构建/部署：切换 Ubuntu 22.04 交叉编译环境，新增板卡部署工具
- ci/Dockerfile：基础镜像 20.04 → 22.04（板卡实测为 Orange Pi Jammy， 旧 focal 镜像保留为 h100-power-manager-ci:arm64-focal） - scripts/build-arm64-image.sh：arm64 镜像构建（支持 --force 重建） - scripts/build-arm64.sh：日常交叉编译（产物输出 bin/arm64/，与本地隔离） - scripts/deploy.sh：板卡部署（推送二进制+mission，安装 3 个 systemd 服务） - missions/h100.moos：板卡专用 mission 配置 - .gitignore：忽略 build-arm64/、webassets_gen.h 等构建产物
This commit is contained in:
+10
@@ -258,3 +258,13 @@ reports/
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# CI test binaries (built into bin/)
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# CI test binaries (built into bin/)
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bin/PowerMangerTests
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bin/PowerMangerTests
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bin/udpFeeder
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bin/udpFeeder
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# Cross-compiled aarch64 artifacts (scripts/cross-build-local.sh)
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bin/arm64/
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# Board-native build dirs (build-arm64.sh / direct on-board builds)
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build-arm64/
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build-nosa-test/
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# CMake-generated web asset table (pPowerMangerHost)
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src/pPowerMangerHost/webassets_gen.h
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@@ -32,7 +32,7 @@ CI 在 aarch64 (QEMU) 环境下运行两类测试，**不改动任何 `src/` 生
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## 构建产物（Gitea Releases，手动部署）
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## 构建产物（Gitea Releases，手动部署）
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CI 构建的 aarch64 二进制（RK3588 / Ubuntu 20.04）会发布到 Gitea Releases，供手动下载部署：
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CI 构建的 aarch64 二进制（RK3588 / Ubuntu 22.04，板卡实测为 Orange Pi 5 Plus 的 Jammy 系统）会发布到 Gitea Releases，供手动下载部署：
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- **版本号 Release**：推送 `v*` tag（如 `v1.0.0`）时创建，正式版
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- **版本号 Release**：推送 `v*` tag（如 `v1.0.0`）时创建，正式版
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→ `https://gitea2.zhaojingkui.xyz/zjk/H100PowerManger/releases/tag/v1.0.0`
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→ `https://gitea2.zhaojingkui.xyz/zjk/H100PowerManger/releases/tag/v1.0.0`
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+5
-3
@@ -1,15 +1,17 @@
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#=======================================================================
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#=======================================================================
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# FILE: ci/Dockerfile
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# FILE: ci/Dockerfile
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# DESC: aarch64 (RK3588 / Ubuntu 20.04) build & test environment.
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# DESC: aarch64 (RK3588 / Ubuntu 22.04) build & test environment.
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# - Ubuntu 20.04 arm64 base (matches the target board)
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# - Ubuntu 22.04 arm64 base (matches the target board: Orange Pi 5 Plus)
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# - MOOS-IvP built from source and installed to /usr/local
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# - MOOS-IvP built from source and installed to /usr/local
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# - jsoncpp (the only extra dep used by pPowerManger)
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# - jsoncpp (the only extra dep used by pPowerManger)
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# NOTE: Ubuntu 20.04 image kept as h100-power-manager-ci:arm64-focal
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# in case the target board is later switched back to 20.04.
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# MOOS-IvP is cloned from the internal Gitea mirror (UUV/moos-ivp)
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# MOOS-IvP is cloned from the internal Gitea mirror (UUV/moos-ivp)
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# via a BuildKit secret (github.com is unreachable from the CN
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# via a BuildKit secret (github.com is unreachable from the CN
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# runner). PROJ/UTM are disabled to avoid github-based CPM fetches.
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# runner). PROJ/UTM are disabled to avoid github-based CPM fetches.
