Migrate boot to runit

2026-10-01 03:43:49 +08:00 · 2026-05-02 19:08:26 -07:00
parent ccac0cba21
commit 9d4350c6f8
107 changed files with 1181 additions and 699 deletions
@@ -0,0 +1,332 @@
+#!/bin/bash
+
+PATH=/usr/comma/shims:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin
+export PATH
+
+BOOTSH_RUN=/run/bootsh
+
+log() {
+  local ts="?"
+  if [ -r /proc/uptime ]; then
+    ts="$(cut -d' ' -f1 /proc/uptime)"
+  fi
+
+  printf 'boot.sh[%d]: %s %s\n' "$$" "$ts" "$*" >/dev/console 2>/dev/null || true
+  printf '<6>boot.sh[%d]: %s %s\n' "$$" "$ts" "$*" >/dev/kmsg 2>/dev/null || true
+}
+
+mount_one() {
+  local type="$1"
+  local what="$2"
+  local where="$3"
+  shift 3
+
+  mkdir -p "$where"
+  mountpoint -q "$where" && return 0
+  mount -t "$type" "$@" "$what" "$where" 2>/dev/kmsg
+}
+
+wait_block() {
+  local dev="$1"
+  local i
+
+  for i in $(seq 1 150); do
+    [ -b "$dev" ] && return 0
+    sleep 0.01
+  done
+
+  log "timeout waiting for $dev"
+  return 1
+}
+
+mount_block() {
+  local what="$1"
+  local where="$2"
+  local type="$3"
+  local opts="$4"
+
+  wait_block "$what" || return 1
+  mkdir -p "$where"
+  mountpoint -q "$where" && return 0
+  log "mount $where"
+  mount -t "$type" -o "$opts" "$what" "$where" 2>/dev/kmsg
+}
+
+boost_early() {
+  echo performance >/sys/devices/system/cpu/cpufreq/policy0/scaling_governor 2>/dev/null || true
+  echo performance >/sys/devices/system/cpu/cpufreq/policy4/scaling_governor 2>/dev/null || true
+  echo 2649600 >/sys/devices/system/cpu/cpufreq/policy0/scaling_max_freq 2>/dev/null || true
+  echo 2649600 >/sys/devices/system/cpu/cpufreq/policy4/scaling_max_freq 2>/dev/null || true
+  echo 2649600 >/sys/devices/system/cpu/cpufreq/policy0/scaling_min_freq 2>/dev/null || true
+  echo 2649600 >/sys/devices/system/cpu/cpufreq/policy4/scaling_min_freq 2>/dev/null || true
+}
+
+set_graphics_perms() {
+  chgrp gpu /dev/adsprpc-smd /dev/ion /dev/kgsl-3d0 /dev/dri/* 2>/dev/null || true
+  chmod 660 /dev/adsprpc-smd /dev/kgsl-3d0 /dev/dri/* 2>/dev/null || true
+  chmod 664 /dev/ion 2>/dev/null || true
+}
+
+set_device_perms() {
+  set_graphics_perms
+
+  chgrp gpio /dev/i2c-* 2>/dev/null || true
+  chmod 660 /dev/i2c-* 2>/dev/null || true
+  chmod 666 /dev/spidev* 2>/dev/null || true
+  chmod 666 /dev/input/* 2>/dev/null || true
+  chgrp disk /dev/sd* 2>/dev/null || true
+  chmod 660 /dev/sd* 2>/dev/null || true
+
+  chgrp gpio /sys/class/gpio/gpio*/direction /sys/class/gpio/gpio*/value 2>/dev/null || true
+  chmod 660 /sys/class/gpio/gpio*/direction /sys/class/gpio/gpio*/value 2>/dev/null || true
+
+  chgrp video /sys/class/backlight/panel0-backlight/brightness \
+    /sys/class/backlight/panel0-backlight/bl_power \
+    /sys/devices/platform/soc/soc:qcom,dsi-display@0/max_brightness_percent 2>/dev/null || true
+  chmod g+w /sys/class/backlight/panel0-backlight/brightness \
+    /sys/class/backlight/panel0-backlight/bl_power \
+    /sys/devices/platform/soc/soc:qcom,dsi-display@0/max_brightness_percent 2>/dev/null || true
+}
+
+create_tmpfiles() {
+  mkdir -p /var/crash /var/tmp /var/lib/dpkg /var/lib/logrotate \
+    /var/spool/cron/atjobs /var/cache/pollinate
+  chmod 1777 /var/tmp 2>/dev/null || true
+  touch /var/lib/dpkg/lock-frontend /var/lib/dpkg/status 2>/dev/null || true
+}
+
+permission_loop() {
+  local i
+
+  for i in $(seq 1 200); do
+    set_device_perms
+    sleep 0.025
+  done
+}
+
+mount_data() {
+  log "mount /data"
+  mkdir -p /data
+  mountpoint -q /data && return 0
+  wait_block /dev/sda12 || return 1
+  mount -t ext4 -o discard,noatime,nodiratime,nosuid,nodev /dev/sda12 /data 2>/dev/kmsg
+}
+
+data_late_setup() {
+  mkdir -p /data/etc/netplan /data/etc/NetworkManager/system-connections /data/ssh /data/tmp /data/media
+  chown comma:comma /data /data/media /data/ssh /data/tmp 2>/dev/null || true
+  touch /data/etc/timezone /data/etc/localtime 2>/dev/null || true
+
+  if [ ! -d /data/persist ] && [ -d /system/persist ]; then
+    cp -a /system/persist /data/ 2>/dev/null || true
+  fi
+}
+
+mount_early_state() {
+  mount_one tmpfs tmpfs /var -o rw,nosuid,nodev,size=128M,mode=755 || true
+  mount_one tmpfs tmpfs /tmp -o rw,nosuid,nodev,size=150M,mode=1777 || true
+  mount_one tmpfs tmpfs /run -o nosuid,nodev,mode=755,size=714M,nr_inodes=819200 || true
+  mount_one tmpfs tmpfs /rwtmp -o rw,nosuid,nodev,size=100M,mode=1777 || true
+
+  mkdir -p "$BOOTSH_RUN" /var/tmp/xdg /var/log /run/sudo /run/user/1000 /rwtmp/home_work /rwtmp/home_upper
+  chmod 1777 /var/tmp
+  chown comma:comma /var/tmp/xdg /run/user/1000 2>/dev/null || true
+  chmod 700 /run/user/1000 2>/dev/null || true
+
+  mount_one tmpfs tmpfs /var/log -o rw,nosuid,nodev,size=128M,mode=755 || true
+  chown root:syslog /var/log 2>/dev/null || true
+  chmod 775 /var/log 2>/dev/null || true
+  create_tmpfiles
+
+  mountpoint -q /home || mount -t overlay overlay \
+    -o lowerdir=/usr/default/home,upperdir=/rwtmp/home_upper,workdir=/rwtmp/home_work \
+    /home 2>/dev/kmsg || true
+}
+
+mount_core() {
+  mount_one proc proc /proc || true
+  mount_one sysfs sysfs /sys || true
+  mount_one devtmpfs devtmpfs /dev -o mode=755 || true
+  mkdir -p /dev/pts /dev/shm /sys/fs/cgroup /sys/fs/pstore /sys/fs/bpf /sys/kernel/debug /sys/kernel/tracing /sys/kernel/config
+  mount_one devpts devpts /dev/pts -o gid=5,mode=620,ptmxmode=000 || true
