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feat(fleet): preserve operator VESC integration before final driver merge

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DCCONSTRUCTIONS
2026-09-25 16:40:46 +03:00
parent dad11b47d7
commit 71a648fec8
128 changed files with 22390 additions and 59 deletions
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apps/node-agent/packaging/50-mission-core-device-prepare.rules
+1 -1
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@@ -1,7 +1,7 @@
// An authenticated Node action may start only this fixed model job.
polkit.addRule(function(action, subject) {
var unit = action.lookup("unit");
if (subject.user === "mission-core-node" && action.id === "org.freedesktop.systemd1.manage-units" && (unit === "mission-core-node-realsense-prepare.service" || unit === "mission-core-node-insta360-x4-profile.service") && action.lookup("verb") === "start") {
if (subject.user === "mission-core-node" && action.id === "org.freedesktop.systemd1.manage-units" && (unit === "mission-core-node-vesc-prepare.service" || unit === "mission-core-node-realsense-prepare.service" || unit === "mission-core-node-insta360-x4-profile.service") && action.lookup("verb") === "start") {
return polkit.Result.YES;
}
});
apps/node-agent/packaging/build.py
+2 -1
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@@ -11,7 +11,7 @@ import sys
from build_deb import build, VERSION, BRAND_SHA256
ROOT = Path(__file__).resolve().parents[1]
DG_COMMIT = "8c53f73ee521561a1cc7944a7f7cf113702f40b5"
DG_COMMIT = "8dd9190573d6616024ef01b9b34bf90b72960f44"
def guideline_sources():
@@ -36,6 +36,7 @@ def provenance():
"design_guideline_files": guideline_sources(),
"shared_sensor_ui_files": {str(p.relative_to(ROOT.parents[1])): hashlib.sha256(p.read_bytes()).hexdigest() for p in sorted((ROOT.parents[1] / "packages/sensor-ui/src").rglob("*")) if p.is_file()},
"shared_spatial_ui_files": {str(p.relative_to(ROOT.parents[1])): hashlib.sha256(p.read_bytes()).hexdigest() for p in sorted((ROOT.parents[1] / "packages/spatial-ui/src").rglob("*")) if p.is_file()},
"vesc_plugin_files": {str(p.relative_to(ROOT.parents[1])): hashlib.sha256(p.read_bytes()).hexdigest() for p in sorted((ROOT.parents[1] / "plugins/vesc").rglob("*")) if p.is_file() and not any(x in p.relative_to(ROOT.parents[1]).parts for x in ("__pycache__", "build"))},
"k1_frontend_files": {str(p.relative_to(ROOT.parents[1])): hashlib.sha256(p.read_bytes()).hexdigest() for p in sorted((ROOT.parents[1] / "plugins/xgrids-k1/frontend/src").rglob("*")) if p.is_file()},
"toolchain": json.loads((ROOT / "toolchain.json").read_text()), "files": files}
apps/node-agent/packaging/build_deb.py
+5 -3
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@@ -11,8 +11,8 @@ import sys
ROOT = Path(__file__).resolve().parents[1]
BINARY_VERSION = "0.8.21"
VERSION = "0.8.21-3"
BINARY_VERSION = "0.8.35"
VERSION = "0.8.35-1"
sys.path.insert(0, str(ROOT.parents[1] / "scripts/packaging"))
from debian import package
@@ -44,7 +44,7 @@ Architecture: amd64
Maintainer: NODE.DC local build <noreply@example.invalid>
Section: admin
Priority: optional
Depends: adduser, systemd (>= 255), python3 (>= 3.12), python3 (<< 3.13), python3-gi, gir1.2-gtk-3.0, gir1.2-webkit2-4.1, pkexec, polkitd, ca-certificates, hicolor-icon-theme, network-manager, iproute2, python3-psycopg2, postgresql-16 (>= 16.15), timescaledb-2-oss-postgresql-16 (= 2.29.2~ubuntu24.04-1615), udev, libc6 (>= 2.35), libstdc++6 (>= 12), libgcc-s1, zlib1g
Depends: adduser, systemd (>= 255), python3 (>= 3.12), python3 (<< 3.13), python3-gi, gir1.2-gtk-3.0, gir1.2-webkit2-4.1, pkexec, polkitd, ca-certificates, hicolor-icon-theme, network-manager, iproute2, python3-psycopg2, postgresql-16 (>= 16.15), timescaledb-2-oss-postgresql-16 (= 2.29.2~ubuntu24.04-1615), udev, libc6 (>= 2.39), libstdc++6 (>= 12), libgcc-s1, zlib1g
Description: Mission Core onboard computer configuration
Local graphical setup, host inventory, SSH access and persistent node identity.