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#=======================================================================
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#=======================================================================
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FROM arm64v8/ubuntu:20.04
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FROM arm64v8/ubuntu:22.04
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ENV DEBIAN_FRONTEND=noninteractive
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ENV DEBIAN_FRONTEND=noninteractive
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@@ -0,0 +1,22 @@
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// MOOS file
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// 板卡 (RK3588 / Ubuntu 20.04) 专用 mission 配置
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// 三个 systemd 服务（moosdb / pPowerManger / pPowerMangerHost）共用本文件。
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// 由 scripts/deploy.sh 推送到板卡 /root/work/h100/missions/h100.moos
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ServerHost = localhost
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ServerPort = 9000
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Community = h100
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ProcessConfig = pPowerManger
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{
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AppTick = 4
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CommsTick = 4
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log_level = INFO
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}
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ProcessConfig = pPowerMangerHost
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{
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AppTick = 4
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CommsTick = 4
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WEB_PORT = 18080
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}
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Executable
+60
@@ -0,0 +1,60 @@
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#!/bin/bash
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#=======================================================================
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# FILE: scripts/build-arm64-image.sh
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# DESC: 一次性构建 arm64 CI 镜像（MOOS-IvP + jsoncpp + GTest）。
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# 构建产物缓存后，日常交叉编译只需 ./scripts/build-arm64.sh。
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#
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# 用法:
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# CI_TOKEN=xxx ./scripts/build-arm64-image.sh # 构建（已存在则跳过）
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# CI_TOKEN=xxx ./scripts/build-arm64-image.sh --force # 强制重新构建
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#
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# 环境变量:
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# CI_TOKEN 内网 Gitea token（拉取 moos-ivp / googletest 镜像，兼容 GITEA_TOKEN）
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#=======================================================================
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set -euo pipefail
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SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
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PROJECT_ROOT="$(dirname "${SCRIPT_DIR}")"
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IMAGE="h100-power-manager-ci:arm64"
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GITEA_TOKEN="${CI_TOKEN:-${GITEA_TOKEN:-}}"
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FORCE=0
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[ "${1:-}" = "--force" ] && FORCE=1
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if [ -z "${GITEA_TOKEN}" ]; then
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echo "错误: 缺少内网 Gitea token。" >&2
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echo " 请设置: CI_TOKEN=xxx ./scripts/build-arm64-image.sh" >&2
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exit 1
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fi
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if ! command -v docker >/dev/null 2>&1; then
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echo "错误: 未找到 docker" >&2
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exit 1
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fi
