agnosis

launch_chffrplus.sh

@@ -29,20 +29,6 @@ function agnos_init {
   # set success flag for current boot slot
   sudo abctl --set_success
 
-  # Restore SSH access after a user-triggered reset if keys were backed up to /cache.
-  SSH_BACKUP_DIR="/cache/reset_backup"
-  if [ -d "$SSH_BACKUP_DIR" ]; then
-    sudo mkdir -p /data/params/d
-    for key in GithubSshKeys SshEnabled; do
-      if [ -f "$SSH_BACKUP_DIR/$key" ]; then
-        sudo cp "$SSH_BACKUP_DIR/$key" "/data/params/d/$key"
-      fi
-    done
-    sudo chown comma:comma /data/params/d/GithubSshKeys /data/params/d/SshEnabled 2>/dev/null || true
-    sudo chmod 600 /data/params/d/GithubSshKeys /data/params/d/SshEnabled 2>/dev/null || true
-    sudo rm -rf "$SSH_BACKUP_DIR"
-  fi
-
   # TODO: do this without udev in AGNOS
   # udev does this, but sometimes we startup faster
   sudo chgrp gpu /dev/adsprpc-smd /dev/ion /dev/kgsl-3d0

launch_env.sh

@@ -21,7 +21,7 @@ fi
 export QCOM_PRIORITY=12
 
 if [ -z "$AGNOS_VERSION" ]; then
-  export AGNOS_VERSION="19.6.2"
+  export AGNOS_VERSION="19.6.3"
 fi
 
 if [ -z "$AGNOS_ACCEPTED_VERSIONS" ]; then

starpilot/system/the_galaxy/factory_reset.py

@@ -1,6 +1,8 @@
 import subprocess
 import time
 
+from openpilot.system.hardware import HARDWARE
+
 
 _DELETE_TIMEOUT_S = 1800
 _DELETE_RETRY_ATTEMPTS = 20
@@ -8,6 +10,11 @@ _DELETE_RETRY_DELAY_S = 0.25
 _DIRECTORY_NOT_EMPTY_ERROR = "directory not empty"
 
 
+def request_system_factory_reset():
+  """Request AGNOS's stock userdata reset and reboot flow."""
+  HARDWARE.uninstall()
+
+
 def remove_path(path):
   # Managed processes can recreate entries under /data/params while rm is finishing.
   for attempt in range(_DELETE_RETRY_ATTEMPTS):

starpilot/system/the_galaxy/tests/test_factory_reset.py

@@ -16,6 +16,24 @@ def _load_factory_reset_module():
 factory_reset = _load_factory_reset_module()
 
 
+def test_request_system_factory_reset_uses_agnos_uninstall(monkeypatch):
+  calls = []
+  monkeypatch.setattr(factory_reset.HARDWARE, "uninstall", lambda: calls.append(True))
+
+  factory_reset.request_system_factory_reset()
+
+  assert calls == [True]
+
+
+def test_galaxy_factory_reset_worker_does_not_partially_delete_userdata():
+  source = (Path(__file__).resolve().parents[1] / "the_galaxy.py").read_text(encoding="utf-8")
+  worker = source.split("def _factory_reset_worker():", 1)[1].split("\ndef ", 1)[0]
+
+  assert "_request_system_factory_reset()" in worker
+  assert "_run_factory_reset_delete" not in worker
+  assert "_finish_update_and_reboot" not in worker
+
+
 def test_remove_path_retries_directory_not_empty(monkeypatch):
   results = iter(
     [

starpilot/system/the_galaxy/the_galaxy.py

@@ -98,7 +98,10 @@ from openpilot.starpilot.common.testing_grounds import (
   TESTING_GROUNDS_STATE_PATH as SHARED_TESTING_GROUNDS_STATE_PATH,
 )
 from openpilot.starpilot.navigation.destination_store import normalize_destination_payload, update_recent_destinations
-from openpilot.starpilot.system.the_galaxy.factory_reset import remove_path as _run_factory_reset_delete
+from openpilot.starpilot.system.the_galaxy.factory_reset import (
+  remove_path as _run_factory_reset_delete,
+  request_system_factory_reset as _request_system_factory_reset,
+)
 from openpilot.starpilot.system.the_galaxy import flm_workspace, utilities
 from openpilot.starpilot.system.the_galaxy.update_recovery import inspect_interrupted_update, public_recovery_status, recover_interrupted_update
 