+  mount_one tmpfs tmpfs /dev/shm -o nosuid,nodev,size=1800M || true
+}
+
+mount_firmware() {
+  mount_block /dev/sde4 /firmware vfat ro || true
+  mount_block /dev/sde9 /dsp ext4 ro || true
+  log "firmware mounts done"
+}
+
+mount_deferred() {
+  mount_one tmpfs tmpfs /run/lock -o nosuid,nodev,noexec,size=5M || true
+  mount_one cgroup2 cgroup2 /sys/fs/cgroup -o nosuid,nodev,noexec || true
+  mount_one pstore pstore /sys/fs/pstore -o nosuid,nodev,noexec || true
+  mount_one bpf bpf /sys/fs/bpf -o nosuid,nodev,noexec || true
+  mount_one debugfs debugfs /sys/kernel/debug -o nosuid,nodev,noexec || true
+  mount_one tracefs tracefs /sys/kernel/tracing -o nosuid,nodev,noexec || true
+  mount_one configfs configfs /sys/kernel/config || true
+  ln -sf /sys/kernel/tracing /sys/kernel/debug/tracing 2>/dev/null || true
+
+  mount_firmware
+  mount_block /dev/sda2 /persist squashfs ro,nosuid,nodev,noexec || true
+  mount_block /dev/sda10 /systemrw ext4 relatime,data=ordered,noauto_da_alloc,discard,noexec,nodev || true
+  mount_block /dev/sda11 /cache ext4 relatime,data=ordered,noauto_da_alloc,discard,noexec,nodev,nosuid || true
+  chown -R comma:comma /cache 2>/dev/null || true
+  log "deferred mounts done"
+}
+
+setup_input_links() {
+  local event i name
+
+  for i in $(seq 1 250); do
+    for event in /sys/class/input/event*; do
+      [ -r "$event/device/name" ] || continue
+      name="$(cat "$event/device/name" 2>/dev/null || true)"
+      if [ "$name" = "fts_ts" ]; then
+        mkdir -p /dev/input/by-path
+        ln -sf "../$(basename "$event")" /dev/input/by-path/platform-894000.i2c-event
+        log "input link ready"
+        return 0
+      fi
+    done
+    sleep 0.02
+  done
+
+  log "timeout waiting for touch input"
+}
+
+setup_gpios() {
+  local p i pins
+
+  pins="30 49 134 41 50 116 124 34 33 32 52 1264"
+  for p in $pins; do
+    if [ "$p" = "41" ] && grep -q "comma tici" /sys/firmware/devicetree/base/model 2>/dev/null; then
+      continue
+    fi
+    [ -d "/sys/class/gpio/gpio$p" ] || echo "$p" >/sys/class/gpio/export 2>/dev/null || true
+  done
+
+  for p in $pins; do
+    if [ "$p" = "41" ] && grep -q "comma tici" /sys/firmware/devicetree/base/model 2>/dev/null; then
+      continue
+    fi
+    for i in $(seq 1 20); do
+      [ -d "/sys/class/gpio/gpio$p" ] && break
+      sleep 0.005
+    done
+  done
+
+  echo out >/sys/class/gpio/gpio30/direction 2>/dev/null || true
+  echo 1 >/sys/class/gpio/gpio30/value 2>/dev/null || true
+  set_device_perms
+  touch "$BOOTSH_RUN/gpio-ready"
+  log "gpio ready"
+}
+
+make_bootdevice_links() {
+  local dev i key part uevent value
+
+  mkdir -p /dev/block/bootdevice/by-name /dev/disk/by-partlabel
+  for i in $(seq 1 150); do
+    for uevent in /sys/class/block/sd*[0-9]*/uevent; do
+      [ -e "$uevent" ] || continue
+      dev="${uevent#/sys/class/block/}"
+      dev="${dev%/uevent}"
+      part=""
+      while IFS='=' read -r key value; do
+        if [ "$key" = "PARTNAME" ]; then
+          part="$value"
+          break
+        fi
+      done <"$uevent"
+      if [ -n "$part" ]; then
+        ln -sf "/dev/$dev" "/dev/block/bootdevice/by-name/$part"
+        ln -sf "/dev/$dev" "/dev/disk/by-partlabel/$part"
+      fi
+    done
+    [ -e /dev/block/bootdevice/by-name/modemst1 ] && break
+    sleep 0.02
+  done
+  log "bootdevice links ready"
+}
+
+qcom_early() {
+  local f
+
+  for f in /sys/bus/msm_subsys/devices/subsys*/restart_level; do
+    [ -e "$f" ] && echo related >"$f" 2>/dev/null || true
+  done
+
+  boost_early
+  [ -e /sys/kernel/boot_wlan/boot_wlan ] && echo 1 >/sys/kernel/boot_wlan/boot_wlan 2>/dev/null || true
+  [ -x /usr/bin/irsc_util ] && /usr/bin/irsc_util /etc/sec_config >/tmp/irsc_util.log 2>&1 || true
+  [ -e /sys/kernel/boot_cdsp/boot ] && echo 1 >/sys/kernel/boot_cdsp/boot 2>/dev/null || true
+  [ -e /dev/ipa ] && echo 1 >/dev/ipa 2>/dev/null || true
+  log "qcom early done"
+}
+
+start_magic() {
+  log "start magic"
+  /usr/comma/start-magic.sh >/tmp/magic.log 2>&1 &
+  touch "$BOOTSH_RUN/magic-started"
+}
+
+start_comma() {
+  log "start comma"
+  /usr/comma/start-comma.sh >/tmp/comma-start.log 2>&1
+  log "comma launched"
+}
+
+start_sound() {
+  log "start sound"
+  /usr/comma/sound/start-sound.sh --boot >/tmp/sound.log 2>&1 &
+}
+
+start_serial_shell() {
+  [ -c /dev/ttyMSM0 ] || return 0
+  setsid /bin/bash -l </dev/ttyMSM0 >/dev/ttyMSM0 2>&1 &
+}
+
+log "pid1 start"
+
+mount_core
+start_serial_shell
+boost_early
+mount_data &
+data_mount_pid=$!
+
+mount_early_state
+/usr/comma/set-hostname.sh >/tmp/set-hostname.log 2>&1 || true
+permission_loop &
+setup_gpios &
+gpio_pid=$!
+setup_input_links &
+start_magic
+
+wait "$data_mount_pid" || true
+data_late_setup
+touch "$BOOTSH_RUN/data-ready"
+
+start_comma
+
+mount_deferred &
+mount_deferred_pid=$!
+qcom_early &
+qcom_early_pid=$!
+make_bootdevice_links &
+bootdevice_pid=$!
+
+wait "$mount_deferred_pid" || true
+touch "$BOOTSH_RUN/fs-setup-done"
+/usr/comma/debug.py >/tmp/agnos-debug.log 2>&1 || true
+/usr/comma/screen_calibration.py >/tmp/screen-calibration.log 2>&1 || true
+start_sound
+
+wait "$qcom_early_pid" || true
+wait "$bootdevice_pid" || true
+wait "$gpio_pid" || true
+set_device_perms
+
+log "boot path done"
+exit 0
@@ -27,6 +27,11 @@ mount_fs() {
  local type="$3"
  local options="$4"