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if ! docker info >/dev/null 2>&1; then
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echo "错误: 无法连接 docker daemon（是否需要用 sudo？）" >&2
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exit 1
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fi
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if ! docker buildx version >/dev/null 2>&1; then
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echo "错误: 未找到 buildx。请安装: sudo apt-get install -y docker-buildx" >&2
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exit 1
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fi
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if [ "${FORCE}" = "0" ] && docker image inspect "${IMAGE}" >/dev/null 2>&1; then
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echo ">>> 已存在镜像 ${IMAGE}，跳过构建（如需重建: ${0} --force）"
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exit 0
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fi
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if [ "${FORCE}" = "1" ]; then
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echo ">>> --force: 重新构建镜像 ${IMAGE}"
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fi
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CI_TOKEN="${GITEA_TOKEN}" docker buildx build \
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--platform linux/arm64 \
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--load \
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--secret id=gitea_token,env=CI_TOKEN \
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-t "${IMAGE}" -f "${PROJECT_ROOT}/ci/Dockerfile" "${PROJECT_ROOT}"
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echo ">>> 镜像构建完成: ${IMAGE}"
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Executable
+42
@@ -0,0 +1,42 @@
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#!/bin/bash
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#=======================================================================
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# FILE: scripts/build-arm64.sh
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# DESC: 交叉编译为 RK3588 (aarch64) / Ubuntu 22.04 二进制，用法同 build.sh。
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# 在 arm64 镜像（h100-power-manager-ci:arm64）内跑 cmake + make，
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# 产物输出到 bin/arm64/，与本地 x86_64 的 bin/、build/ 互不影响。
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#
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# 用法:
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# ./scripts/build-arm64.sh
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#
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# 前置（一次性，构建 arm64 镜像）:
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# CI_TOKEN=xxx ./scripts/build-arm64-image.sh
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#=======================================================================
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set -euo pipefail
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SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
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PROJECT_ROOT="$(dirname "${SCRIPT_DIR}")"
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IMAGE="h100-power-manager-ci:arm64"
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JOBS="${JOBS:-$(nproc)}"
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if ! docker image inspect "${IMAGE}" >/dev/null 2>&1; then
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echo "错误: 本地不存在镜像 ${IMAGE}" >&2
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echo " 请先执行: CI_TOKEN=xxx ./scripts/build-arm64-image.sh" >&2
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exit 1
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fi
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mkdir -p "${PROJECT_ROOT}/build-arm64" "${PROJECT_ROOT}/bin/arm64"
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docker run --rm --platform linux/arm64 \
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-u "$(id -u):$(id -g)" \
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-v "${PROJECT_ROOT}":/src \
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-w /src/build-arm64 \
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"${IMAGE}" \
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/bin/sh -c "cmake -DCMAKE_BUILD_TYPE=Release \
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-DEXECUTABLE_OUTPUT_PATH=/src/bin/arm64 \
