From bf1b93f757065fe687a536a0aaeeec35ebcfc197 Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Mon, 20 Jul 2026 09:25:49 -0400 Subject: [PATCH] Revert "agnos: split launch for c3 and c3x to support custom agnos" (#1879) Revert "agnos: split launch for c3 and c3x to support custom agnos (#1186)" This reverts commit 54174d1e --- launch_openpilot.sh | 17 --- .../sunnypilot/system/hardware/c3/README.md | 3 - .../sunnypilot/system/hardware/c3/agnos.json | 84 --------------- .../system/hardware/c3/launch_chffrplus.sh | 100 ------------------ .../system/hardware/c3/launch_env.sh | 13 --- 5 files changed, 217 deletions(-) delete mode 100644 openpilot/sunnypilot/system/hardware/c3/README.md delete mode 100644 openpilot/sunnypilot/system/hardware/c3/agnos.json delete mode 100755 openpilot/sunnypilot/system/hardware/c3/launch_chffrplus.sh delete mode 100755 openpilot/sunnypilot/system/hardware/c3/launch_env.sh diff --git a/launch_openpilot.sh b/launch_openpilot.sh index 0b3550aba8..d6e3424c34 100755 --- a/launch_openpilot.sh +++ b/launch_openpilot.sh @@ -1,20 +1,3 @@ #!/usr/bin/env bash -set -euo pipefail -IFS=$'\n\t' - -# On any failure, run the fallback launcher -trap 'exec ./launch_chffrplus.sh' ERR -C3_LAUNCH_SH="./openpilot/sunnypilot/system/hardware/c3/launch_chffrplus.sh" - -MODEL="$(tr -d '\0' < "/sys/firmware/devicetree/base/model")" -export MODEL - -if [ "$MODEL" = "comma tici" ]; then - # Force a failure if the launcher doesn't exist - [ -x "$C3_LAUNCH_SH" ] || false - - # If it exists, run it - exec "$C3_LAUNCH_SH" -fi exec ./launch_chffrplus.sh diff --git a/openpilot/sunnypilot/system/hardware/c3/README.md b/openpilot/sunnypilot/system/hardware/c3/README.md deleted file mode 100644 index f74a210191..0000000000 --- a/openpilot/sunnypilot/system/hardware/c3/README.md +++ /dev/null @@ -1,3 +0,0 @@ -# C3 specific hardware code - -`c3` is known as `tici` and comma three by comma. Not to confuse it with `c3x` which is known as `tizi`. \ No newline at end of file diff --git a/openpilot/sunnypilot/system/hardware/c3/agnos.json b/openpilot/sunnypilot/system/hardware/c3/agnos.json deleted file mode 100644 index 941a4956bf..0000000000 --- a/openpilot/sunnypilot/system/hardware/c3/agnos.json +++ /dev/null @@ -1,84 +0,0 @@ -[ - { - "name": "xbl", - "url": "https://commadist.azureedge.net/agnosupdate/xbl-effa23294138e2297b85a5b482a885184c437b5ab25d74f2a62d4fce4e68f63b.img.xz", - "hash": "effa23294138e2297b85a5b482a885184c437b5ab25d74f2a62d4fce4e68f63b", - "hash_raw": "effa23294138e2297b85a5b482a885184c437b5ab25d74f2a62d4fce4e68f63b", - "size": 3282256, - "sparse": false, - "full_check": true, - "has_ab": true, - "ondevice_hash": "ed61a650bea0c56652dd0fc68465d8fc722a4e6489dc8f257630c42c6adcdc89" - }, - { - "name": "xbl_config", - "url": "https://commadist.azureedge.net/agnosupdate/xbl_config-63d019efed684601f145ef37628e62c8da73f5053a8e51d7de09e72b8b11f97c.img.xz", - "hash": "63d019efed684601f145ef37628e62c8da73f5053a8e51d7de09e72b8b11f97c", - "hash_raw": "63d019efed684601f145ef37628e62c8da73f5053a8e51d7de09e72b8b11f97c", - "size": 