+  if mountpoint -q "$where"; then
+    log "$where already mounted"
+    return 0
+  fi
+
  if [[ "$what" == /dev/* ]] && ! wait_for_block "$what"; then
    failed=1
    return 1
@@ -45,6 +50,11 @@ mount_fs() {

 log "start"

+if [[ -e /run/bootsh/fs-setup-done ]]; then
+  log "already done by boot.sh"
+  exit 0
+fi
+
 failed=0
 mount_fs /dev/sde9 /dsp ext4 ro
 mount_fs /dev/sde4 /firmware vfat ro
@@ -59,8 +69,11 @@ mount_fs tmpfs /rwtmp tmpfs rw,nosuid,nodev,size=100M,mode=1777
 # Ensure the symlinks in the read only rootfs are
 # backed by real files and directories on userdata.

-# tmpfiles
-systemd-tmpfiles --create /usr/comma/tmpfiles.conf
+# Runtime files normally created by tmpfiles.d.
+mkdir -p /var/crash /var/tmp /var/lib/dpkg /var/lib/logrotate \
+  /var/spool/cron/atjobs /var/cache/pollinate
+chmod 1777 /var/tmp
+touch /var/lib/dpkg/lock-frontend /var/lib/dpkg/status

 # /var/log/ tmpfs
 mkdir -p /var/log/
@@ -2,7 +2,7 @@
 import os, socket, struct, subprocess, threading, time
 from array import array

-import pyray as rl
+rl = None

 UPDATER_PATH = "/usr/comma/updater"
 WESTON_RUNTIME_DIR = "/var/tmp/weston"
@@ -13,6 +13,14 @@ DRM_DEVICE = "/dev/dri/card0"
 BACKLIGHT_POWER = "/sys/class/backlight/panel0-backlight/bl_power"
 BACKGROUND = "/usr/comma/bg.jpg"

+def log(msg):
+  print(f"MAGIC {time.monotonic():.2f} {msg}", flush=True)
+  try:
+    with open("/dev/kmsg", "w") as f:
+      f.write(f"magic: {time.monotonic():.2f} {msg}\n")
+  except Exception:
+    pass
+
 # This is needed to keep the old updater working. Updater used to be stored in
 # openpilot directly instead of in AGNOS. This will intercept the old updater
 # trying to use a Weston socket and start our own.
@@ -83,6 +91,8 @@ def handle_client(client, drm_master):
      pass

 def main():
+  global rl
+
  threading.Thread(target=updater_weston, daemon=True).start()

  while True:
@@ -94,6 +104,21 @@ def main():
      time.sleep(0.1)

  os.environ['DRM_FD'] = str(drm_master)
+
+  try:
+    os.unlink(SOCK_PATH)
+  except FileNotFoundError:
+    pass
+
+  server = socket.socket(socket.AF_UNIX, socket.SOCK_STREAM)
+  server.bind(SOCK_PATH)
+  server.settimeout(0.1)
+  server.listen(1)
+  log("drmfd socket ready")
+
+  import pyray as rl
+  log("raylib imported")
+
  while not os.access(BACKLIGHT_POWER, os.W_OK):
    time.sleep(0.1)