@@ -1437,22 +1440,6 @@ _fast_update_state = {
 }
 _ROUTE_DELETE_LOCK = threading.Lock()
 
-_FACTORY_RESET_WIPE_PATHS = [
-  "/data/params",
-  "/cache/starpilot/params",
-  "/cache/params",
-  "/data/media/0/realdata",
-  "/data/media/0/realdata_HD",
-  "/data/media/0/realdata_konik",
-  "/data/models",
-  "/data/toggle_backups",
-  "/data/backups",
-  "/data/themes",
-  "/data/media/0/osm/offline",
-  "/cache/use_HD",
-  "/cache/use_konik",
-]
-
 _PLOTS_POLL_INTERVAL_S = 0.75
 _PLOTS_BOOT_STABILIZATION_WINDOW_S = 45.0
 _PLOTS_BOOT_POLL_INTERVAL_S = 1.0
@@ -2543,34 +2530,18 @@ def _factory_reset_worker():
   started_at = time.time()
 
   try:
-    _set_fast_update_progress(1, "Preparing factory reset", 10.0, "Cleaning up legacy device state...")
+    _set_fast_update_progress(1, "Preparing factory reset", 10.0, "Requesting AGNOS system reset...")
     _set_fast_update_state(
       running=True,
       stage="factory-resetting",
-      message="Factory reset started. Wiping device state...",
+      message="Factory reset requested. AGNOS will erase userdata after reboot...",
       lastError="",
       lastMode="factory-reset",
       startedAt=started_at,
       finishedAt=0.0,
     )
-    _set_fast_update_progress(1, "Preparing factory reset", 100.0, "Factory reset initialized.")
+    _set_fast_update_progress(1, "Preparing factory reset", 100.0, "AGNOS reset trigger initialized.")
-
+    _request_system_factory_reset()
-    total_paths = max(1, len(_FACTORY_RESET_WIPE_PATHS))
-    for index, path in enumerate(_FACTORY_RESET_WIPE_PATHS, start=1):
-      step_percent = ((index - 1) / total_paths) * 100.0
-      _set_fast_update_progress(2, "Wiping device data", step_percent, f"Removing {path}...")
-      _run_factory_reset_delete(path)
-      _set_fast_update_progress(2, "Wiping device data", (index / total_paths) * 100.0, f"Removed {path}.")
-
-    _set_fast_update_progress(3, "Resetting factory state", 100.0, "Legacy device state removed.")
-
-    _set_fast_update_progress(4, "Finalizing reset", 50.0, "Syncing filesystem before reboot...")
-    subprocess.run(["sync"], capture_output=True, text=True, timeout=60, check=False)
-    _set_fast_update_progress(4, "Finalizing reset", 100.0, "Filesystem sync complete.")
-
-    _finish_update_and_reboot(
-      "Factory reset complete. Device is rebooting now. Please wait for reconnection."
-    )
   except Exception as exception:
     _set_fast_update_error_state("Factory reset failed.", exception)
 

system/hardware/tici/agnos.json

@@ -67,13 +67,13 @@
   },
   {
     "name": "system",
-    "url": "https://www.dropbox.com/scl/fi/pewhzpqzi3aewuiaffc6m/system10.img.xz?rlkey=olzrzulhs93zzghnjrskmdwxt&st=exnfk2oz&dl=1",
+    "url": "https://cloud.floonetwork.io/s/w4tQdX5kS9Rgeiw/download",
-    "hash": "ab395d4c963a908ab86709f1a6580a62dd24cb34ee71cf5fd5ec29d7d48d0e10",
+    "hash": "8478e080cf5fbfdcc84d6910f7cd1cb6b2a5a2939eb9e56f2425f87ee33d146d",
-    "hash_raw": "ab395d4c963a908ab86709f1a6580a62dd24cb34ee71cf5fd5ec29d7d48d0e10",
+    "hash_raw": "8478e080cf5fbfdcc84d6910f7cd1cb6b2a5a2939eb9e56f2425f87ee33d146d",
     "size": 4718592000,
     "sparse": false,
     "full_check": false,
     "has_ab": true,
-    "ondevice_hash": "ab395d4c963a908ab86709f1a6580a62dd24cb34ee71cf5fd5ec29d7d48d0e10"
+    "ondevice_hash": "8478e080cf5fbfdcc84d6910f7cd1cb6b2a5a2939eb9e56f2425f87ee33d146d"
   }
 ]

