orb-software

Open source software for the orb.

Repository structure

For the most part, every toplevel directory is a separate software component. We also link to some other public repositories, to provide a unified view of the orb's software. The most important applications on the orb are as follows:

orb-attest: Talks with the secure element to generate an attestation token for the signup backend service.
orb-core: The core signup logic and sensor management of the orb.
orb-firmware: The firmware for the orb's microcontrollers (MCUs). This excludes the firmware that runs on the security MCU.
orb-messages: Schemas for messages sent between the Jetson and the MCU.
orb-secure-element: Code that interacts with the orb's secure element - a dedicated security hardened chip that provides a hardware root of trust. Provides important signing functionality.
orb-ui: Daemon that manages the UI/UX of the orb.
open-iris: The iris recognition inference system.

Contributing

We plan to accept contributions at a later date, but do not have bandwidth to review PRs currently.

Likewise, we are providing this source code for the benefit of the community, but cannot commit to any SemVer or API stability guarantees. Be warned: we may change things in a backwards-incompatible way at any time!

Coding Guidelines

Code must pass CI - see the github actions workflow for the most up to date checks.
There can be no copyleft or closed source dependencies.
Prefer using cargo workspace inheritance when possible.
Prefer cross-platform code. Please consult [deps tests][deps tests] for more info.
Any binaries that do not run on all platforms must be documented as such in their README.md file and added to the tests in deps-tests.
Use #![forbid(unsafe_code)] whenever possible. This narrows the surface area for debugging memory safety issues.
Prefer the nix crate for safe unix APIs instead of raw unsafe libc. PRs that use libc will be rejected if an equivalent safe function in nix exists.
PR names and the final squashed commit that gets merged, should start with an area prefix, like ir-camera:. This helps disambigutate which part of the monorepo changed at a glance.

First time Setup

Install nix. This works for both mac and linux, windows is not supported.
Ensure that you have these lines in your ~/.config/nix/nix.conf: experimental-features = nix-command flakes max-jobs = auto
Install direnv: nix profile install nixpkgs#direnv
Hook direnv into your shell.
Tell direnv to use the nix flake with cp .envrc.example .envrc. You can customize this file if you wish. We recommend filling in your cachix token if you have one.
Follow the instructions on vendoring proprietary SDKs in the subsequent section.
Run direnv allow in the repository's root directory.
If you are on macos, run the following: brew install dbus brew services start dbus

Vendoring Proprietary SDKs

Although all of Worldcoin's code in this repo is open source, some of the sensors on the orb rely on proprietary SDKs provided by their hardware vendors. Luckily, these are accessible without any cost.

To get started, you will need to download these SDKs. The process for this depends on if you are officially affiliated with Worldcoin.

If you have access to Worldcoin private repos

Create a personal access token from github to allow you to use private git repos over HTTPS.

Append the following to your ~/.config/nix/nix.conf:

access-tokens = github.com=github_pat_YOUR_ACCESS_TOKEN_HERE

Test everything works so far by running nix flake metadata github:worldcoin/priv-orb-core. You should see a tree of info. If not, you probably don't have your personal access token set up right - post in #public-orb-software on slack for help.

If you don't have access to Worldcoin private repos

Go to https://developer.thermal.com and create a developer account.
Download the 4.1.0.0 version of the SDK (its in the developer forums).
Extract its contents, and note down the dir that contains the Seek_Thermal_SDK_4.1.0.0 dir. Save this in an environment variable of your choice, such as SEEK_SDK_OVERRIDE.
modify your .envrc like this: use flake --override-input seekSdk "$SEEK_SDK_OVERRIDE"

Building

We use cargo zigbuild for most things. The following cross-compiles a binary in the foobar crate to the orb:

cargo zigbuild --target aarch64-unknown-linux-gnu --release -p foobar

License

Unless otherwise specified, all code in this repository is dual-licensed under either:

MIT License (LICENSE-MIT)
Apache License, Version 2.0, with LLVM Exceptions (LICENSE-APACHE)

at your option. This means you may select the license you prefer to use.

Any contribution intentionally submitted for inclusion in the work by you, as defined in the Apache-2.0 license, shall be dual licensed as above, without any additional terms or conditions.

TheButlah / orb-software