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-DRUNTIME_OUTPUT_DIRECTORY=/src/bin/arm64 .. && make -j${JOBS}"
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echo ""
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echo ">>> 完成。产物:"
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file "${PROJECT_ROOT}/bin/arm64/pPowerManger"
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Executable
+248
@@ -0,0 +1,248 @@
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#!/bin/bash
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#=======================================================================
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# FILE: scripts/deploy.sh
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# DESC: 部署 pPowerManger / pPowerMangerHost（aarch64 二进制 + mission）
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# 到目标板卡 (RK3588 / Ubuntu 22.04)，并用三个独立 systemd 服务
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# （moosdb / pPowerManger / pPowerMangerHost）管理。
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# 只安装服务 + daemon-reload，默认不启动、不自启。
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#
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# 用法:
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# ./scripts/deploy.sh setup-ssh 一次性：生成 ed25519 key + ssh-copy-id
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# ./scripts/deploy.sh 默认：推送二进制 + mission + 装 3 个
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# systemd 服务 + daemon-reload（不启动）
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# ./scripts/deploy.sh --start 部署后按依赖顺序启动服务
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# ./scripts/deploy.sh status 板卡 3 个服务状态
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# ./scripts/deploy.sh stop 停止 3 个服务
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# ./scripts/deploy.sh help 显示帮助
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#
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# 参数:
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# --host <ip> 目标主机（默认 192.168.0.223）
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# --user <user> 登录用户（默认 root）
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# --board-dir <dir> 板卡部署根目录（默认 /root/work/h100）
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# --start 部署后立即启动服务
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#
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# 板卡布局:
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# /root/work/h100/bin/ aarch64 二进制
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# /root/work/h100/missions/ 板卡 mission h100.moos
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# /etc/systemd/system/ moosdb.service / pPowerManger.service /
|
||||||
|
# pPowerMangerHost.service
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||||||
|
#=======================================================================
|
||||||
|
set -uo pipefail
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||||||
|
|
||||||
|
SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
|
||||||
|
PROJECT_ROOT="$(dirname "${SCRIPT_DIR}")"
|
||||||
|
|
||||||
|
HOST="192.168.0.223"
|
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USER="root"
|
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|
BOARD_DIR="/root/work/h100"
|
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DO_START=0
|
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|
|
||||||
|
SERVICES=(moosdb pPowerManger pPowerMangerHost)
|
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|
|
||||||
|
info() { printf '\033[1;36m[deploy]\033[0m %s\n' "$*"; }
|
||||||
|
ok() { printf '\033[1;32m[deploy]\033[0m %s\n' "$*"; }
|
||||||
|
warn() { printf '\033[1;33m[deploy]\033[0m %s\n' "$*"; }
|
||||||
|
err() { printf '\033[1;31m[deploy]\033[0m %s\n' "$*"; }
|
||||||
|
|
||||||
|
usage() {
|
||||||
|
sed -n '2,29p' "${BASH_SOURCE[0]}" | sed 's/^# \{0,1\}//'
|
||||||
|
exit 0
|
||||||
|
}
|
||||||
|
|
||||||
|
#-------------------------------------------------------------------
|
||||||
|
# 参数解析
|
||||||
|
#-------------------------------------------------------------------
|
||||||
|
ACTION=""
|
||||||
|
while [ $# -gt 0 ]; do
|
||||||
|
case "$1" in
|
||||||
|
--host) [ $# -ge 2 ] || { err "--host 需要参数"; exit 1; }; HOST="$2"; shift 2 ;;
|
||||||
|
--user) [ $# -ge 2 ] || { err "--user 需要参数"; exit 1; }; USER="$2"; shift 2 ;;
|
||||||
|
--board-dir)[ $# -ge 2 ] || { err "--board-dir 需要参数"; exit 1; }; BOARD_DIR="$2"; shift 2 ;;
|
||||||
|
--start) DO_START=1; shift ;;
|
||||||
|
setup-ssh|status|stop|help|-h|--help) ACTION="$1"; shift ;;
|
||||||
|
"") shift ;;
|
||||||
|