tools/agnos/test_patch_system_reset_image.py

@@ -1,106 +1,88 @@
+import importlib.util
+import json
 from pathlib import Path
-import runpy
 
 import pytest
 
-from tools.agnos.patch_system_reset_image import (
+
-  AMDGPU_FIRMWARE_SHA256,
+def _load_patch_module():
-  COMMA_SH_DISPLAY_WAIT_PATCH_MARKER,
+  path = Path(__file__).resolve().parent / "patch_system_reset_image.py"
-  comma_sh_has_expected_display_wait,
+  spec = importlib.util.spec_from_file_location("patch_system_reset_image_under_test", path)
-  find_default_reference_manifest,
+  module = importlib.util.module_from_spec(spec)
-  format_debugfs_mode,
+  spec.loader.exec_module(module)
-  patch_comma_sh_display_wait,
+  return module
-  patch_setup_branding_script,
-  sha256_zstd_payload,
-)
 
 
-ORIGINAL_DISPLAY_WAIT = b'''#!/usr/bin/env bash
+patch_image = _load_patch_module()
-echo "waiting for magic"
+ALLOWED_IMAGE_MUTATIONS = patch_image.ALLOWED_IMAGE_MUTATIONS
-for i in {1..200}; do
+UPSTREAM_PROTECTED_PAYLOADS = patch_image.UPSTREAM_PROTECTED_PAYLOADS
-  if systemctl is-active --quiet magic && [ -S /tmp/drmfd.sock ]; then
+VERSION_PATH_IN_IMAGE = patch_image.VERSION_PATH_IN_IMAGE
-    break
+resolve_upstream_manifest = patch_image.resolve_upstream_manifest
-  fi
+update_manifest_system_entry = patch_image.update_manifest_system_entry
-  sleep 0.1
+write_allowed_file = patch_image.write_allowed_file
-done
+expected_upstream_version = patch_image.expected_upstream_version
-
+verify_official_raw_hash = patch_image.verify_official_raw_hash
-if systemctl is-active --quiet magic && [ -S /tmp/drmfd.sock ]; then
-  echo "magic ready after ${SECONDS}s"
-else
-  echo "timed out waiting for magic, ${SECONDS}s"
-fi
-
-exec /data/continue.sh
-'''
 
 
-def test_patch_comma_sh_display_wait_uses_available_display_service():
+def test_only_version_is_mutable():
-  patched = patch_comma_sh_display_wait(ORIGINAL_DISPLAY_WAIT)
+  assert ALLOWED_IMAGE_MUTATIONS == {VERSION_PATH_IN_IMAGE}
-
+  assert set(UPSTREAM_PROTECTED_PAYLOADS) >= {
-  assert COMMA_SH_DISPLAY_WAIT_PATCH_MARKER.encode() in patched
+    "/usr/comma/comma.sh",
-  assert b"systemctl cat magic.service" in patched
+    "/usr/comma/reset",
-  assert b"systemctl is-active --quiet magic" in patched
+    "/usr/comma/setup",
-  assert b"systemctl is-active --quiet weston-ready" in patched
+    "/usr/comma/updater",
-  assert b"[ -S /var/tmp/weston/wayland-0 ]" in patched
+    "/etc/NetworkManager/NetworkManager.conf",
-  assert comma_sh_has_expected_display_wait(patched)
+    "/etc/NetworkManager/conf.d/10-globally-managed-devices.conf",
-  assert patch_comma_sh_display_wait(patched) == patched
+    "/lib/systemd/system/NetworkManager.service",
+  }
 
 
-def test_patch_comma_sh_display_wait_rejects_unknown_layout():
+def test_starpilot_revision_maps_to_exact_upstream_version():
-  with pytest.raises(RuntimeError, match="display readiness wait"):
+  assert expected_upstream_version("19.6.3", None) == "19.6"
-    patch_comma_sh_display_wait(b"#!/usr/bin/env bash\nexec /data/continue.sh\n")
+  assert expected_upstream_version("19.6.3", "19.6-test") == "19.6-test"
+  with pytest.raises(RuntimeError, match="revision suffix"):
+    expected_upstream_version("19.6", None)
 
