Switch to squashfs for tiny rootfs! (#438)

* try squashfs

* rw

* build squash directly

* oops

* cleanup

Dockerfile.builder

@@ -18,6 +18,7 @@ RUN apt-get update && \
     openssl \
     ccache \
     libcap2-bin \
+    squashfs-tools \
     && rm -rf /var/lib/apt/lists/*
 
 RUN if [ ${UID:-0} -ne 0 ] && [ ${GID:-0} -ne 0 ]; then \

build_system.sh

@@ -13,13 +13,8 @@ BUILD_DIR="$DIR/build"
 OUTPUT_DIR="$DIR/output"
 
 ROOTFS_DIR="$BUILD_DIR/agnos-rootfs"
-ROOTFS_IMAGE="$BUILD_DIR/system.img"
 OUT_IMAGE="$OUTPUT_DIR/system.img"
 
-# the partition is 10G, but openpilot's updater didn't always handle the full size
-# openpilot fix, shipped in 0.9.8 (8/18/24): https://github.com/commaai/openpilot/pull/33320
-ROOTFS_IMAGE_SIZE=4200M
-
 # Create temp dir if non-existent
 mkdir -p $BUILD_DIR $OUTPUT_DIR
 
@@ -93,15 +88,9 @@ exec_as_root() {
   docker exec $MOUNT_CONTAINER_ID "$@"
 }
 
-# Create filesystem ext4 image
-echo "Creating empty filesystem"
-exec_as_user fallocate -l $ROOTFS_IMAGE_SIZE $ROOTFS_IMAGE
-exec_as_user mkfs.ext4 $ROOTFS_IMAGE &> /dev/null
-
 # Mount filesystem
 echo "Mounting empty filesystem"
 exec_as_root mkdir -p $ROOTFS_DIR
-exec_as_root mount $ROOTFS_IMAGE $ROOTFS_DIR
 
 # Also unmount filesystem (overwrite previous trap)
 trap "exec_as_root umount -l $ROOTFS_DIR &> /dev/null || true; \
@@ -139,11 +128,8 @@ set_network_stuff() {
 GIT_HASH=${GIT_HASH:-$(git --git-dir=$DIR/.git rev-parse HEAD)}
 exec_as_root bash -c "set -e; export ROOTFS_DIR=$ROOTFS_DIR GIT_HASH=$GIT_HASH; $(declare -f set_network_stuff); set_network_stuff"
 
-# Unmount image
-echo "Unmount filesystem"
-exec_as_root umount -l $ROOTFS_DIR
-
-# Copy system image to output
-cp $ROOTFS_IMAGE $OUT_IMAGE
+echo "Creating final squashfs image"
+rm -f $OUT_IMAGE
+exec_as_root mksquashfs $ROOTFS_DIR $OUT_IMAGE -comp xz -Xbcj arm -b 1M -Xdict-size 100%
 
 echo "Done!"

userspace/base_setup.sh

@@ -94,6 +94,7 @@ apt-fast install --no-install-recommends -yq \
     speedtest-cli \
     ssh \
     sshfs \
+    squashfs-tools \
     sudo \
     systemd-resolved \
     systemd-timesyncd \

userspace/usr/comma/apt_setup.sh

@@ -1,7 +1,6 @@
 #!/bin/bash -e
 
-sudo mount -o rw,remount /
-sudo resize2fs $(findmnt -n -o SOURCE /) &>/dev/null || sudo resize2fs $(findmnt -n -o SOURCE /)
+/usr/comma/remount.sh
 sudo mount -o remount,size=1500M /var
 sudo cp -r /usr/default/var/lib/dpkg /var/lib/
 sudo sed -i '/bionic/s/^/#/' /etc/apt/sources.list

userspace/usr/comma/comma.sh

@@ -73,6 +73,7 @@ mkdir -p /data/tmp
 mkdir -p /data/tmp/vscode-server
 ln -s /data/tmp/vscode-server ~/.vscode-server
 ln -s /data/tmp/vscode-server ~/.cursor-server
+ln -s /data/tmp/vscode-server ~/.windsurf-server
 