@@ -105,16 +130,7 @@ def main():
  pos = rl.Vector2((rl.get_screen_width() - tex.width)/2.0, (rl.get_screen_height() - tex.height)/2.0)
  rl.unload_image(img)
  show_background(tex, pos)
-
-  try:
-    os.unlink(SOCK_PATH)
-  except FileNotFoundError:
-    pass
-
-  server = socket.socket(socket.AF_UNIX, socket.SOCK_STREAM)
-  server.bind(SOCK_PATH)
-  server.settimeout(0.1)
-  server.listen(1)
+  log("splash drawn")

  clients = set()
  need_background = False
@@ -95,7 +95,7 @@ def perform_controlled_shutdown():

  # Kill services that draw a lot of power
  printk("Killing services")
-  subprocess.call(["/usr/bin/systemctl", "kill", "--signal=9", "comma"])
+  subprocess.call(["/usr/comma/shims/systemctl", "kill", "--signal=9", "comma"])
  set_screen_power(False)

  printk("Halt")
@@ -122,4 +122,3 @@ if __name__ == '__main__':
          perform_controlled_shutdown()
    except Exception:
      pass
-
@@ -0,0 +1,46 @@
+#!/bin/bash
+
+PATH=/usr/comma/shims:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin
+export PATH
+
+log() {
+  local name ts
+  name="${SVDIR##*/}"
+  [ -n "$name" ] || name="${0##*/}"
+  ts="?"
+  [ -r /proc/uptime ] && ts="$(cut -d' ' -f1 /proc/uptime)"
+  printf '<6>runit-%s[%d]: %s %s\n' "$name" "$$" "$ts" "$*" >/dev/kmsg 2>/dev/null || true
+  printf 'runit-%s[%d]: %s %s\n' "$name" "$$" "$ts" "$*"
+}
+
+wait_path() {
+  local path="$1"
+  local i
+  for i in $(seq 1 300); do
+    [ -e "$path" ] && return 0
+    sleep 0.1
+  done
+  log "timeout waiting for $path"
+  return 1
+}
+
+wait_dbus() {
+  wait_path /run/dbus/system_bus_socket
+}
+
+param_enabled() {
+  local path="$1"
+  [ -f "$path" ] && [ "$(cat "$path" 2>/dev/null)" = "1" ]
+}
+
+run_as_comma() {
+  exec env \
+    HOME=/home/comma \
+    LOGNAME=comma \
+    SHELL=/bin/bash \
+    TERM=xterm-256color \
+    USER=comma \
+    XDG_RUNTIME_DIR=/var/tmp/xdg \
+    PATH="$PATH" \
+    setpriv --reuid=1000 --regid=1000 --init-groups "$@"
+}
@@ -0,0 +1,13 @@
+#!/bin/bash
+exec 2>&1
+. /usr/comma/runit/common.sh
+last=""
+while true; do
+  cur="$(cat /data/params/d/AdbEnabled 2>/dev/null || true)"
+  if [ "$cur" != "$last" ]; then
+    last="$cur"
+    log "AdbEnabled changed to ${cur:-unset}"
+    sv restart /run/runit/services/adbd 2>/dev/null || true
+  fi
+  sleep 2
+done
@@ -0,0 +1,37 @@
+#!/bin/bash
+exec 2>&1
+. /usr/comma/runit/common.sh
+if ! param_enabled /data/params/d/AdbEnabled; then
+  log "disabled"
+  [ -d /config/usb_gadget/g1 ] && echo "" >/config/usb_gadget/g1/UDC 2>/dev/null || true
+  while sleep 3600; do :; done
+fi
+
+mkdir -p /config /dev/usb-ffs/adb
+mountpoint -q /config || mount -t configfs none /config
+mkdir -p /config/usb_gadget/g1
+cd /config/usb_gadget/g1
+echo "" > UDC 2>/dev/null || true
+mkdir -p strings/0x409 configs/c.1/strings/0x409 functions/ncm.0 functions/ffs.adb
+echo 0x04D8 > idVendor
+echo 0x1234 > idProduct
+sed -n 's/^.*androidboot.serialno=\([^ ]*\).*$/\1/p' /proc/cmdline > strings/0x409/serialnumber
+echo comma.ai > strings/0x409/manufacturer
+echo "Linux USB Gadget" > strings/0x409/product
+echo 250 > configs/c.1/MaxPower
+echo "NCM+ADB" > configs/c.1/strings/0x409/configuration
+mountpoint -q /dev/usb-ffs/adb || mount -t functionfs adb /dev/usb-ffs/adb
+rm -f configs/c.1/ncm.0 configs/c.1/ffs.adb
+ln -sf functions/ncm.0 configs/c.1/ncm.0
+ln -sf functions/ffs.adb configs/c.1/ffs.adb
+command -v setprop >/dev/null && setprop service.adb.tcp.port -1 2>/dev/null || true
+
+/usr/comma/adbd &
+pid=$!
+sleep 2
+for _ in $(seq 1 40); do
+  echo a600000.dwc3 > UDC 2>/tmp/adbd-udc.err || true
+  [ "$(cat UDC 2>/dev/null)" = "a600000.dwc3" ] && break
+  sleep 0.25
+done
+wait "$pid"
@@ -0,0 +1,5 @@
+#!/bin/bash
+exec 2>&1
+. /usr/comma/runit/common.sh
+wait_dbus || true
+exec /usr/sbin/avahi-daemon -s
@@ -0,0 +1,6 @@
+#!/bin/bash
+exec 2>&1
+. /usr/comma/runit/common.sh
+wait_dbus || true
+sleep 1
+run_as_comma /usr/comma/avahi-publish-service.sh
@@ -0,0 +1,4 @@
+#!/bin/bash
+exec 2>&1
+. /usr/comma/runit/common.sh
+exec /usr/local/venv/bin/python -u /usr/comma/brightnessd.py
@@ -0,0 +1,13 @@
+#!/bin/bash
+exec 2>&1
+. /usr/comma/runit/common.sh
+if ! pgrep -x cnss_daemon >/dev/null 2>&1; then
+  if [ -e /tmp/cnss_daemon.log ]; then
+    /usr/sbin/cnss_daemon -d -f /tmp/cnss_daemon.log
+  else
+    /usr/sbin/cnss_daemon
+  fi
+fi
+while sleep 5; do
+  pgrep -x cnss_daemon >/dev/null 2>&1 || exit 1
+done
@@ -0,0 +1,5 @@
+#!/bin/bash
+exec 2>&1
+. /usr/comma/runit/common.sh
+wait_path /run/bootsh/data-ready || true
+exec /usr/comma/start-comma.sh --monitor
@@ -0,0 +1,6 @@
+#!/bin/bash
