Merge branch 'commaai:master' into pyenvtouv

.github/workflows/build.yaml

@@ -43,13 +43,6 @@ jobs:
       id: kernel-submodule
       run: echo "ref=$(git ls-tree HEAD | awk '$4 == "agnos-kernel-sdm845"' | awk '{print $3}')" | tee -a $GITHUB_OUTPUT
 
-    - name: Checkout agnos-kernel-sdm845
-      uses: actions/checkout@v4
-      with:
-        repository: commaai/agnos-kernel-sdm845
-        ref: ${{ steps.kernel-submodule.outputs.ref }}
-        path: agnos-kernel-sdm845
-
     - name: ccache
       uses: hendrikmuhs/ccache-action@c92f40bee50034e84c763e33b317c77adaa81c92
       with:

.gitmodules

@@ -1,12 +1,3 @@
-[submodule "edk2_tici"]
-  path = edk2_tici
-  url = ../../commaai/edk2_tici.git
-[submodule "agnos-firmware"]
-  path = agnos-firmware
-  url = ../../commaai/agnos-firmware.git
 [submodule "agnos-kernel-sdm845"]
   path = agnos-kernel-sdm845
   url = ../../commaai/agnos-kernel-sdm845.git
-[submodule "agnos-binaries"]
-  path = agnos-binaries
-  url = ../../commaai/agnos-binaries.git

README.md

@@ -1,8 +1,12 @@
 # agnos-builder
 
-This is the buidler repo for AGNOS, our Ubuntu based OS. AGNOS runs on the comma three devkit and [comma 3X](https://comma.ai/shop/comma-3x).
+This is the builder repo for AGNOS, our Ubuntu based OS. AGNOS runs on the comma three devkit and [comma 3X](https://comma.ai/shop/comma-3x).
 
-NOTE: the `edk2_tici` and `agnos-firmware` submodules are internal, private repos.
+> [!NOTE]
+> Use https://flash.comma.ai if you're looking to reflash your device to a clean factory state.
+
+AGNOS includes all the software to boot and run a comma 3/3X.
+This repo builds the two main parts of that (system and kernel) and packages it all up into a "release".
 
 ## Development
 
@@ -32,7 +36,7 @@ Flashing to a comma 3/3X:
 Validating changes:
 * Running openpilot is a good smoketest for general AGNOS functionality
 * [CI](https://github.com/commaai/agnos-builder/blob/master/.github/workflows/build.yaml) ensures the kernel and system builds work (and pushes the images for you to download)
-* [this](https://github.com/commaai/agnos-builder/blob/master/internal/README.md) is the checklist we go through before shipping new AGNOS releases to openpilot
+* [this](https://github.com/commaai/agnos-builder/blob/master/TESTING.md) is the checklist we go through before shipping new AGNOS releases to openpilot
 
 ### macOS
 
@@ -71,6 +75,6 @@ Some concrete things on the roadmap:
 - [ ] make the image tiny, for fast updating and flashing https://github.com/commaai/agnos-builder/issues/225
 - [ ] update to Ubuntu 24.04 https://github.com/commaai/openpilot/issues/32386
 - [ ] mainline Linux kernel https://github.com/commaai/openpilot/issues/32386
-- [ ] fully open source 
-  - [ ] anything from `agnos-firmware`: XBL, ABL, etc.
-  - [ ] open source Weston https://github.com/commaai/agnos-builder/issues/16
+- [ ] fully open source
+  - [ ] anything from [firmware.json](firmware.json): XBL, ABL, etc.
+  - [ ] Weston https://github.com/commaai/agnos-builder/issues/16