*) err "未知参数: $1（见 help）"; exit 1 ;;
|
||||||
|
esac
|
||||||
|
done
|
||||||
|
[ -n "${ACTION}" ] || ACTION="deploy"
|
||||||
|
|
||||||
|
SSH_TARGET="${USER}@${HOST}"
|
||||||
|
SSH="ssh -o BatchMode=yes -o ConnectTimeout=5"
|
||||||
|
SCP="scp -o BatchMode=yes -o ConnectTimeout=5"
|
||||||
|
|
||||||
|
#-------------------------------------------------------------------
|
||||||
|
# 命令: setup-ssh
|
||||||
|
#-------------------------------------------------------------------
|
||||||
|
cmd_setup_ssh() {
|
||||||
|
local key="$HOME/.ssh/id_ed25519"
|
||||||
|
if [ ! -f "${key}" ]; then
|
||||||
|
info "未发现 SSH key，生成 ed25519 key ..."
|
||||||
|
mkdir -p "$HOME/.ssh" && chmod 700 "$HOME/.ssh"
|
||||||
|
ssh-keygen -t ed25519 -N '' -f "${key}"
|
||||||
|
fi
|
||||||
|
info "上传公钥到 ${SSH_TARGET}（会提示输入密码，仅此一次）..."
|
||||||
|
ssh-copy-id -o ConnectTimeout=5 "${SSH_TARGET}"
|
||||||
|
ok "免密 SSH 已配置。验证: ssh ${SSH_TARGET}"
|
||||||
|
}
|
||||||
|
|
||||||
|
#-------------------------------------------------------------------
|
||||||
|
# 前置检查
|
||||||
|
#-------------------------------------------------------------------
|
||||||
|
check_local() {
|
||||||
|
local missing=0
|
||||||
|
for b in pPowerManger pPowerMangerHost; do
|
||||||
|
if [ ! -f "${PROJECT_ROOT}/bin/arm64/${b}" ]; then
|
||||||
|
err "缺少本地 aarch64 二进制: bin/arm64/${b}（先运行 ./scripts/build-arm64.sh）"; missing=1
|
||||||
|
elif ! file "${PROJECT_ROOT}/bin/arm64/${b}" | grep -q "aarch64"; then
|
||||||
|
err "bin/arm64/${b} 不是 aarch64 二进制"; missing=1
|
||||||
|
fi
|
||||||
|
done
|
||||||
|
if [ ! -f "${PROJECT_ROOT}/missions/h100.moos" ]; then
|
||||||
|
err "缺少板卡 mission: missions/h100.moos"; missing=1
|
||||||
|
fi
|
||||||
|
[ "${missing}" -eq 0 ] || return 1
|
||||||
|
ok "本地产物校验通过 (aarch64 + mission)"
|
||||||
|
}
|
||||||
|
|
||||||
|
check_ssh() {
|
||||||
|
if ! ${SSH} "${SSH_TARGET}" 'true' 2>/dev/null; then
|
||||||
|
err "无法免密 SSH 到 ${SSH_TARGET}"
|
||||||
|
err "请先执行: ./scripts/deploy.sh setup-ssh"
|
||||||
|
return 1
|
||||||
|
fi
|
||||||
|
ok "SSH 连接正常: ${SSH_TARGET}"
|
||||||
|
}
|
||||||
|
|
||||||
|
#-------------------------------------------------------------------
|
||||||
|
# 生成 systemd unit（含板卡绝对路径）
|
||||||
|
#-------------------------------------------------------------------
|
||||||
|
gen_moosdb_unit() {
|
||||||
|
# MOOSDB 路径在板卡探测；探测失败给出提示
|
||||||
|
local moosdb_bin
|
||||||
|
moosdb_bin="$(${SSH} "${SSH_TARGET}" 'command -v MOOSDB || true' 2>/dev/null)"
|
||||||
|
if [ -z "${moosdb_bin}" ]; then
|
||||||
|
moosdb_bin="$(command -v MOOSDB || true)"
|
||||||
|
warn "板卡未在 PATH 找到 MOOSDB，回退本机路径 ${moosdb_bin:-"(未找到)"}"
|
||||||
|
[ -n "${moosdb_bin}" ] || { err "MOOSDB 路径未知，无法生成 moosdb.service"; return 1; }
|
||||||
|
fi
|
||||||
|
ok "MOOSDB 路径: ${moosdb_bin}" >&2
|
||||||
|
|
||||||
|
cat <<EOF
|
||||||
|
[Unit]
|
||||||
|
Description=MOOSDB for H100 Power Manager
|
||||||
|
After=network.target
|
||||||
|
|
||||||
|
[Service]
|
||||||
|
Type=simple
|
||||||
|
ExecStart=${moosdb_bin} --moos_no_colour ${BOARD_DIR}/missions/h100.moos
|
||||||
|
Restart=on-failure
|
||||||
|
RestartSec=5
|
||||||
|
|
||||||
|
[Install]
|
||||||
|
WantedBy=multi-user.target
|
||||||
|
EOF
|
||||||
|
}
|
||||||
|
|
||||||
|
gen_app_unit() {
|
||||||
|
local app="$1" deps=""
|
||||||
|
[ "${app}" = "moosdb" ] || deps="After=moosdb.service\nRequires=moosdb.service"
|
||||||
|
cat <<EOF
|
||||||
|
[Unit]
|
||||||
|
Description=${app} for H100 Power Manager
|
||||||
|
$(printf '%b' "${deps}")
|
||||||
|
|
||||||
|
[Service]
|
||||||
|
Type=simple
|
||||||
|
WorkingDirectory=${BOARD_DIR}/bin
|
||||||
|
ExecStart=${BOARD_DIR}/bin/${app} ${BOARD_DIR}/missions/h100.moos
|
||||||
|
Restart=on-failure
|
||||||
|
RestartSec=5
|
||||||
|
|
||||||
|
[Install]
|
||||||
|
WantedBy=multi-user.target
|
||||||
|
EOF
|
||||||
|
}
|
||||||
|
|
||||||
|
#-------------------------------------------------------------------
|
||||||
|
# 命令: deploy
|
||||||
|
#-------------------------------------------------------------------
|
||||||
|
cmd_deploy() {
|
||||||
|
check_local || return 1
|
||||||
|
check_ssh || return 1
|
||||||
|
|
||||||
|
# 1. 推送二进制 + mission
|
||||||
|
info "创建板卡目录 ${BOARD_DIR}/{bin,missions} ..."
|
||||||
|
${SSH} "${SSH_TARGET}" "mkdir -p ${BOARD_DIR}/bin ${BOARD_DIR}/missions" || { err "创建目录失败"; return 1; }
|
||||||
|
|
||||||
|
info "推送 aarch64 二进制 ..."
|
||||||
|
${SCP} -q "${PROJECT_ROOT}/bin/arm64/pPowerManger" \
|
||||||
|
"${PROJECT_ROOT}/bin/arm64/pPowerMangerHost" \
|
||||||
|
"${SSH_TARGET}:${BOARD_DIR}/bin/" || { err "推送二进制失败"; return 1; }
|
||||||
|
|
||||||
|
info "推送 mission h100.moos ..."
