replies = [json.loads(line) for line in result.stdout.splitlines()]
+        if (len(replies) != 2 or not replies[0]["ready"] or not replies[1]["ok"]
+                or replies[1]["result"]["hardware_enabled"] or replies[1]["result"]["connected"]
+                or replies[1]["result"]["commit"] != manifest["upstream_commit"]):
+            raise RuntimeError("Native engine offline check failed")
+    print(json.dumps({"ok":True, "upstream_commit":manifest["upstream_commit"], "hardware_access":False}))
+
+
+if __name__ == "__main__":
+    if os.geteuid() == 0: raise RuntimeError("Run as the VESC service account")
+    check(Path(__file__).resolve().parent / "native")