Integrate CAN-aware CMS risk pipeline and relocatable Orin runtime

scripts/initialize_camera.sh

@@ -1,4 +1,27 @@
 #!/usr/bin/env bash
+# Use the previously deployed 0920 drivers; do not force module compatibility.
 set -euo pipefail
-root="$(cd -- "$(dirname -- "${BASH_SOURCE[0]}")/.." && pwd)"
-exec "$root/orin/scripts/initialize_camera.sh" "$@"
+root="$(cd "$(dirname "$0")/.." && pwd)"
+driver_dir="${DRIVER_DIR:-$root/../vision-anti-pinch-0920/orin/bin/drivers}"
+device="${1:-/dev/video5}"
+kernel="$(uname -r)"
+for driver in max9295 max9296 sgx-yuv-gmsl2; do
+  module="${driver//-/_}"
+  [[ -d "/sys/module/$module" ]] && continue
+  file="$driver_dir/$driver.ko"
+  [[ -f "$file" ]] || { echo "Missing driver: $file" >&2; exit 1; }
+  vermagic="$(modinfo -F vermagic "$file")"
+  if [[ -n "$vermagic" && "${vermagic%% *}" != "$kernel" ]]; then
+    echo "Kernel mismatch: $file ($vermagic), running $kernel" >&2; exit 1
+  fi
+  if [[ -z "$vermagic" ]]; then
+    echo "No vermagic metadata: $file; using normal insmod kernel validation."
+  fi
+  options=()
+  [[ "$driver" == sgx-yuv-gmsl2 ]] && options=(gmsl_mode=2,2,2,2)
+  sudo -n insmod "$file" "${options[@]}"
+done
+for _ in {1..20}; do [[ -c "$device" ]] && break; sleep .25; done
+[[ -c "$device" ]] || { echo "Camera not created: $device" >&2; exit 1; }
+v4l2-ctl -d "$device" -c sensor_mode=1,trig_pin=0xffff0007
+echo "Camera ready: $device"