WireOS 3.0.1.31

Changelog

• update-engine C++ rewrite
• No more Python
  • python3 taken out
  • rebooter and update-engine rewritten
• Latest Yocto base as of October 21st, 2025
• Merge vic-cloud and vic-gateway
  • The Go binaries are huge because of the inclusion of gRPC. vic-cloud and vic-gateway were carrying their own copies of the module separately. Now vic-gateway is embedded into vic-cloud, and runs in a goroutine
• Thanks to these changes, smaller OTA (now 153M)
• Things done by @Switch-modder
  • Fix pet detection animation sounds (@Switch-modder did long ago, just now pulled latest EXTERNALS)
  • Customizable backpack lights and Anki backpack light files
    • Instructions: os-vector/wire-os-victor#30
  • Age is now gotten from /data/persist rather than from the age of the onboardingState.json file, so setting the bot up with wire-pod won't reset the age. Now clearing the bot's user data is what resets it.
  • He now says his age in years if he's that old

WireOS 3.0.1.30

Note

• 3.0.1.29 had to be pulled due to consistent crashing on some bots
• The changelog will include the changes made in 3.0.1.29

Changelog

• Mics should be OK now
  • In 3.0.1.28, mics were too quiet for wire-pod to understand sometimes
• New victor compiler - Clang 20.1.8 rather than 18.1.8
• Cleaned up a couple things, mainly got rid of some unnecessary OpenCV libs
• Slightly smaller OTA - about 169MB
• vic-engine crashing fix
  • Was due to a protobuf race condition which presented itself after the Clang upgrade. A copy is now made before serialization
• Some added commands:
  • mrw: shortcut for mount -o rw,remount /
  • voff: shuts down the robot
  • reboot now accepts arguments while still exiting the SSH session
• libpvictor is now installed
• :8080 now includes an option to set temperature units

WireOS 3.0.1.29

Changelog

• Mics should be OK now
  • In 3.0.1.28, mics were too quiet for wire-pod to understand sometimes
• New victor compiler - Clang 20.1.8 rather than 18.1.8
• Cleaned up a couple things, mainly got rid of some unnecessary OpenCV libs
• Slightly smaller OTA - about 169MB

WireOS 3.0.1.28

Changelog

• Yocto Whinlatter upgrade
  • glibc 2.41 -> glibc 2.42
  • newer Python 3.13 version
  • everything is built with GCC 15 rather than 14
• Revert my force-enabling of mic data processing
  • should fix overly-sensitive mics

WireOS 3.0.1.27

Changelog

• Tone down the Balanced performance profile significantly, potentially fixing the overheat issue
  • Involved a kernel change to add a new CPU frequency
• Undo the undoing of an Anki change - make sure the CPU isn't using a big.LITTLE scheduler
  • While this gave us better performances in certain scenarios, it seemed to make the SoC hotter
• Add temper script which shows you CPU temps over SSH
• Fix vmesg so it follows the logs

WireOS 3.0.1.26

Changelog

• Face overlay - initial support
  • If enabled, an image will overlay his eyes. It'll move along with the eyes. Think of it like a fancy, more complicated eye color
  • Still needs improvement. This will be an easier experience in the future
  • To enable:
    • 1. head to :8889/consolevars
    • 2. click the Face tab
    • 3. enable "ProcFace_CustomEyes"
    • 4. choose whichever one you want in the dropdown "ProcFace_FlavorOfGay"
    • 5. click "LOOK_LoadFaceOverlay" at the bottom of the ParameterizedFace section to load the new thing you selected in the dropdown
    • 6. if you want a custom one, put a jpg at /data/data/customFaceOverlay.jpg, and select Custom in the dropdown
• OpenCV 3.4.0 -> 4.12.0 upgrade
  • SIGNIFICANTLY faster camera streaming to the SDK
• Make mm-anki-camera provide 30FPS rather than 15
• Ensure frequency profile is set to Balanced by default upon every boot (sometimes ankiinit would set it back to 533MHz)
• New cool PS1 variable ([root@Vector-P6V3 ]# color)
• Remove body overheating check because WHO CARES

WireOS 3.0.1.25

Changelog

• Picovoice 1.3.0 -> Picovoice 1.5.0 upgrade
  • More accurate, less false positives in my experience
  • Default sensitivity bumped to 0.77, still configurable in :8080
  • If you had a custom wakeword, you'll have to regenerate it
• Custom wakewords are now generated on a cloud server rather than my personal home server
• New tab in :8080 for setting location and time zone, useful when using WireOS servers
• reonboard SSH command for putting him back into onboarding mode without clearing user data
• No BLE commands need anki-auth anymore
• Fix wifi-forget !all BLE command (there was a missing script)
• The whole OS is now compiling with Yocto's GCC 14 - that+time64-build-flag removal resulted in a smaller OTA
  • 167M dev OTA. Anki dev OTAs were usually in the 180-200M range
  • There are exceptions - ankibluetoothd, hci-qcomm-init, mm-anki-camera, and mm-qcamera-daemon. Prebuilts are copied in in these instances

Reminder

• If the :8080 webserver looks the same, do CTRL+SHIFT+R to reload all cached elements (or whatever keyboard shortcut does it for your browser)