TESTING.md

@@ -0,0 +1,50 @@
+# testing
+
+## Release Checklist
+
+- [ ] [`test_onroad`](https://github.com/commaai/openpilot/blob/master/selfdrive/test/test_onroad.py) passes
+- [ ] Wi-Fi: lists networks and connects
+- [ ] Modem: connects to cell network
+- [ ] Image sizes haven't increased
+- [ ] Sounds work
+- [ ] `python` is our python, not system version
+- [ ] Clean openpilot build: `scons -c && scons -j8`
+- [ ] Factory reset
+  - [ ] from openpilot menu
+  - [ ] tapping on boot
+  - [ ] corrupt userdata
+- [ ] Color calibration
+  - [ ] from /persist/comma/
+  - [ ] directly from panel over sysfs
+- [ ] Clean setup: factory reset -> install openpilot -> openpilot works
+- [ ] AGNOS update works on warm boot
+  - [ ] previous -> new
+  - [ ] new -> previous
+
+### ABL
+
+- [ ] Fastboot USB enumeration
+- [ ] Boot time hasn't regressed (3.8s)
+
+### XBL
+
+- [ ] Display init works in cold and hot temperatures
+- [ ] Boot time hasn't regressed (2.4s)
+
+### Setup
+
+#### Networking
+
+- [ ] Continue button disabled when no connection
+- [ ] Forget/connect to wifi
+
+#### Custom URL
+- (a) Not a real URL (e.g. `comma`, `abc123`, `...`)
+  - [ ] "Ensure the entered URL is valid"
+  - [ ] Start over
+  - [ ] Reboot device
+- (b) Website but not an installer URL (e.g. `github.com`, `comma.ai`, `installer.comma.ai`)
+  - [ ] "No custom software found at this URL."
+- (c) Valid installer URL (e.g. `openpilot.comma.ai`)
+  - [ ] Download successful (comma logo or installer appears)
+  - [ ] `/tmp/installer_url` should contain the installer URL

firmware.json

@@ -0,0 +1,32 @@
+[
+  {
+    "name": "abl",
+    "url": "https://commadist.azureedge.net/agnosupdate/abl-eeb89a74c968a5a2ffce96f23158b72e03e2814adf72ef59d1200ba8ea5d2f39.img.xz",
+    "hash": "eeb89a74c968a5a2ffce96f23158b72e03e2814adf72ef59d1200ba8ea5d2f39",
+    "size": 274432
+  },
+  {
+    "name": "xbl",
+    "url": "https://commadist.azureedge.net/agnosupdate/xbl-bcef195b00a1ab685da601f4072722569773ab161e91c8753ad99ca4217a28f5.img.xz",
+    "hash": "bcef195b00a1ab685da601f4072722569773ab161e91c8753ad99ca4217a28f5",
+    "size": 3282672
+  },
+  {
+    "name": "xbl_config",
+    "url": "https://commadist.azureedge.net/agnosupdate/xbl_config-19791056558c16f8dae787531b5e30b3b3db2ded9d666688df45ce1b91a72bac.img.xz",
+    "hash": "19791056558c16f8dae787531b5e30b3b3db2ded9d666688df45ce1b91a72bac",
+    "size": 98124
+  },
+  {
+    "name": "devcfg",
+    "url": "https://commadist.azureedge.net/agnosupdate/devcfg-be44b73dda5be840b09d5347d536459e31098da3fea97596956c0bdad19bdf27.img.xz",
+    "hash": "be44b73dda5be840b09d5347d536459e31098da3fea97596956c0bdad19bdf27",
+    "size": 40336
+  },
+  {
+    "name": "aop",
+    "url": "https://commadist.azureedge.net/agnosupdate/aop-5d764611a683d6a738cf06a1dcf8a926d0f47b5117ad40d3054167de6dd8bd0f.img.xz",
+    "hash": "5d764611a683d6a738cf06a1dcf8a926d0f47b5117ad40d3054167de6dd8bd0f",
+    "size": 184364
+  }
+]

flash_all.sh

@@ -4,11 +4,11 @@ set -e
 DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
 cd $DIR
 
-for part in aop xbl xbl_config devcfg; do
-  tools/edl w ${part}_a $DIR/agnos-firmware/$part.bin
-  tools/edl w ${part}_b $DIR/agnos-firmware/$part.bin
-done
+# TODO: download firmware from firmware.json
+#for part in aop abl xbl xbl_config devcfg; do
+#  tools/edl w ${part}_a $DIR/agnos-firmware/$part.bin
+#  tools/edl w ${part}_b $DIR/agnos-firmware/$part.bin
+#done
 