+exec 2>&1
+. /usr/comma/runit/common.sh
+mkdir -p /run/dbus /var/lib/dbus
+rm -f /run/dbus/pid
+exec dbus-daemon --system --nofork --nopidfile
@@ -0,0 +1,5 @@
+#!/bin/bash
+exec 2>&1
+. /usr/comma/runit/common.sh
+wait_path /firmware/verinfo/ver_info.txt || true
+exec /sbin/init_mss
@@ -0,0 +1,5 @@
+#!/bin/bash
+exec 2>&1
+. /usr/comma/runit/common.sh
+wait_path /systemrw || true
+exec /sbin/leprop-service
@@ -0,0 +1,15 @@
+#!/bin/bash
+exec 2>&1
+. /usr/comma/runit/common.sh
+mkdir -p /dev/socket
+chmod 777 /dev/socket
+echo 600 >/proc/sys/net/unix/max_dgram_qlen 2>/dev/null || true
+/sbin/logd &
+pid=$!
+for _ in $(seq 1 50); do
+  [ -S /dev/socket/logd ] && break
+  sleep 0.02
+done
+chmod 0666 /dev/socket/logd /dev/socket/logdr 2>/dev/null || true
+chmod 0222 /dev/socket/logdw 2>/dev/null || true
+wait "$pid"
@@ -0,0 +1,10 @@
+#!/bin/bash
+exec 2>&1
+. /usr/comma/runit/common.sh
+
+mkdir -p /var/lib/logrotate
+
+while true; do
+  /usr/sbin/logrotate /etc/logrotate.conf || true
+  sleep 3600
+done
@@ -0,0 +1,8 @@
+#!/bin/bash
+exec 2>&1
+. /usr/comma/runit/common.sh
+wait_path /run/bootsh/gpio-ready || true
+/usr/comma/lte/lte.sh start
+log "started"
+trap '/usr/comma/lte/lte.sh stop' TERM INT
+while sleep 3600; do :; done
@@ -0,0 +1,4 @@
+#!/bin/bash
+exec 2>&1
+. /usr/comma/runit/common.sh
+exec /usr/comma/start-magic.sh --monitor
@@ -0,0 +1,6 @@
+#!/bin/bash
+exec 2>&1
+. /usr/comma/runit/common.sh
+wait_dbus || true
+wait_path /run/bootsh/fs-setup-done || true
+exec /usr/sbin/ModemManager --filter-policy=strict --debug
@@ -0,0 +1,6 @@
+#!/bin/bash
+exec 2>&1
+. /usr/comma/runit/common.sh
+wait_dbus || true
+mkdir -p /run/NetworkManager /var/lib/NetworkManager
+exec /usr/sbin/NetworkManager --no-daemon
@@ -0,0 +1,8 @@
+#!/bin/bash
+exec 2>&1
+. /usr/comma/runit/common.sh
+for _ in $(seq 1 100); do
+  pgrep -x init_mss >/dev/null 2>&1 && break
+  sleep 0.1
+done
+exec /usr/bin/pdmappersvc
@@ -0,0 +1,10 @@
+#!/bin/bash
+exec 2>&1
+. /usr/comma/runit/common.sh
+for _ in $(seq 1 100); do
+  pgrep -x leprop-service >/dev/null 2>&1 && break
+  sleep 0.1
+done
+/sbin/persist-prop.sh
+log "done"
+while sleep 3600; do :; done
@@ -0,0 +1,11 @@
+#!/bin/bash
+exec 2>&1
+. /usr/comma/runit/common.sh
+wait_dbus || true
+if ! pgrep -u polkitd -x polkitd >/dev/null 2>&1; then
+  setpriv --reuid=polkitd --regid=polkitd --init-groups /usr/lib/polkit-1/polkitd --no-debug
+fi
+
+while sleep 5; do
+  pgrep -u polkitd -x polkitd >/dev/null 2>&1 || exit 1
+done
@@ -0,0 +1,8 @@
+#!/bin/bash
+exec 2>&1
+. /usr/comma/runit/common.sh
+if ! grep -q -E "tici|tizi" /sys/firmware/devicetree/base/model 2>/dev/null; then
+  log "not supported on this hardware"
+  while sleep 3600; do :; done
+fi
+exec /usr/local/venv/bin/python -u /usr/comma/power_drop_monitor.py
@@ -0,0 +1,4 @@
+#!/bin/bash
+exec 2>&1
+. /usr/comma/runit/common.sh
+exec /usr/local/venv/bin/python -u /usr/comma/power_monitor.py
@@ -0,0 +1,7 @@
+#!/bin/bash
+exec 2>&1
+. /usr/comma/runit/common.sh
+wait_path /dev/qseecom || true
+chmod 0666 /dev/qseecom 2>/dev/null || true
+chmod 0664 /dev/ion /dev/sde20 2>/dev/null || true
+exec /usr/bin/qseecomd
@@ -0,0 +1,8 @@
+#!/bin/bash
+exec 2>&1
+. /usr/comma/runit/common.sh
+wait_path /dev/block/bootdevice/by-name/modemst1 || true
+wait_path /dev/block/bootdevice/by-name/modemst2 || true
+wait_path /dev/block/bootdevice/by-name/fsc || true
+wait_path /dev/block/bootdevice/by-name/fsg || true
+exec /sbin/rmt_storage
@@ -0,0 +1,8 @@
+#!/bin/bash
+exec 2>&1
+. /usr/comma/runit/common.sh
+mkdir -p /var/log /var/spool/rsyslog
+chown root:syslog /var/log 2>/dev/null || true
+chmod 775 /var/log 2>/dev/null || true
+chown syslog:adm /var/spool/rsyslog 2>/dev/null || true
+exec /usr/sbin/rsyslogd -n -iNONE
@@ -0,0 +1,13 @@
+#!/bin/bash
+exec 2>&1
+. /usr/comma/runit/common.sh
+last=""
+while true; do
+  cur="$(cat /data/params/d/SshEnabled 2>/dev/null || true)"
+  if [ "$cur" != "$last" ]; then
+    last="$cur"
+    log "SshEnabled changed to ${cur:-unset}"
+    sv restart /run/runit/services/ssh 2>/dev/null || true
+  fi
+  sleep 2
+done
@@ -0,0 +1,11 @@
+#!/bin/bash
+exec 2>&1
+. /usr/comma/runit/common.sh
+if ! param_enabled /data/params/d/SshEnabled; then
+  log "disabled"
+  while sleep 3600; do :; done
+fi
+mkdir -p /data/etc/ssh /run/sshd
+ssh-keygen -A -f /data
+/usr/sbin/sshd -t
+exec /usr/sbin/sshd -D
@@ -0,0 +1,4 @@
+#!/bin/bash
+exec 2>&1
+. /usr/comma/runit/common.sh
+exec /usr/local/venv/bin/python -u /usr/comma/varwatch.py
@@ -61,12 +61,12 @@ if [ -f "$ADB_PARAM" ] && [ "$(< $ADB_PARAM)" == "1" ]; then
  echo "Enabling ADB"

