deploy: USB update kit for the Pi and Jetson
pack-usb.sh writes the host part of the last commit and update.sh to a flash drive. update.sh installs it over ~/Documents/radar_system, keeps configs, calibrations and data, and leaves the previous version next to it as radar_system<N>.
This commit is contained in:
Ayzen
Executable
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#!/usr/bin/env bash
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# Put the project on a USB flash drive for deploy/update.sh: the host part of the
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# last commit as an archive (no venv, build, data or local configs) and the update
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# script, both in <drive>/radar_update/.
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#
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# deploy/pack-usb.sh [DRIVE]
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#
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# DRIVE defaults to the only mounted removable drive.
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set -euo pipefail
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PROJECT_ROOT="$(cd -- "$(dirname -- "${BASH_SOURCE[0]}")/.." && pwd)"
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# What runs on the Pi or Jetson; device_firmware/ and docs/ stay on this machine.
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HOST_PATHS=(data_acq_and_processing deploy python_app run_config_examples Makefile
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requirements.txt run_config.json start.sh locator_test_client.py)
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drive="${1:-}"
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if [[ -z "${drive}" ]]; then
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mapfile -t drives < <(lsblk -nlo HOTPLUG,MOUNTPOINT | sed -n 's|^ *1 \+\(/.*\)$|\1|p')
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if (( ${#drives[@]} != 1 )); then
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echo "Found ${#drives[@]} mounted removable drives; name one: $0 /path/to/drive" >&2
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printf ' %s\n' "${drives[@]}" >&2
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exit 1
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fi
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drive="${drives[0]}"
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fi
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if [[ ! -d "${drive}" || ! -w "${drive}" ]]; then
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echo "Not a writable directory: ${drive}" >&2
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exit 1
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fi
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cd "${PROJECT_ROOT}"
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if [[ -n "$(git status --porcelain -- "${HOST_PATHS[@]}")" ]]; then
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echo "Note: uncommitted changes are left out, the archive holds the last commit." >&2
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fi
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release="radar_system-$(git log -1 --format=%cd --date=format:%Y%m%d-%H%M)-$(git rev-parse --short HEAD)"
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out="${drive}/radar_update"
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mkdir -p "${out}"
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git archive --format=tar.gz --prefix=radar_system/ -o "${out}/${release}.tar.gz" HEAD "${HOST_PATHS[@]}"
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git show HEAD:deploy/update.sh > "${out}/update.sh"
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sync
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echo "Written to ${out}:"
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echo " ${release}.tar.gz"
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echo " update.sh"
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echo "On the device, from the drive's folder: bash radar_update/update.sh"
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Executable
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#!/usr/bin/env bash
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# Install a release archive made by deploy/pack-usb.sh over the project on this
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# device. The code is replaced; configs, calibrations and data are kept; the current
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# version stays next to it as radar_system<N> (the next free number) for a rollback.
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#
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# bash update.sh [--python VERSION|PATH] [ARCHIVE]
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#
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# ARCHIVE the newest radar_system-*.tar.gz next to this script by default
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# --python build a fresh venv with this interpreter, e.g. 3.13 (found with uv or as
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# python3.13); without it the current venv is carried over
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# The project is radar_system in the Documents folder unless RADAR_DIR names it.
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set -Eeuo pipefail
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shopt -s nullglob
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say() { echo "[update] $*"; }
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fail() { echo "[update] $*" >&2; exit 1; }
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(( EUID != 0 )) || fail "Run it as your usual user, not with sudo: the project files must stay yours."
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if [[ -n "${RADAR_DIR:-}" ]]; then
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target="${RADAR_DIR}"
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else
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target="${HOME}/Documents/radar_system"
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localized="$(xdg-user-dir DOCUMENTS 2>/dev/null || true)/radar_system" # e.g. ~/Документы
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if [[ ! -e "${target}" && -d "${localized}" ]]; then target="${localized}"; fi
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fi
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[[ ! -L "${target}" ]] || fail "${target} is a symlink; set RADAR_DIR to the real directory."
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target="$(realpath -m -- "${target}")"
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script_dir="$(cd -- "$(dirname -- "${BASH_SOURCE[0]}")" && pwd)"
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python_request=""
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archive=""
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while (( $# > 0 )); do
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case "$1" in
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--python) python_request="${2:?--python needs a version or a path}"; shift 2 ;;
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-h|--help) sed -n '2,12p' "${BASH_SOURCE[0]}"; exit 0 ;;
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*) archive="$1"; shift ;;
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esac
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done
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cd "${HOME}" # never stand in the directory that is about to be renamed
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# --- check everything before touching the project ------------------------------
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if [[ -z "${archive}" ]]; then
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releases=("${script_dir}"/radar_system-*.tar.gz)
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(( ${#releases[@]} > 0 )) || fail "No radar_system-*.tar.gz next to ${BASH_SOURCE[0]}."