-./flash_bootloader.sh
 ./flash_kernel.sh
 ./flash_system.sh

scripts/build_and_package.sh

@@ -0,0 +1,14 @@
+#!/bin/bash
+set -e
+
+DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
+cd $DIR/..
+
+./build_kernel.sh
+./build_system.sh
+scripts/package_ota.py
+
+# push to azure on an internal machine
+if [ "$USER" == "batman" ]; then
+  scripts/ota_push.sh staging
+fi

internal/package_ota.py → scripts/package_ota.py

@@ -1,6 +1,7 @@
 #!/usr/bin/env python3
 import json
 import os
+import hashlib
 import subprocess
 from copy import deepcopy
 from pathlib import Path
@@ -9,15 +10,16 @@
 ROOT = Path(__file__).parent.parent
 OUTPUT_DIR = ROOT / "output"
 OTA_OUTPUT_DIR = OUTPUT_DIR / "ota"
-FIRMWARE_DIR = ROOT / "agnos-firmware"
 
 AGNOS_UPDATE_URL = os.getenv("AGNOS_UPDATE_URL", "https://commadist.azureedge.net/agnosupdate")
 AGNOS_STAGING_UPDATE_URL = os.getenv("AGNOS_STAGING_UPDATE_URL", "https://commadist.azureedge.net/agnosupdate-staging")
 
-
 def checksum(fn):
-  return subprocess.check_output(["sha256sum", fn]).decode().split()[0]
-
+  sha256 = hashlib.sha256()
+  with open(fn, 'rb') as f:
+    for chunk in iter(lambda: f.read(4096), b""):
+      sha256.update(chunk)
+  return sha256.hexdigest()
 
 def compress(fin, fout) -> None:
   subprocess.check_call(f"xz -T4 -vc {fin} > {fout}", shell=True)
@@ -32,7 +34,7 @@ def process_file(fn, name, sparse=False, full_check=True, has_ab=True, alt=None)
   if sparse:
     with NamedTemporaryFile() as tmp_f:
       print("  converting sparse image to raw")
-      subprocess.check_call(["simg2img", fn, tmp_f.name])
+      subprocess.check_call(["simg2img", fn, tmp_f.name], shell=True)
       hash_raw = checksum(tmp_f.name)
       size = Path(tmp_f.name).stat().st_size
       print(f"  {size} bytes, hash {hash} (raw)")
@@ -76,18 +78,28 @@ def process_file(fn, name, sparse=False, full_check=True, has_ab=True, alt=None)
 
   files = [
     process_file(OUTPUT_DIR / "boot.img", "boot"),
-    process_file(FIRMWARE_DIR / "abl.bin", "abl"),
-    process_file(FIRMWARE_DIR / "xbl.bin", "xbl"),
-    process_file(FIRMWARE_DIR / "xbl_config.bin", "xbl_config"),
-    process_file(FIRMWARE_DIR / "devcfg.bin", "devcfg"),
-    process_file(FIRMWARE_DIR / "aop.bin", "aop"),
     process_file(OUTPUT_DIR / "system.img", "system", sparse=True, full_check=False, alt=OUTPUT_DIR / "system-skip-chunks.img"),
   ]
   configs = [
     (AGNOS_UPDATE_URL, "ota.json"),
     (AGNOS_STAGING_UPDATE_URL, "ota-staging.json"),
   ]
 
+  # pull in firmware not built in this repo
+  with open(ROOT/"firmware.json") as f:
+    fws = json.loads(f.read())
+    for fw in fws:
+      files.append({
+        "name": fw["name"],
+        "url": fw["url"],
+        "hash": fw["hash"],
+        "hash_raw": fw["hash"],
+        "size": fw["size"],
+        "sparse": False,
+        "full_check": True,
+        "has_ab": True,
+      })
+
   for remote_url, output_fn in configs:
     processed_files = []
     for f in deepcopy(files):

userspace/usr/comma/comma.sh

@@ -63,7 +63,7 @@ fi
 # symlink vscode to userdata
 mkdir -p /data/tmp/vscode-server
 ln -s /data/tmp/vscode-server ~/.vscode-server
-
+ln -s /data/tmp/vscode-server ~/.cursor-server
 
 while true; do
   pkill -f "$SETUP"