 
-@pytest.mark.parametrize("slider_text", ["slide to use", "slide to install"])
+def test_official_source_hash_is_enforced(tmp_path):
-def test_patch_mici_setup_branding_handles_old_and_new_labels(slider_text):
+  image = tmp_path / "official.img"
-  original = f'''OPENPILOT_URL = "https://openpilot.comma.ai"
+  image.write_bytes(b"official")
-self._openpilot_slider = LargerSlider("{slider_text}\\nopenpilot", callback)
+  digest = patch_image.sha256_file(image)
-self._continue_button = BigPillButton("install openpilot", green=True)
-self._continue_button.set_text("install openpilot" if not custom_software else "choose software")
-'''.encode()
 
-  patched = patch_setup_branding_script(original, "openpilot/system/ui/mici_setup.py")
+  assert verify_official_raw_hash({"hash_raw": digest}, image) == digest
-
+  with pytest.raises(RuntimeError, match="hash mismatch"):
-  assert b"installer.comma.ai/firestar5683/StarPilot" in patched
+    verify_official_raw_hash({"hash_raw": "0" * 64}, image)
-  assert f"{slider_text}\\nstarpilot".encode() in patched
-  assert b"install StarPilot" in patched
-  assert b"install openpilot" not in patched
 
 
-@pytest.mark.parametrize(("mode", "expected"), [
+def test_write_rejects_non_version_path(tmp_path):
-  ("100775", "0100775"),
+  with pytest.raises(RuntimeError, match="Refusing non-C3 AGNOS system mutation"):
-  ("100644", "0100644"),
+    write_allowed_file("debugfs", tmp_path / "system.img", "/usr/comma/setup", tmp_path / "setup")
-  ("040755", "040755"),
-  ("120777", "0120777"),
-])
-def test_format_debugfs_mode(mode, expected):
-  assert format_debugfs_mode(mode) == expected
 
 
-def test_external_gpu_firmware_matches_tinygrad_requirements():
+def test_upstream_manifest_cannot_be_primary(tmp_path):
-  firmware_metadata = Path(__file__).resolve().parents[2] / "tinygrad/runtime/autogen/am/fw.py"
+  primary = tmp_path / "agnos.json"
-  hashes = runpy.run_path(firmware_metadata)["hashes"]
-  expected = {filename.removesuffix(".zst"): digest for filename, digest in AMDGPU_FIRMWARE_SHA256.items()}
-  assert all(hashes[filename] == digest for filename, digest in expected.items())
-
-
-def test_zstd_payload_hash(tmp_path):
-  import hashlib
-  import zstandard
-
-  payload = b"external GPU firmware payload"
-  compressed = tmp_path / "firmware.bin.zst"
-  compressed.write_bytes(zstandard.ZstdCompressor().compress(payload))
-
-  assert sha256_zstd_payload(compressed) == hashlib.sha256(payload).hexdigest()
-
-
-def test_default_reference_manifest_uses_sibling_openpilot(tmp_path):
-  primary = tmp_path / "starpilot/system/hardware/tici/agnos.json"
-  reference = tmp_path / "openpilot/openpilot/system/hardware/tici/agnos.json"
-  primary.parent.mkdir(parents=True)
-  reference.parent.mkdir(parents=True)
   primary.write_text("[]")
-  reference.write_text("[]")
+  with pytest.raises(RuntimeError, match="Refusing to use StarPilot"):
+    resolve_upstream_manifest(str(primary), primary)
 
-  assert find_default_reference_manifest(primary) == reference.resolve()
+
+def test_update_manifest_changes_only_system_entry():
+  original = [
+    {"name": "boot", "url": "custom-boot", "hash": "boot-hash"},
+    {"name": "system", "url": "official", "hash": "old", "alt": {"url": "old-alt"}},
+  ]
+  updated = update_manifest_system_entry(original, "hosted", "new-hash", 123)
+
+  assert updated[0] == original[0]
+  assert updated[1] == {
+    "name": "system",
+    "url": "hosted",
+    "hash": "new-hash",
+    "hash_raw": "new-hash",
+    "size": 123,
+    "sparse": False,
+    "full_check": False,
+    "has_ab": True,
+    "ondevice_hash": "new-hash",
+  }
+  assert json.dumps(original)