""".encode()
@@ -111,6 +111,8 @@ Description: Mission Core onboard computer configuration
files.append(("usr/lib/mission-core-node/sdk/missioncore_plugin_sdk/" + str(path.relative_to(sdk)), path.read_bytes(), 0o644))
if (ROOT / "build/provenance.json").exists():
files.append(("usr/share/doc/mission-core-node/provenance.json", (ROOT / "build/provenance.json").read_bytes(), 0o644))
import runpy
files.extend(runpy.run_path(str(ROOT.parents[1] / "plugins/vesc/packaging/payload.py"))["payload"]())
archive = package(controls, files)
destination.parent.mkdir(parents=True, exist_ok=True)
destination.write_bytes(archive)
apps/node-agent/packaging/build_linux_source.py
+8 -1
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@@ -11,7 +11,7 @@ from pathlib import Path
NODE = Path(__file__).resolve().parents[1]
REPO = NODE.parents[1]
DG = REPO.parent / "NODEDC_DESIGN_GUIDELINE"
DG_COMMIT = "8c53f73ee521561a1cc7944a7f7cf113702f40b5"
DG_COMMIT = "8dd9190573d6616024ef01b9b34bf90b72960f44"
def files(root):
@@ -73,6 +73,13 @@ def build(qualified, node_only=False):
# board, runtime path override or operator compiler dependency is needed.
virtual = str(REPO.name + "/apps/node-agent/build/model-packages/" + package_name)
entries[virtual] = qualified
native_root = REPO / "plugins/vesc"
native = json.loads((native_root / "packaging/native-runtime.json").read_text())
native_path = native_root / "build/native-runtime" / native["file"]
native_bytes = native_path.read_bytes()
if len(native_bytes) != native["bytes"] or hashlib.sha256(native_bytes).hexdigest() != native["sha256"]:
raise ValueError("Qualified VESC Tool runtime changed")
entries[REPO.name + "/plugins/vesc/build/native-runtime/" + native["file"]] = native_path
metadata = {}
for name, path in entries.items():
data = path.read_bytes()
apps/node-agent/packaging/install-owner-release
+1 -1
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@@ -5,7 +5,7 @@ mc_node_release_dir=$(CDPATH= cd -- "$(dirname -- "$0")" && pwd)
if [ ! -t 0 ]; then
exec /usr/bin/gnome-terminal --wait --title="Mission Core Node" -- "$mc_node_release_dir/install"
fi
printf '%s\n' 'Mission Core Node' 'Обновление приложения и встроенных пакетов камер на этом Ubuntu-компьютере.' 'Подготовка X4 выполняется затем из списка устройств в Node или Core.' 'Пароль администратора вводится только в этом локальном окне Ubuntu.'
printf '%s\n' 'Mission Core Node' 'Обновление приложения и встроенных драйверов на этом Ubuntu-компьютере.' 'Подготовка VESC и X4 выполняется затем из списка устройств в Node или Core.' 'Пароль администратора вводится только в этом локальном окне Ubuntu.'