98124, - "sparse": false, - "full_check": true, - "has_ab": true, - "ondevice_hash": "b12801ffaa81e58e3cef914488d3b447e35483ba549b28c6cd9deb4814c3265f" - }, - { - "name": "abl", - "url": "https://commadist.azureedge.net/agnosupdate/abl-32a2174b5f764e95dfc54cf358ba01752943b1b3b90e626149c3da7d5f1830b6.img.xz", - "hash": "32a2174b5f764e95dfc54cf358ba01752943b1b3b90e626149c3da7d5f1830b6", - "hash_raw": "32a2174b5f764e95dfc54cf358ba01752943b1b3b90e626149c3da7d5f1830b6", - "size": 274432, - "sparse": false, - "full_check": true, - "has_ab": true, - "ondevice_hash": "32a2174b5f764e95dfc54cf358ba01752943b1b3b90e626149c3da7d5f1830b6" - }, - { - "name": "aop", - "url": "https://commadist.azureedge.net/agnosupdate/aop-21370172e590bd4ea907a558bcd6df20dc7a6c7d38b8e62fdde18f4a512ba9e9.img.xz", - "hash": "21370172e590bd4ea907a558bcd6df20dc7a6c7d38b8e62fdde18f4a512ba9e9", - "hash_raw": "21370172e590bd4ea907a558bcd6df20dc7a6c7d38b8e62fdde18f4a512ba9e9", - "size": 184364, - "sparse": false, - "full_check": true, - "has_ab": true, - "ondevice_hash": "c1be2f4aac5b3af49b904b027faec418d05efd7bd5144eb4fdfcba602bcf2180" - }, - { - "name": "devcfg", - "url": "https://commadist.azureedge.net/agnosupdate/devcfg-d7d7e52963bbedbbf8a7e66847579ca106a0a729ce2cf60f4b8d8ea4b535d620.img.xz", - "hash": "d7d7e52963bbedbbf8a7e66847579ca106a0a729ce2cf60f4b8d8ea4b535d620", - "hash_raw": "d7d7e52963bbedbbf8a7e66847579ca106a0a729ce2cf60f4b8d8ea4b535d620", - "size": 40336, - "sparse": false, - "full_check": true, - "has_ab": true, - "ondevice_hash": "17b229668b20305ff8fa3cd5f94716a3aaa1e5bf9d1c24117eff7f2f81ae719f" - }, - { - "name": "boot", - "url": "https://commadist.azureedge.net/agnosupdate/boot-0191529aa97d90d1fa04b472d80230b777606459e1e1e9e2323c9519839827b4.img.xz", - "hash": "0191529aa97d90d1fa04b472d80230b777606459e1e1e9e2323c9519839827b4", - "hash_raw": "0191529aa97d90d1fa04b472d80230b777606459e1e1e9e2323c9519839827b4", - "size": 18515968, - "sparse": false, - "full_check": true, - "has_ab": true, - "ondevice_hash": "492ae27f569e8db457c79d0e358a7a6297d1a1c685c2b1ae6deba7315d3a6cb0" - }, - { - "name": "system", - "url": "https://commadist.azureedge.net/agnosupdate/system-e0007afa5d1026671c1943d44bb7f7ad26259f673392dd00a03073a2870df087.img.xz", - "hash": "1468d50b7ad0fda0f04074755d21e786e3b1b6ca5dd5b17eb2608202025e6126", - "hash_raw": "e0007afa5d1026671c1943d44bb7f7ad26259f673392dd00a03073a2870df087", - "size": 5368709120, - "sparse": true, - "full_check": false, - "has_ab": true, - "ondevice_hash": "242aa5adad1c04e1398e00e2440d1babf962022eb12b89adf2e60ee3068946e7", - "alt": { - "hash": "e0007afa5d1026671c1943d44bb7f7ad26259f673392dd00a03073a2870df087", - "url": "https://commadist.azureedge.net/agnosupdate/system-e0007afa5d1026671c1943d44bb7f7ad26259f673392dd00a03073a2870df087.img", - "size": 5368709120 - } - } -] \ No newline at end of file diff --git a/openpilot/sunnypilot/system/hardware/c3/launch_chffrplus.sh b/openpilot/sunnypilot/system/hardware/c3/launch_chffrplus.sh deleted file mode 100755 index a505e4f1f1..0000000000 --- a/openpilot/sunnypilot/system/hardware/c3/launch_chffrplus.sh +++ /dev/null @@ -1,100 +0,0 @@ -#!