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* list * indent * add claude troubleshooting * should fix this * add zipapp step * optional * remove to be fixed * organize * is note * deindent * no note * Update README.md * Update README.md
114 lines
4.9 KiB
Markdown
114 lines
4.9 KiB
Markdown
# agnos-builder
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This is the builder repo for AGNOS, our Ubuntu based OS. AGNOS runs on the comma 3X and [comma four](https://comma.ai/shop/comma-four).
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> [!NOTE]
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> Use https://flash.comma.ai if you're looking to reflash your device to a clean factory state.
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AGNOS includes all the software to boot and run a comma 3X and four.
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This repo builds the two main parts of that (system and kernel) and packages it all up into a "release".
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## Development
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Any system that supports a recent [Docker](https://docs.docker.com/get-docker/) should work.
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> [!NOTE]
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> docker buildx version >0.15.0 is required
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Run once to set things up:
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```sh
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git clone https://github.com/commaai/agnos-builder.git
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cd agnos-builder
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git submodule update --init agnos-kernel-sdm845
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./tools/extract_tools.sh
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```
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### Building
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1. (Optional) Because AGNOS currently packages dependencies that [openpilot](https://github.com/commaai/openpilot) uses, run `./sync_openpilot_dependencies.sh` to update them.
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2. (Optional) The setup, reset, and updater UIs are Python [zipapps](https://docs.python.org/3/library/zipapp.html) built from openpilot using `release/pack.py`. To rebuild them, run from the [openpilot](https://github.com/commaai/openpilot) repo:
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```
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cd /path/to/openpilot
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python release/pack.py -o /path/to/agnos-builder/userspace/usr/comma/setup openpilot.system.ui.mici_setup
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python release/pack.py -o /path/to/agnos-builder/userspace/usr/comma/reset openpilot.system.ui.reset
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python release/pack.py -o /path/to/agnos-builder/userspace/usr/comma/updater openpilot.system.ui.updater
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```
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3. Build the kernel and system images:
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```
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./build_kernel.sh
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./build_system.sh
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```
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To build using [namespace.so](https://namespace.so) remote ARM64 builders, prefix with `NS=1`:
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```
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NS=1 ./build_kernel.sh
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NS=1 ./build_system.sh
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```
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### Flashing
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Flashing to a comma 3/3X (Be sure to set your device in QDL mode before flashing. Refer to [QDL MODE Section](https://flash.comma.ai/) for more information.):
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```
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./flash_kernel.sh
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./flash_system.sh
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./flash_all.sh
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```
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In the event that flashing from building doesn't work, `scripts/download-from-manifest.py` allows you to download the latest AGNOS version for flashing.
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> [!NOTE]
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> If flashing on M-series Macs, you may need to run `brew install libusb` and then `sudo mkdir -p /usr/local/lib && sudo ln -s /opt/homebrew/lib/libusb-1.0.0.dylib /usr/local/lib/libusb.dylib` if getting "No backend available".
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Validating changes:
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* Running openpilot is a good smoketest for general AGNOS functionality
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* [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)
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* [this](https://github.com/commaai/agnos-builder/blob/master/TESTING.md) is the checklist we go through before shipping new AGNOS releases to openpilot
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### macOS
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Building the kernel on macOS requires `agnos-builder` to be in a [Case-sensitive](https://support.apple.com/lv-lv/guide/disk-utility/dsku19ed921c/mac) filesystem.
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Use this to set it up:
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```
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diskutil apfs addVolume <disk> "Case-sensitive APFS" agnos
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```
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* replace `<disk>` with the `synthesized` disk in `diskutil list` that includes your main volume (e.g. Macintosh HD) - usually `disk3` on M-series Macs, `disk1` on Intel Macs
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* `agnos` is the name of the new volume - can be replaced with an arbitrary name
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* the volume is mounted automatically in `/Volumes/agnos`
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## Contributing
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Join us in the `#dev-agnos` channel on [Discord](https://discord.comma.ai).
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A comma device is helpful for working on AGNOS, but there's still lots of interesting work to do without one.
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* [Discord](https://discord.comma.ai)
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* [openpilot Docs](https://docs.comma.ai)
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* [Bounties](https://comma.ai/bounties)
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### Roadmap
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AGNOS's main priority is to provide a stable platform to [openpilot](https://github.com/commaai/openpilot).
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The second priority is to be a good platform for all sorts of [robotics development](https://blog.comma.ai/a-drive-in-the-office/).
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Now that AGNOS is good at running openpilot, the next things up are:
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* speedups: build system, CI, boot time, etc.
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* cleanups: Android kernel to mainline kernel, simplify the build system, etc.
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* open source: AGNOS started with a bunch blobs for various things, like the bootloaders and weston. We want to move everything we can to open source versions built in this repo.
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Some concrete things on the roadmap:
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- [ ] <10s boot time https://github.com/commaai/agnos-builder/issues/110, https://github.com/commaai/openpilot/issues/30894
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- [ ] make the image tiny, for fast updating and flashing https://github.com/commaai/agnos-builder/issues/225
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- [x] update to Ubuntu 24.04 https://github.com/commaai/openpilot/issues/32386
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- [ ] mainline Linux kernel https://github.com/commaai/openpilot/issues/32386
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- [ ] fully open source
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- [ ] anything from `firmware/`: XBL, ABL, etc.
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- [ ] Weston https://github.com/commaai/agnos-builder/issues/16
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