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archive="${releases[-1]}" # the names sort by commit date
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fi
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listing="$(tar -tzf "${archive}")" || fail "Damaged archive: ${archive}"
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grep -qx 'radar_system/start.sh' <<< "${listing}" || fail "Not a radar_system release: ${archive}"
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if [[ ! -e "${target}" ]]; then
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read -r -p "[update] No project at ${target}. Install a fresh one there? [y/N] " answer
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[[ "${answer}" == [yY]* ]] || exit 1
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fi
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python=""
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if [[ -n "${python_request}" ]]; then
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if [[ "${python_request}" =~ ^3\.[0-9]+$ ]]; then
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uv="$(command -v uv || echo "${HOME}/.local/bin/uv")"
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if [[ -x "${uv}" ]]; then
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python="$("${uv}" python find "${python_request}" 2>/dev/null || true)"
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fi
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[[ -n "${python}" ]] || python="$(command -v "python${python_request}" || true)"
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[[ -n "${python}" ]] || fail "Python ${python_request} not found; install it: uv python install ${python_request}"
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else
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python="$(command -v -- "${python_request}" || true)"
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[[ -n "${python}" ]] || fail "Interpreter not found: ${python_request}"
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fi
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say "venv interpreter: ${python} ($("${python}" --version 2>&1))"
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fi
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parent="$(dirname -- "${target}")"
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mkdir -p -- "${parent}"
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staging="$(mktemp -d "${parent}/.radar_update.XXXXXX")"
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trap 'rm -rf -- "${staging}"' EXIT
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tar -xzf "${archive}" -C "${staging}"
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# --- stop everything that runs from the project ----------------------------------
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daemon_stopped=0
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if command -v systemctl >/dev/null && systemctl is-active --quiet radar.service; then
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say "stopping radar.service"
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sudo systemctl stop radar.service
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daemon_stopped=1
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fi
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start_daemon() {
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if (( daemon_stopped )); then
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say "starting radar.service"
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sudo systemctl start radar.service
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fi
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}
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busy=()
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for proc in /proc/[0-9]*; do
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pid="${proc#/proc/}"
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[[ "${pid}" == "$$" || "${pid}" == "${PPID}" ]] && continue
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cwd="$(readlink "${proc}/cwd" 2>/dev/null)" || continue
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[[ "${cwd}" == "${target}" || "${cwd}" == "${target}/"* ]] && busy+=("${pid}")
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done
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if (( ${#busy[@]} > 0 )); then
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echo "[update] The program still runs from ${target}; close it and run the update again:" >&2
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ps -o pid=,args= -p "$(IFS=,; echo "${busy[*]}")" >&2 || true
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start_daemon
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exit 1
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fi
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# --- swap the versions --------------------------------------------------------------
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backup=""
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if [[ -e "${target}" ]]; then
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n=1
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while [[ -e "${target}${n}" ]]; do n=$((n + 1)); done
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backup="${target}${n}"
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mv -- "${target}" "${backup}"
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on_failure() {
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echo "[update] FAILED. The previous version is ${backup}; to go back to it:" >&2
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echo " rm -rf '${target}' && mv '${backup}' '${target}'" >&2
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if (( daemon_stopped )); then echo " sudo systemctl start radar.service" >&2; fi
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}
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trap on_failure ERR
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fi
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mv -- "${staging}/radar_system" "${target}"
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say "installed ${archive##*/} into ${target}"
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# --- keep this device's state ----------------------------------------------------------
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if [[ -n "${backup}" ]]; then
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say "previous version: ${backup}"
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kept=()
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# The active profile; the release carries the development one (mock driver).
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if [[ -f "${backup}/run_config.json" ]]; then
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cp -a -- "${backup}/run_config.json" "${target}/run_config.json"
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kept+=(run_config.json)
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fi
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# Profiles changed or added on this device win; a changed one gets the release
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# version next to it as .new.
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renamed=()
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for profile in "${backup}"/run_config_examples/*.json; do
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shipped="${target}/run_config_examples/${profile##*/}"
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if [[ -f "${shipped}" ]]; then
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cmp -s -- "${profile}" "${shipped}" && continue
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mv -- "${shipped}" "${shipped}.new"
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renamed+=("${profile##*/}")
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fi
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cp -a -- "${profile}" "${shipped}"
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kept+=("run_config_examples/${profile##*/}")
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done
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# Runtime state (last profile, live settings), without logs and pid files.
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if [[ -d "${backup}/python_app/runtime" ]]; then
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cp -a -- "${backup}/python_app/runtime" "${target}/python_app/runtime"
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rm -rf -- "${target}/python_app/runtime/logs" "${target}/python_app/runtime/"*.pids
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kept+=(python_app/runtime)
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fi
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# Data: calibrations, references, snapshots, and every top-level folder that is
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# not part of the release. Hard links are instant and take no space; the program
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# writes new files instead of rewriting old ones.
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data=()
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for entry in "${backup}"/python_app/data*; do data+=("python_app/${entry##*/}"); done
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for dir in "${backup}"/*/; do
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name="$(basename -- "${dir}")"
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case "${name}" in build|graphify-out|device_firmware|docs) continue ;; esac
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[[ -e "${target}/${name}" ]] || data+=("${name}")
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done
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for entry in "${data[@]}"; do
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cp -al -- "${backup}/${entry}" "${target}/${entry}"
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kept+=("${entry}")
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done
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say "kept from ${backup##*/}: ${kept[*]:-nothing}"
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if (( ${#renamed[@]} > 0 )); then
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say "profiles changed on this device are kept, the release ones are next to them as .new: ${renamed[*]}"
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fi
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fi
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# --- Python environment and C++ build ------------------------------------------------
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venv="${target}/.venv"
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if [[ -z "${python}" && -n "${backup}" && -x "${backup}/.venv/bin/python" ]]; then
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say "carrying the venv over"
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cp -al -- "${backup}/.venv" "${venv}"
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"${venv}/bin/python" -m pip install --quiet -r "${target}/requirements.txt"
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else
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python="${python:-$(command -v python3)}"
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say "creating a venv with ${python} (downloads the packages)"
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"${python}" -m venv "${venv}"
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"${venv}/bin/python" -m pip install --upgrade pip
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"${venv}/bin/python" -m pip install -r "${target}/requirements.txt"
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fi
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say "building the C++ part"
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make -C "${target}" -j"$(nproc)" all
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echo "${archive##*/}" > "${target}/RELEASE"
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trap - ERR
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start_daemon
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say "done ($("${venv}/bin/python" --version 2>&1)). Start it: cd '${target}' && ./start.sh"
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