 while true; do
   pkill -f "$SETUP"

userspace/usr/comma/remount.sh

@@ -0,0 +1,66 @@
+#!/bin/bash
+set -e
+
+if [ "$(df -T / | tail -n1 | awk '{print $2}')" = "ext4" ]; then
+  sudo mount -o rw,remount /
+  exit 0
+fi
+
+echo "AGNOS is in read-only production mode. Switching to development mode."
+echo
+echo "WARNING: DO NOT power off while this script is running."
+echo "If you do, use https://flash.comma.ai to recover."
+echo "Once the script is done, it will automatically reboot into development mode."
+echo
+echo -n "Ready to continue? [y/N] "
+read response
+if [[ ! "$response" =~ ^[yY]$ ]]; then
+    echo "Aborting."
+    exit 1
+fi
+
+CUR_SLOT="$(getslotsuffix)"
+if [ "$CUR_SLOT" == "_b" ]; then
+  NEW_SLOT="_a"
+elif [ "$CUR_SLOT" == "_a" ]; then
+  NEW_SLOT="_b"
+else
+  echo "Invalid slot"
+  exit 1
+fi
+echo "- cur slot: $CUR_SLOT"
+echo "- new slot: $NEW_SLOT"
+
+# copy all the partitions from the current slot to the new slot, except for system
+echo "- copying partitions"
+cd /dev/disk/by-partlabel
+for part in $(ls | grep "${CUR_SLOT}$"); do
+  base_part=$(echo "$part" | sed "s/${CUR_SLOT}$//")
+  if [ "$base_part" != "system" ]; then
+    echo "  - $base_part"
+    dd if="$part" of="${base_part}${NEW_SLOT}" bs=1M status=none
+  fi
+done
+
+# unpack the squashfs system image into an ext4 image for the other slot
+set -x
+echo "- unpacking squashfs image"
+yes | sudo mkfs.ext4 "/dev/disk/by-partlabel/system${NEW_SLOT}" >/dev/null 2>&1
+MNT="$(mktemp -d)"
+sudo mount "/dev/disk/by-partlabel/system${NEW_SLOT}" $MNT
+sudo rm -rf "$MNT/lost+found/"
+sudo unsquashfs -d $MNT "/dev/disk/by-partlabel/system${CUR_SLOT}"
+sudo umount $MNT
+sync
+
+# set the boot slot
+echo "- setting new boot slot"
+SLOT_NUM=0
+if [ "$NEW_SLOT" == "_b" ]; then
+  SLOT_NUM=1
+fi
+abctl --set_active $SLOT_NUM
+
+echo
+echo "All done! Rebooting into development AGNOS..."
+sudo reboot

userspace/usr/comma/shims/pip

@@ -6,8 +6,7 @@ export TMPDIR=/tmp/pip-tmp
 # setup large tmp for install
 mkdir -p $TMPDIR
 sudo mount -o remount,size=2G /tmp
-sudo mount -o rw,remount /
-sudo resize2fs $(findmnt -n -o SOURCE /) &>/dev/null || sudo resize2fs $(findmnt -n -o SOURCE /)
+/usr/comma/remount.sh
 
 # run command
 sudo TMPDIR=$TMPDIR PIP_NO_CACHE_DIR=1 $PIP_PATH "$@"

userspace/usr/comma/shims/uv

@@ -6,8 +6,7 @@ export TMPDIR=/tmp/uv-tmp
 # setup large tmp for install
 mkdir -p $TMPDIR
 sudo mount -o remount,size=2G /tmp
-sudo mount -o rw,remount /
-sudo resize2fs $(findmnt -n -o SOURCE /) &>/dev/null || sudo resize2fs $(findmnt -n -o SOURCE /)
+/usr/comma/remount.sh
 
 # run command
 sudo -E TMPDIR=$TMPDIR UV_NO_CACHE=1 $UV_PATH "$@"