set +e
/usr/bin/sudo /usr/bin/python3 -I "$mc_node_release_dir/install_release.py" 2>&1 | /usr/bin/tee -a "$mc_node_release_dir/install-output.log"
mc_node_install_result=${PIPESTATUS[0]}
apps/node-agent/packaging/install_owner_release.py
+1 -1
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@@ -351,7 +351,7 @@ def main():
if report["state"] != "complete":
raise RuntimeError(report["error"])
print(
"Mission Core Node обновлён. X4 можно подготовить из списка устройств в Node или Core.",
"Mission Core Node обновлён. VESC и X4 можно подготовить из списка устройств в Node или Core.",
flush=True,
)
apps/node-agent/packaging/linux_build_job.py
+1
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@@ -243,6 +243,7 @@ def main():
sys.path.insert(0, str(node / "packaging"))
from build_deb import BINARY_VERSION, VERSION, build
run("vesc-reader-tests", ["/usr/bin/python3", "-m", "unittest", "discover", "-s", "plugins/vesc/tests", "-v"], cwd=repo)
binary = node / "build/node-agent-linux-amd64"
run(
"node-binary",
apps/node-agent/packaging/postinst
+4
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@@ -2,6 +2,7 @@
set -eu
case "$1" in
configure)
/usr/bin/python3 -I /usr/lib/mission-core-vesc/clear_runtime_cache.py
if ! getent passwd mission-core-node >/dev/null; then
adduser --system --group --home /var/lib/mission-core-node --no-create-home --disabled-login mission-core-node
fi
@@ -15,6 +16,9 @@ case "$1" in
systemctl enable mission-core-node.service
systemctl restart mission-core-node.service
systemctl try-restart mission-core-realsense.service
if [ -f /var/lib/mission-core-node-profiles/vesc/preparation.json ]; then
systemctl start mission-core-node-vesc-prepare.service
fi
if [ -f /run/mission-core-node-k1-upgrade-active ]; then
# A jointly upgraded plugin starts itself after its own configuration.
# Restore it here only when that package is already configured.
apps/node-agent/packaging/preinst
+5
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@@ -18,6 +18,10 @@ if [ "$1" = install ] || [ "$1" = upgrade ]; then
case "$mc_node_x4_job" in
active|activating) echo "Mission Core Node: дождитесь завершения подготовки X4." >&2; exit 1 ;;
esac
mc_node_vesc_job=$(systemctl show --property=ActiveState --value mission-core-node-vesc-prepare.service 2>/dev/null || true)
case "$mc_node_vesc_job" in
active|activating) echo "Mission Core Node: дождитесь завершения подготовки VESC." >&2; exit 1 ;;
esac
mc_node_device_job=$(systemctl show --property=ActiveState --value mission-core-node-realsense-prepare.service 2>/dev/null || true)
case "$mc_node_device_job" in
active|activating) echo "Mission Core Node: дождитесь завершения подготовки устройства." >&2; exit 1 ;;
@@ -38,6 +42,7 @@ if [ "$1" = install ] || [ "$1" = upgrade ]; then
(umask 077; : > /run/mission-core-node-k1-upgrade-active)
systemctl stop mission-core-k1.service
fi
systemctl stop mission-core-vesc.service 2>/dev/null || true
systemctl stop mission-core-node-monitor.service 2>/dev/null || true
fi
. /etc/os-release
apps/node-agent/packaging/prerm
+15
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@@ -17,6 +17,10 @@ if [ -d /run/systemd/system ]; then
case "$mc_node_x4_job" in
active|activating) echo "Mission Core Node: дождитесь завершения подготовки X4." >&2; exit 1 ;;
esac
mc_node_vesc_job=$(systemctl show --property=ActiveState --value mission-core-node-vesc-prepare.service 2>/dev/null || true)
case "$mc_node_vesc_job" in
active|activating) echo "Mission Core Node: дождитесь завершения подготовки VESC." >&2; exit 1 ;;
esac
mc_node_device_job=$(systemctl show --property=ActiveState --value mission-core-node-realsense-prepare.service 2>/dev/null || true)
case "$mc_node_device_job" in
active|activating) echo "Mission Core Node: дождитесь завершения подготовки устройства." >&2; exit 1 ;;
@@ -30,8 +34,19 @@ if [ -d /run/systemd/system ]; then
;;
esac
fi
case "$1" in
upgrade|remove|deconfigure)
if [ -d /run/systemd/system ] && [ -f /usr/lib/systemd/system/mission-core-vesc.service ]; then
systemctl disable --now mission-core-vesc.service
fi
;;
esac
case "$1" in
remove|deconfigure)
if cmp -s /usr/share/mission-core-node/profiles/vesc/70-mission-core-vesc.rules /etc/udev/rules.d/70-mission-core-vesc.rules; then
rm /etc/udev/rules.d/70-mission-core-vesc.rules
if [ -d /run/systemd/system ]; then udevadm control --reload-rules; fi
fi
mc_node_ssh_snippet=/etc/ssh/sshd_config.d/60-mission-core-node.conf
if [ -e "$mc_node_ssh_snippet" ]; then
if cmp -s /usr/share/mission-core-node/60-mission-core-node.conf "$mc_node_ssh_snippet"; then