  setup
-  systemctl start adbd
+  /usr/comma/shims/systemctl start adbd
  sleep 1  # adbd does some setup before we can enable the gadget
  start
 else
  echo "Disabling ADB"

-  systemctl stop adbd
+  /usr/comma/shims/systemctl stop adbd
  stop
 fi
@@ -3,8 +3,8 @@
 SSH_PARAM="/data/params/d/SshEnabled"
 if [ -f "$SSH_PARAM" ] && [ "$(< $SSH_PARAM)" == "1" ]; then
  echo "Enabling SSH"
-  systemctl start ssh
+  /usr/comma/shims/systemctl start ssh
 else
  echo "Disabling SSH"
-  systemctl stop ssh
+  /usr/comma/shims/systemctl stop ssh
 fi
@@ -0,0 +1,95 @@
+#!/bin/bash
+
+set -u
+
+while [[ "${1:-}" == --* ]]; do
+  case "$1" in
+    --root=*|--system|--user|--global|--preset-mode=*|--no-reload|--no-ask-password|--quiet)
+      shift
+      ;;
+    --)
+      shift
+      break
+      ;;
+    *)
+      break
+      ;;
+  esac
+done
+
+service_dir() {
+  local name="${1%.service}"
+  case "$name" in
+    magic) name=magic ;;
+    comma) name=comma ;;
+    ssh|sshd) name=ssh ;;
+    adbd) name=adbd ;;
+  esac
+  if [ -d "/run/runit/services/$name" ]; then
+    printf '/run/runit/services/%s\n' "$name"
+  else
+    printf '/usr/comma/runit/services/%s\n' "$name"
+  fi
+}
+
+case "${1:-}" in
+  "")
+    exit 0
+    ;;
+  daemon-reload|daemon-reexec|preset|preset-all|enable|disable|reenable|mask|unmask|try-reload-or-restart|reload)
+    exit 0
+    ;;
+esac
+
+if [ "${1:-}" = "is-enabled" ]; then
+  exit 1
+fi
+
+if [ "${1:-}" = "daemon-reload" ]; then
+  exit 0
+fi
+
+if [ "${1:-}" = "is-active" ] && [ "${2:-}" = "--quiet" ]; then
+  case "${3:-}" in
+    magic|magic.service)
+      pgrep -u comma -f "/usr/comma/magic.py" >/dev/null 2>&1 && [ -S /tmp/drmfd.sock ] && exit 0
+      exit 3
+      ;;
+    comma|comma.service)
+      /usr/bin/tmux has-session -t comma >/dev/null 2>&1 && exit 0
+      exit 3
+      ;;
+  esac
+  sv status "$(service_dir "${3:-}")" >/dev/null 2>&1 && exit 0
+  exit 3
+fi
+
+case "${1:-}" in
+  start)
+    exec sv up "$(service_dir "${2:-}")"
+    ;;
+  stop)
+    exec sv down "$(service_dir "${2:-}")"
+    ;;
+  restart)
+    exec sv restart "$(service_dir "${2:-}")"
+    ;;
+  kill)
+    signal=TERM
+    shift
+    if [[ "${1:-}" == --signal=* ]]; then
+      signal="${1#--signal=}"
+      shift
+    fi
+    name="${1:-}"
+    if [ "${name%.service}" = "comma" ]; then
+      pkill "-$signal" -f "/usr/comma/comma.sh" 2>/dev/null || true
+      pkill "-$signal" -f "tmux new-session -s comma" 2>/dev/null || true
+      exit 0
+    fi
+    exec sv force-stop "$(service_dir "$name")"
+    ;;
+esac
+
+echo "systemctl shim: unsupported command: $*" >&2
+exit 1
@@ -0,0 +1,30 @@
+#!/bin/bash
+
+set -u
+
+BOOTSH_RUN=/run/bootsh
+
+if [ "${1:-}" = "--boot" ]; then
+  mkdir -p "$BOOTSH_RUN"
+  rm -f "$BOOTSH_RUN/sound-ready" "$BOOTSH_RUN/sound-failed"
+  touch "$BOOTSH_RUN/sound-started"
+
+  if /usr/comma/sound/sound_init.sh; then
+    touch "$BOOTSH_RUN/sound-ready"
+    exit 0
+  fi
+
+  touch "$BOOTSH_RUN/sound-failed"
+  exit 1
+fi
+
+if [ -e "$BOOTSH_RUN/sound-started" ]; then
+  while pgrep -f "/usr/comma/sound/sound_init.sh" >/dev/null 2>&1; do
+    sleep 0.1
+  done
+
+  [ -e "$BOOTSH_RUN/sound-ready" ] && exit 0
+  exit 1
+fi
+
+exec /usr/comma/sound/sound_init.sh
@@ -0,0 +1,69 @@
+#!/bin/bash
+
+set -u
+
+PATH=/usr/comma/shims:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin
+export PATH
+
+log() {
+  local ts="?"
+  if [ -r /proc/uptime ]; then
+    ts="$(cut -d' ' -f1 /proc/uptime)"
+  fi
