d977eb6f22
* build system in docker * removed docker and git checks * set -e * no comments in Dockerfile.sparsify * always build agnos-mount * require Docker v23.0 and remove deprecated DOCKER_BUILDKIT=1 and DOCKER_CLI_EXPERIMENTAL=enabled * move docker exec to helpers
2.6 KiB
agnos-builder
This is the buidler repo for AGNOS, our Ubuntu based OS. AGNOS runs on the comma three devkit and comma 3X.
NOTE: the edk2_tici and agnos-firmware submodules are internal, private repos.
Development
These tools are developed on and targeted for Ubuntu 20.04.
Building requires Docker v23.0 or later and should work on any system that supports it.
Run once to set things up:
git clone https://github.com/commaai/agnos-builder.git
cd agnos-builder
git submodule update --init agnos-kernel-sdm845
./tools/extract_tools.sh
Building
./build_kernel.sh
./build_system.sh
Flashing to a comma 3/3X:
./flash_kernel.sh
./flash_system.sh
Validating changes:
- Running openpilot is a good smoketest for general AGNOS functionality
- CI ensures the kernel and system builds work (and pushes the images for you to download)
- this is the checklist we go through before shipping new AGNOS releases to openpilot
Contributing
Join us in the #dev-agnos channel on Discord.
A comma 3/3X is helpful for working on AGNOS, but there's still lots of interesting work to do without one.
Roadmap
AGNOS's main priority is to provide a stable platform to openpilot. The second priority is to be a good platform for all sorts of robotics development.
Now that AGNOS is good at running openpilot, the next things up are:
- speedups: build system, CI, boot time, etc.
- cleanups: Android kernel to mainline kernel, simplify the build system, etc.
- 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.
Some concrete things on the roadmap:
- <10s boot time https://github.com/commaai/agnos-builder/issues/110, https://github.com/commaai/openpilot/issues/30894
- 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
- anything from