WireOS 3.0.1.24

Changelog

• Pet detection
  • Pretty basic
  • If he sees a pet while exploring or observing, he will play an animation
  • Works with cats and dogs - there are different animations for each
• Kernel upgrade - 3.18.68 -> 3.18.120
  • Results in a slightly smaller OTA, probably more stable drivers
• COMPAT = 205 due to change in vic-cloud and vic-gateway build system
  • They are re-integrated into victor, not built in oelinux anymore
• New WLAN driver
  • More performant for me
• New tabbed interface in :8080
• Picovoice sensitivity can be changed in :8080
• Maintenance reboot fix - now he won't randomly wake up in the middle of the night

NOTE: if the :8080 webserver isn't working properly, do a CTRL+SHIFT+R to reload all cached elements (if non-Chrome, try SHIFT+F5)

WireOS 3.0.1.23

Changelog

• Petting lights
  • Inspired by Viccyware (@Switch-modder)
  • The lights pulse when the bot is touched
• Automatic nightly reboots work again
  • He will clear out the cobwebs at night
  • Some reported memory leaks after a couple days of operation, this should mitigate that
• The eyes now go away when systemctl stop anki-robot.target is run
  • Previously, the eyes would stay frozen on screen - unsettling
• update-engine is substantially faster
  • Using a curl pipe rather than urllib2
• update-os increases CPU+RAM frequencies and stops anki-robot.target before updating
• Update TensorFlow Lite from v1.9 -> v2.19.0 (latest tag available)
  • Embeds XNNPACK, models probably run faster on CPU now
  • Allows us to eventually use the GPU OpenCL-based delegate in the future
  • (We aren't using the GPU delegate yet, but I have tested it and it does work. It just doesn't provide much of a performance benefit with the super tiny Anki-created models bundled in Vector)
• Include OpenCL libs
  • Will allow us to embed GPU acceleration into some things
  • This inflates the OTA size from 177M to 192M, but I think the possibilites outweigh this
• vmesg script
  • Details in README.md of this repo
• Get rid of coreutils in main image
  • We now just have busybox + a couple real programs installed if the busybox versions aren't good enough
    • dmesg, ps, netstat
• dmesg is now from util-linux
  • Allows -w to follow
  • All nice and colorful
• Onboarding wakeup animation is different
  • I am using the one from VicOS 1.0.0 now
  • Will be seen in the future once I get a Vector app recreation (including onboarding process recreation) made
• Fix bug in wired which made the "Auto Updates" section blank if the build is self-built

Reminder of my mistake

• 3.0.1.21 (two versions ago) is broken. If you are running that, SSH in and run sysswitch to bring your bot back to 3.0.1.20. From there, your bot will auto-update to 3.0.1.23.

WireOS 3.0.1.22/3.0.1.21

Mistake

• I made a mistake in 3.0.1.21 - the robot boots, but many core utilities like grep are missing. Please run sysswitch to boot back to 3.0.1.20. From there, your bot will auto-update to 3.0.1.22.

3.0.1.22:

• Hotfix to re-add busybox to main image
• update-engine was broken in the previous build

3.0.1.21

• 915 error fix
  • vic-engine likes to somewhat randomly set the timezone, especially after SDK use. My set-timezone script which allows the timezone data to exist in /data was too slow sometimes, which caused engine to crash. This was because timedatectl list-timezones was being run in the script to make sure the given time zone exists
• Reduce default wakeword sensitivity
• Wakeword sensitivity can be customized:

  mkdir -p /data/data/com.anki.victor/persistent/picovoice && echo 0.01 > /data/data/com.anki.victor/persistent/picovoice/sensitivity
  

  • Replace 0.01 with whatever sensitivity value you want to try.
    • Any float between 0-1. Default is 0.10.
  • After running, reboot the robot or run systemctl stop anki-robot.target && sleep 1 && systemctl start anki-robot.target
• A lot of work on the Yocto code which is kinda imperceptible to the user
  • Yocto now actually compiles a lot of the proprietary Qualcomm code
    • Previously, I was just copying prebuilt binaries in
  • This means I was able to get rid of /usr/qtiroot, which is where those prebuilts lived
    • This was a whole tiny sysroot with its own libc and such
  • Kernel, Qualcomm HAL programs, and ALSA are now compiled with GCC 7.5.0 rather than 4.9.3
    • Everything else - Linux programs, victor - are compiled with either GCC 14 or Clang 18.1.8 (this was always the case in new wire-os)
  • Camera programs are still being copied in, but they have been fixed to work in the new sysroot so they don't need qtiroot
  • Use only busybox in ramdisk, only coreutils in main sysroot
    • Originally, both included both
  • Due to all of this, OTA size is now 179MB (down from 187MB)
• Now includes a wire-pod-ready vic-cloud, so wire-pod doesn't have to replace it
  • Just means that Vector's rootfs remains untouched after wire-pod's "Configure an OSKR/dev-unlocked bot"
  • You still need to perform that part of the setup process
  • If wire-pod is set up, it uses wire-pod. If not, it uses my WireOS server
• wireutils
  • Right now, this just adds two scripts:
    • anki-debug - makes the Anki programs run as root which allows debuggerd to trace them
      • This means whenever they crash, it is much easier to see why
    • ddn <on/off> - turns on/off DevDoNothing, which makes the robot sit still until shaken