+  if [ -w /dev/kmsg ]; then
+    printf '<6>start-comma[%d]: %s %s\n' "$$" "$ts" "$*" >/dev/kmsg 2>/dev/null || true
+  fi
+}
+
+set_limits() {
+  ulimit -Hr 100 2>/dev/null || true
+  ulimit -Sr 100 2>/dev/null || true
+  ulimit -He 30 2>/dev/null || true
+  ulimit -Se 30 2>/dev/null || true
+}
+
+start_session() {
+  local agnos_version
+
+  agnos_version="$(cat /VERSION 2>/dev/null || true)"
+  export AGNOS_VERSION="$agnos_version"
+  export HOME=/home/comma
+  export LOGNAME=comma
+  export SHELL=/bin/bash
+  export TERM=xterm-256color
+  export USER=comma
+  export XDG_RUNTIME_DIR=/var/tmp/xdg
+
+  if /usr/bin/tmux has-session -t comma >/dev/null 2>&1; then
+    log "tmux session already running"
+    return 0
+  fi
+
+  /usr/bin/tmux new-session -s comma -d "/bin/bash -lc 'exec /bin/bash /usr/comma/comma.sh >>/tmp/comma.log 2>&1'"
+  log "tmux session started"
+}
+
+monitor_session() {
+  while /usr/bin/tmux has-session -t comma >/dev/null 2>&1; do
+    sleep 5
+  done
+}
+
+set_limits
+if [ "$(id -u)" = "0" ]; then
+  exec env \
+    HOME=/home/comma \
+    LOGNAME=comma \
+    SHELL=/bin/bash \
+    TERM=xterm-256color \
+    USER=comma \
+    XDG_RUNTIME_DIR=/var/tmp/xdg \
+    PATH="$PATH" \
+    setpriv --reuid=1000 --regid=1000 --init-groups "$0" "$@"
+fi
+
+start_session
+
+if [ "${1:-}" = "--monitor" ]; then
+  monitor_session
+fi
@@ -0,0 +1,81 @@
+#!/bin/bash
+
+set -u
+
+PATH=/usr/comma/shims:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin
+export PATH
+export HOME=/home/comma
+export LOGNAME=comma
+export SHELL=/bin/bash
+export USER=comma
+export XDG_RUNTIME_DIR=/var/tmp/xdg
+export PYTHONPATH=/data/pythonpath
+export UV_PYTHON_INSTALL_DIR=/usr/local/uv/python
+export UV_PYTHON_PREFERENCE=only-system
+export UV_LINK_MODE=copy
+
+log() {
+  local ts="?"
+  if [ -r /proc/uptime ]; then
+    ts="$(cut -d' ' -f1 /proc/uptime)"
+  fi
+  if [ -w /dev/kmsg ]; then
+    printf '<6>start-magic[%d]: %s %s\n' "$$" "$ts" "$*" >/dev/kmsg 2>/dev/null || true
+  fi
+}
+
+magic_running() {
+  pgrep -u comma -f "/usr/comma/magic.py" >/dev/null 2>&1
+}
+
+prep_root() {
+  chgrp gpu /dev/adsprpc-smd /dev/ion /dev/kgsl-3d0 /dev/dri/* 2>/dev/null || true
+  chmod 660 /dev/adsprpc-smd /dev/kgsl-3d0 /dev/dri/* 2>/dev/null || true
+  chmod 664 /dev/ion 2>/dev/null || true
+
+  mkdir -p /data/misc/display /var/tmp/xdg
+  (echo 0 >/data/misc/display/sdm_dbg_cfg.txt) 2>/dev/null || true
+  (echo 0 >/data/misc/display/gbm_dbg_cfg.txt) 2>/dev/null || true
+  chown comma:comma /var/tmp/xdg 2>/dev/null || true
+}
+
+prep_user() {
+  mkdir -p /var/tmp/xdg 2>/dev/null || true
+}
+
+monitor_magic() {
+  while magic_running; do
+    sleep 5
+  done
+  log "magic exited"
+  return 1
+}
+
+if [ "$(id -u)" = "0" ]; then
+  prep_root
+  exec env \
+    HOME="$HOME" \
+    LOGNAME="$LOGNAME" \
+    SHELL="$SHELL" \
+    USER="$USER" \
+    XDG_RUNTIME_DIR="$XDG_RUNTIME_DIR" \
+    PYTHONPATH="$PYTHONPATH" \
+    UV_PYTHON_INSTALL_DIR="$UV_PYTHON_INSTALL_DIR" \
+    UV_PYTHON_PREFERENCE="$UV_PYTHON_PREFERENCE" \
+    UV_LINK_MODE="$UV_LINK_MODE" \
+    PATH="$PATH" \
+    setpriv --reuid=1000 --regid=1000 --init-groups "$0" "$@"
+fi
+
+prep_user
+
+if magic_running; then
+  log "magic already running"
+  if [ "${1:-}" = "--monitor" ]; then
+    monitor_magic
+  fi
+  exit 0
+fi
+
+log "exec magic"
+exec /usr/local/venv/bin/python -u /usr/comma/magic.py
@@ -1,22 +1,18 @@
 #!/usr/bin/env python3
 import subprocess
+import re
 from tabulate import tabulate

