From fa3e33b8e8e45c8d309ad83329e71380c6459a47 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Wed, 5 Oct 2022 16:40:39 -0700
Subject: [PATCH] agnos 6.1 (#25973)

* agnos 6.1

* staging manifest

* no casync

* prod manifest
old-commit-hash: ef24c0b2ce8a4cf1dbc82886b806079889adf97b
---
 launch_env.sh                         |  2 +-
 selfdrive/sensord/rawgps/modemdiag.py | 15 +--------------
 system/hardware/tici/agnos.json       |  6 +++---
 3 files changed, 5 insertions(+), 18 deletions(-)

diff --git a/launch_env.sh b/launch_env.sh
index 48c5696b94..88e1f2a9c5 100755
--- a/launch_env.sh
+++ b/launch_env.sh
@@ -7,7 +7,7 @@ export OPENBLAS_NUM_THREADS=1
 export VECLIB_MAXIMUM_THREADS=1
 
 if [ -z "$AGNOS_VERSION" ]; then
-  export AGNOS_VERSION="6"
+  export AGNOS_VERSION="6.1"
 fi
 
 if [ -z "$PASSIVE" ]; then
diff --git a/selfdrive/sensord/rawgps/modemdiag.py b/selfdrive/sensord/rawgps/modemdiag.py
index cc2bc5b261..5d72aeba9e 100644
--- a/selfdrive/sensord/rawgps/modemdiag.py
+++ b/selfdrive/sensord/rawgps/modemdiag.py
@@ -1,5 +1,3 @@
-import os
-import time
 import select
 from serial import Serial
 from crcmod import mkCrcFun
@@ -11,18 +9,7 @@ class ModemDiag:
     self.pend = b''
 
   def open_serial(self):
-    def op():
-      return Serial("/dev/ttyUSB0", baudrate=115200, rtscts=True, dsrdtr=True, timeout=0)
-    try:
-      serial = op()
-    except Exception:
-      # TODO: this is a hack to get around modemmanager's exclusive open
-      print("unlocking serial...")
-      os.system('sudo su -c \'echo "1-1.1:1.0" > /sys/bus/usb/drivers/option/unbind\'')
-      os.system('sudo su -c \'echo "1-1.1:1.0" > /sys/bus/usb/drivers/option/bind\'')
-      time.sleep(0.5)
-      os.system("sudo chmod 666 /dev/ttyUSB0")
-      serial = op()
+    serial = Serial("/dev/ttyUSB0", baudrate=115200, rtscts=True, dsrdtr=True, timeout=0, exclusive=True)
     serial.flush()
     serial.reset_input_buffer()
     serial.reset_output_buffer()
diff --git a/system/hardware/tici/agnos.json b/system/hardware/tici/agnos.json
index dc0fa6f1c1..8534c8a978 100644
--- a/system/hardware/tici/agnos.json
+++ b/system/hardware/tici/agnos.json
@@ -41,9 +41,9 @@
   },
   {
     "name": "system",
-    "url": "https://commadist.azureedge.net/agnosupdate/system-9db38e27c912005472f3ac02be336af4f82307295118b6db22921479d44a941d.img.xz",
-    "hash": "05e7ce440b33721b020a249043d9568a5898080e26411ca250fb330ad2e5ed8e",
-    "hash_raw": "9db38e27c912005472f3ac02be336af4f82307295118b6db22921479d44a941d",
+    "url": "https://commadist.azureedge.net/agnosupdate/system-b40b08912576bb972907acba7c201c1399395cbc0cba06ce6e5e3f70ab565cb5.img.xz",
+    "hash": "6e8fbcc21a265f7f58062abce7675dc05540e2b60cee2df56992a151ba64936f",
+    "hash_raw": "b40b08912576bb972907acba7c201c1399395cbc0cba06ce6e5e3f70ab565cb5",
     "size": 10737418240,
     "sparse": true,
     "full_check": false,