[gareth-morgan-nv]

Summary

Adds src/plugins/sensing/scripts/deploy_orin.py, one script run on the desktop that builds the camera producer on an Orin from a git checkout and runs it as a systemd service.

• Source-independent: it works for any checkout (--source DIR, --branch NAME), including trees that lack newer CMake components. It builds only camera_plugin_sensing and stages the release from the build tree: the binary, its platform configs, and liblivekit* only when the binary links them. Extra CMake options go through --cmake-arg.
• Config: a JSON file with an explicit mode (direct, the default, or livekit), the producer's args, and an optional env map of extra unit environment variables (LD_LIBRARY_PATH is reserved). Install prefix, service groups and the ready timeout are fixed constants rather than flags.
• Checks first: validates the ssh connection (reachable, python3, aarch64), then runs preflight on the target (L4T, CUDA, uv, SDK headers, disk) before uploading anything.
• Incremental upload: one per-file hash manifest of the tracked source is compared with the Orin's record, and only the differing files are uploaded; the persistent build stays incremental.
• Install: packages the release with checksums and installs it as a versioned directory behind an atomic current link, run by isaaccapture-producer.service. Refuses to replace a producer started by hand unless --replace-unmanaged, and then interrupts exactly the PIDs it listed. A failed build or transfer leaves the running producer alone; there is no automatic rollback.
• Readiness: "up" means each configured sensor's latest status line since the producer's last Capturing. marker shows frames and, for a stream with a direct= destination, direct: HOST:PORT connected. A restart inside the unit cannot satisfy it, and a stream without a destination is reported as capture-only.
• Failure report: when the producer does not come up, the deploy prints the causes from the journal with the cameras' driver chatter filtered out, and saves the full log on the Orin at ~/.cache/isaaccapture-deploy/last-start-failure.log.
• Password from ORIN_PASSWORD (ssh via SSH_ASKPASS, sudo via stdin, never in argv), user from ORIN_USER; the LiveKit token file, when used, stays on the Orin and only its path is passed.

Validation

Run: the unit tests of the script (tests/python/ci/test_deploy_orin.py, mocked ssh/subprocess; registered in the pre-commit workflow) pass, including config validation and unit rendering for env; the pre-commit hooks (with SKIP=check-copyright-year) pass.

Run on a real Orin (SIPL, two cameras): repeated deploys of the video-stage branch built natively, installed, replaced the running producer, and reached readiness with both sensors capturing and connected to the PC.

Not verified: the livekit mode against a live LiveKit server in this revision; the Argus backend path.

Stacked on #1426 (the FastLiveKit branch).

🤖 Generated with Claude Code

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