Port complete CAN-aware risk pipeline to C++

scripts/package_orin.sh

@@ -1,26 +1,18 @@
 #!/usr/bin/env bash
-# Refresh the standalone runtime after compiling on the target Orin.
+# Assemble the C++ runtime; no Python interpreter is used for packaging or execution.
 set -euo pipefail
 root="$(cd "$(dirname "$0")/.." && pwd)"
-python3 - "$root" <<'PY'
-from pathlib import Path
-import hashlib,shutil,sys
-root=Path(sys.argv[1]);package=root/'orin'
-library=root/'build/libvision_native.so'
-if not library.is_file():raise SystemExit('Run scripts/build.sh on Orin first.')
-# Replace generated Python directories so removed modules cannot survive packaging.
-for name in ('pipeline','annotations'):
-    target=package/name
-    if target.exists():shutil.rmtree(target)
-    shutil.copytree(root/name,target,ignore=shutil.ignore_patterns('__pycache__','*.pyc'))
-(package/'build').mkdir(exist_ok=True)
-shutil.copy2(library,package/'build/libvision_native.so')
-shutil.copy2(root/'run_camera.py',package/'run_camera.py')
-shutil.copy2(root/'scripts/initialize_camera.sh',package/'scripts/initialize_camera_impl.sh')
-for name in ('lib/libusbcanfd.so','lib/libusb-1.0.so','models/engines/yolo11s.engine','models/engines/rtmw_l_384.engine','bin/drivers/max9295.ko','bin/drivers/max9296.ko','bin/drivers/sgx-yuv-gmsl2.ko'):
-    if not (package/name).is_file():raise SystemExit('Missing packaged dependency: '+name)
-ignored={'__pycache__','outputs','logs'}
-files=sorted(p for p in package.rglob('*') if p.is_file() and not p.is_symlink() and p.name!='SHA256SUMS' and not ignored.intersection(p.relative_to(package).parts))
-(package/'SHA256SUMS').write_text(''.join(hashlib.sha256(p.read_bytes()).hexdigest()+'  '+p.relative_to(package).as_posix()+'\n' for p in files))
-print('Package ready:',package/'run.sh')
-PY
+package="$root/orin"
+[[ -x "$root/build/camera_risk" ]] || { echo 'Compile on Orin with scripts/build.sh first.' >&2; exit 1; }
+mkdir -p "$package/build" "$package/config" "$package/annotations" "$package/scripts"
+cp -p "$root/build/camera_risk" "$package/build/"
+cp -p "$root/annotations/"*.json "$package/annotations/"
+# Source and standalone configurations differ only in the engine directory.
+sed 's|../orin/models/engines|../models/engines|' "$root/config/camera.json" > "$package/config/camera.json"
+cp -p "$root/scripts/initialize_camera.sh" "$package/scripts/initialize_camera_impl.sh"
+(
+  cd "$package"
+  find . -type f ! -path './outputs/*' ! -path './logs/*' ! -name SHA256SUMS -print0 |
+    sort -z | xargs -0 sha256sum > SHA256SUMS
+)
+echo "C++ runtime ready: $package/build/camera_risk"