 # serial with timestamps:
 # grabserial -d /dev/serial/by-id/usb-FTDI_FT230X* -t

-# systemd-analyze critical-chain comma.service
-
-# boot chart:
-# systemd-analyze plot > /tmp/bootup.svg
-
-def get_journal_time(x):
-  out = subprocess.check_output("journalctl -x -o short-monotonic", shell=True, encoding='utf8')
-  jlines = out.strip().splitlines()
-  for l in jlines:
-    if x in l:
-      t = l.split('[')[1].split(']')[0]
-      return float(t)
+def get_bootsh_time(x):
+  out = subprocess.check_output("dmesg | grep 'boot.sh'", shell=True, encoding='utf8')
+  for line in out.strip().splitlines():
+    if x in line:
+      m = re.search(r"boot\.sh\[\d+\]: ([0-9.]+)", line)
+      if m:
+        return float(m.group(1))
  return None

 if __name__ == "__main__":
@@ -30,12 +26,8 @@ if __name__ == "__main__":
  def tot_since_kern():
    return sum(ts.values()) - (ts['PON'] + ts['XBL'] + ts['ABL'])

-  out = subprocess.check_output("systemd-analyze", shell=True, encoding='utf8')
-  l = out.splitlines()[0].split(' ')
-  ts['kernel'] = float(l[3][:-1])
-  #ts['systemd'] = float(l[6][:-1])
-
-  ts['comma'] = get_journal_time("Starting comma.service") - tot_since_kern()
+  ts['kernel-to-pid1'] = get_bootsh_time("pid1 start") or 0.0
+  ts['comma'] = (get_bootsh_time("comma launched") or 0.0) - ts['kernel-to-pid1']

  # print
  tot = 0
@@ -1,5 +1,6 @@
 #!/usr/bin/env python3
 import json
+import re
 import time
 import subprocess

@@ -51,13 +52,21 @@ def test_dmesg():
  # TODO: ensure no new errors in dmesg. would catch things like the brightness setting bug
  pass

-def test_systemd_services():
-  pass
+def test_runit_services():
+  assert run("cat /proc/1/comm").strip() == "runit"
+  assert run("pgrep -a 'systemd|journald|udevd' || true").strip() == ""
+
+  out = run("sv status /run/runit/services/*")
+  failed = [line for line in out.splitlines() if not line.startswith("run:")]
+  assert failed == []

 def test_boot_time():
-  out = subprocess.check_output("systemd-analyze", shell=True, encoding='utf8')
+  out = run("dmesg | grep 'boot.sh'")
+  marks = {}
+  for line in out.splitlines():
+    m = re.search(r"boot\.sh\[\d+\]: ([0-9.]+) (.*)", line)
+    if m:
+      marks[m.group(2)] = float(m.group(1))

-  a = out.splitlines()[0]
-  print(out, a)
-
-  # check comma service
+  assert "comma launched" in marks
+  print(marks)
@@ -3,24 +3,20 @@ import os
 import time
 import subprocess

-good = """
-Starting Sound...
-[INFO] Bringing adsp out of reset
-subsys4
-waiting for sound card to come online
-sound card online
-sound.service: Succeeded.
-Finished Sound.
-""".strip()
+required = [
+  "[INFO] Bringing adsp out of reset",
+  "waiting for sound card to come online",
+  "sound card online",
+]

 if __name__ == "__main__":
  time.sleep(3)
-  log = subprocess.check_output("journalctl -o cat -u sound", shell=True, encoding='utf8').strip()
-  passed = log == good
+  log = subprocess.check_output("cat /tmp/sound.log 2>/dev/null || true", shell=True, encoding='utf8').strip()
+  passed = all(line in log for line in required)
  with open('/data/tmp/sound_log', 'a') as f:
    f.write(f"{passed}\n")

-  os.system("journalctl -u sound.service -o short-monotonic >> /data/tmp/sound_service_log")
+  os.system("cat /tmp/sound.log >> /data/tmp/sound_service_log")
  os.system("sudo su -c 'tail /data/tmp/sound_log > /dev/console'")
  os.system("sudo su -c 'wc -l /data/tmp/sound_log > /dev/console'")
  os.sync()
@@ -5,7 +5,7 @@ RATE=${1:-1}

 log_message() {
  # /var/log/syslog
-  cat /usr/include/sqlite3.h | systemd-cat -t SPAM_TEST
+  cat /usr/include/sqlite3.h | logger -t SPAM_TEST

  # /var/log/kern.log
  #cat /usr/include/sqlite3.h | sudo tee /dev/kmsg > /dev/null
@@ -15,10 +15,8 @@ log_message() {
 sudo logrotate -d /etc/logrotate.conf

 sudo rm -rf /var/log/*
-sudo systemctl daemon-reload
-sudo systemctl restart rsyslog
-sudo systemctl restart systemd-journald
-sudo systemctl restart logrotate-hourly.timer
+sudo sv restart /run/runit/services/rsyslog
+sudo sv restart /run/runit/services/logrotate

 while true; do
  for i in $(seq 1 $RATE); do
@@ -1,23 +0,0 @@
-#  This file is part of systemd.
-#
-#  systemd is free software; you can redistribute it and/or modify it
-#  under the terms of the GNU Lesser General Public License as published by
-#  the Free Software Foundation; either version 2.1 of the License, or
-#  (at your option) any later version.
-
-# See tmpfiles.d(5) for details
-
-# /var: rebuild enough for services to be happy
-d /var/crash 0755 - - -
-q /var/tmp 1777 root root 30d
-
-d /var/lib/dpkg 0755 - - -
-f /var/lib/dpkg/lock-frontend 0755 - - -
-f /var/lib/dpkg/status 0755 - - -
-
-d /var/lib/logrotate 0755 - - -
-
-d /var/spool 0755 - - -
-d /var/spool/cron/atjobs 0755 - - -
-
-d /var/cache/pollinate 0755 pollinate daemon -