|
||||||
|
${SCP} -q "${PROJECT_ROOT}/missions/h100.moos" \
|
||||||
|
"${SSH_TARGET}:${BOARD_DIR}/missions/" || { err "推送 mission 失败"; return 1; }
|
||||||
|
|
||||||
|
${SSH} "${SSH_TARGET}" "chmod +x ${BOARD_DIR}/bin/pPowerManger ${BOARD_DIR}/bin/pPowerMangerHost"
|
||||||
|
ok "二进制与 mission 已推送"
|
||||||
|
|
||||||
|
# 2. 生成并安装 3 个 systemd unit
|
||||||
|
local unit
|
||||||
|
for s in "${SERVICES[@]}"; do
|
||||||
|
info "生成 ${s}.service ..."
|
||||||
|
if [ "${s}" = "moosdb" ]; then
|
||||||
|
unit="$(gen_moosdb_unit)" || return 1
|
||||||
|
else
|
||||||
|
unit="$(gen_app_unit "${s}")"
|
||||||
|
fi
|
||||||
|
printf '%s\n' "${unit}" | ${SSH} "${SSH_TARGET}" "cat > /etc/systemd/system/${s}.service"
|
||||||
|
ok "${s}.service 已安装"
|
||||||
|
done
|
||||||
|
|
||||||
|
# 3. daemon-reload（不 enable，不自启）
|
||||||
|
info "systemctl daemon-reload ..."
|
||||||
|
${SSH} "${SSH_TARGET}" "systemctl daemon-reload && systemctl reset-failed ${SERVICES[*]} 2>/dev/null || true"
|
||||||
|
ok "服务已安装但未启用自启（systemctl is-enabled 应输出 disabled）"
|
||||||
|
|
||||||
|
# 4. 可选启动
|
||||||
|
if [ "${DO_START}" = "1" ]; then
|
||||||
|
cmd_start
|
||||||
|
else
|
||||||
|
echo ""
|
||||||
|
info "部署完成。手动启动（或加 --start）:"
|
||||||
|
echo " systemctl start moosdb pPowerManger pPowerMangerHost"
|
||||||
|
echo " 浏览器: http://${HOST}:18080"
|
||||||
|
fi
|
||||||
|
}
|
||||||
|
|
||||||
|
#-------------------------------------------------------------------
|
||||||
|
# 命令: start / status / stop
|
||||||
|
#-------------------------------------------------------------------
|
||||||
|
cmd_start() {
|
||||||
|
info "启动服务 (moosdb -> pPowerManger -> pPowerMangerHost) ..."
|
||||||
|
${SSH} "${SSH_TARGET}" "systemctl start moosdb && sleep 1 && \
|
||||||
|
systemctl start pPowerManger pPowerMangerHost" || { err "启动失败"; return 1; }
|
||||||
|
ok "服务已启动"
|
||||||
|
cmd_status
|
||||||
|
}
|
||||||
|
|
||||||
|
cmd_status() {
|
||||||
|
${SSH} "${SSH_TARGET}" "systemctl --no-pager status moosdb pPowerManger pPowerMangerHost" || true
|
||||||
|
}
|
||||||
|
|
||||||
|
cmd_stop() {
|
||||||
|
${SSH} "${SSH_TARGET}" "systemctl stop pPowerMangerHost pPowerManger moosdb" && \
|
||||||
|
ok "服务已停止" || err "停止服务失败"
|
||||||
|
}
|
||||||
|
|
||||||
|
#-------------------------------------------------------------------
|
||||||
|
# 命令入口
|
||||||
|
#-------------------------------------------------------------------
|
||||||
|
case "${ACTION}" in
|
||||||
|
deploy) cmd_deploy ;;
|
||||||
|
setup-ssh) cmd_setup_ssh ;;
|
||||||
|
status) cmd_status ;;
|
||||||
|
stop) cmd_stop ;;
|
||||||
|
help|-h|--help) usage ;;
|
||||||
|
*) usage ;;
|
||||||
|
esac
|
||||||
Reference in New Issue
Block a user