/usr/bin/env bash - -SP_C3_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )" -DIR="$( cd "$SP_C3_DIR/../../../../.." >/dev/null 2>&1 && pwd )" - -source "$SP_C3_DIR/launch_env.sh" - -function agnos_init { - # TODO: move this to agnos - sudo rm -f /data/etc/NetworkManager/system-connections/*.nmmeta - - # set success flag for current boot slot - sudo abctl --set_success - - # 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 - sudo chmod 660 /dev/adsprpc-smd /dev/ion /dev/kgsl-3d0 - - - if [ $(< /VERSION) != "$AGNOS_VERSION" ]; then - AGNOS_PY="$DIR/openpilot/common/hardware/tici/agnos.py" - MANIFEST="$SP_C3_DIR/agnos.json" - if $AGNOS_PY --verify $MANIFEST; then - sudo reboot - fi - $DIR/openpilot/common/hardware/tici/updater $AGNOS_PY $MANIFEST - fi -} - -function launch { - # Remove orphaned git lock if it exists on boot - [ -f "$DIR/.git/index.lock" ] && rm -f $DIR/.git/index.lock - - # Check to see if there's a valid overlay-based update available. Conditions - # are as follows: - # - # 1. The DIR init file has to exist, with a newer modtime than anything in - # the DIR Git repo. This checks for local development work or the user - # switching branches/forks, which should not be overwritten. - # 2. The FINALIZED consistent file has to exist, indicating there's an update - # that completed successfully and synced to disk. - - if [ -f "${DIR}/.overlay_init" ]; then - find ${DIR}/.git -newer ${DIR}/.overlay_init | grep -q '.' 2> /dev/null - if [ $? -eq 0 ]; then - echo "${DIR} has been modified, skipping overlay update installation" - else - if [ -f "${STAGING_ROOT}/finalized/.overlay_consistent" ]; then - if [ ! -d /data/safe_staging/old_openpilot ]; then - echo "Valid overlay update found, installing" - LAUNCHER_LOCATION="${BASH_SOURCE[0]}" - - mv $DIR /data/safe_staging/old_openpilot - mv "${STAGING_ROOT}/finalized" $DIR - cd $DIR - - echo "Restarting launch script ${LAUNCHER_LOCATION}" - unset AGNOS_VERSION - exec "${LAUNCHER_LOCATION}" - else - echo "openpilot backup found, not updating" - # TODO: restore backup? This means the updater didn't start after swapping - fi - fi - fi - fi - - # handle pythonpath - ln -sfn $(pwd) /data/pythonpath - export PYTHONPATH="$PWD" - - # submodule package symlinks for PYTHONPATH imports on device. - # on PC these come from editable installs via pyproject.toml / uv. - ln -sfn msgq_repo/msgq msgq - ln -sfn opendbc_repo/opendbc opendbc - ln -sfn rednose_repo/rednose rednose - ln -sfn teleoprtc_repo/teleoprtc teleoprtc - ln -sfn tinygrad_repo/tinygrad tinygrad - - # hardware specific init - if [ -f /AGNOS ]; then - agnos_init - fi - - # write tmux scrollback to a file - tmux capture-pane -pq -S-1000 > /tmp/launch_log - - # start manager - cd $DIR/openpilot/system/manager - if [ ! -f $DIR/prebuilt ]; then - ./build.py - fi - ./manager.py - - # if broken, keep on screen error - while true; do sleep 1; done -} - -launch diff --git a/openpilot/sunnypilot/system/hardware/c3/launch_env.sh b/openpilot/sunnypilot/system/hardware/c3/launch_env.sh deleted file mode 100755 index 4c011c6ac0..0000000000 --- a/openpilot/sunnypilot/system/hardware/c3/launch_env.sh +++ /dev/null @@ -1,13 +0,0 @@ -#!/usr/bin/env bash - -export OMP_NUM_THREADS=1 -export MKL_NUM_THREADS=1 -export NUMEXPR_NUM_THREADS=1 -export OPENBLAS_NUM_THREADS=1 -export VECLIB_MAXIMUM_THREADS=1 - -if [ -z "$AGNOS_VERSION" ]; then - export AGNOS_VERSION="12.8" -fi - -export STAGING_ROOT="/data/safe_staging"