mirror of
https://github.com/orbbec/OrbbecSDK_ROS2.git
synced 2026-10-04 12:07:46 +08:00
feat: add script to update bundled Orbbec SDK for ARM64 and x86-64 architectures
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slz
Executable
+322
@@ -0,0 +1,322 @@
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#!/usr/bin/env bash
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set -Eeuo pipefail
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readonly SCRIPT_DIR="$(cd -- "$(dirname -- "${BASH_SOURCE[0]}")" && pwd -P)"
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readonly PACKAGE_DIR="$(cd -- "${SCRIPT_DIR}/.." && pwd -P)"
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readonly SDK_ROOT="${PACKAGE_DIR}/SDK"
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readonly ROS_CONFIG_FILE="${PACKAGE_DIR}/config/OrbbecSDKConfig_v2.0.xml"
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dry_run=false
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work_dir=""
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arm64_backup_dir=""
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x64_backup_dir=""
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config_backup_file=""
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usage() {
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cat <<EOF
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Usage:
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$(basename "$0") [--dry-run] <arm64-or-x86_64-sdk-directory>
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Replace the bundled Orbbec SDK for both supported ROS package architectures.
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The other SDK directory is inferred by swapping the input path suffix between
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"_arm64" and "_x86_64".
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Only the files used or distributed by orbbec_camera are copied:
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- include/libobsensor/
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- lib/libOrbbecSDK.so*
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- lib/OrbbecSDKConfig-release.cmake
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- lib/OrbbecSDKConfig.cmake
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- lib/OrbbecSDKVersion.cmake
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- lib/extensions/
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- lib/OrbbecSDKConfig.xml -> config/OrbbecSDKConfig_v2.0.xml
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SDK/licenses/ is left unchanged.
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Example:
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$(basename "$0") \\
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/home/user/Downloads/SDK/OrbbecSDK_v2.10.2_linux_arm64
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EOF
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}
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die() {
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echo "Error: $*" >&2
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exit 1
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}
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cleanup_work_dir() {
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if [[ -n "${work_dir}" && "${work_dir}" == "${PACKAGE_DIR}"/.sdk-update.* ]]; then
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rm -rf -- "${work_dir}"
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fi
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}
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backup_exists() {
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[[ -n "${arm64_backup_dir}" && -d "${arm64_backup_dir}" ]] ||
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[[ -n "${x64_backup_dir}" && -d "${x64_backup_dir}" ]] ||
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[[ -n "${config_backup_file}" && -e "${config_backup_file}" ]]
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}
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restore_backup() {
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backup_exists || return 0
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echo "Update failed; restoring the original SDK libraries and runtime configuration..." >&2
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if [[ -n "${config_backup_file}" && -e "${config_backup_file}" ]]; then
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if [[ -e "${ROS_CONFIG_FILE}" ]]; then
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mv -- "${ROS_CONFIG_FILE}" "${work_dir}/OrbbecSDKConfig.failed.xml" || return 1
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fi
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mv -- "${config_backup_file}" "${ROS_CONFIG_FILE}" || return 1
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fi
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if [[ -n "${x64_backup_dir}" && -d "${x64_backup_dir}" ]]; then
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if [[ -e "${SDK_ROOT}/x64" ]]; then
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mv -- "${SDK_ROOT}/x64" "${work_dir}/x64.failed" || return 1
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fi
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mv -- "${x64_backup_dir}" "${SDK_ROOT}/x64" || return 1
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fi
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if [[ -n "${arm64_backup_dir}" && -d "${arm64_backup_dir}" ]]; then
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if [[ -e "${SDK_ROOT}/arm64" ]]; then
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mv -- "${SDK_ROOT}/arm64" "${work_dir}/arm64.failed" || return 1
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fi
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mv -- "${arm64_backup_dir}" "${SDK_ROOT}/arm64" || return 1
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fi
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}
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on_exit() {
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local status=$?
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trap - EXIT
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if ((status != 0)) && backup_exists; then
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if ! restore_backup; then
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echo "Error: automatic rollback failed; recovery files remain in ${work_dir}" >&2
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exit "${status}"
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fi
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fi
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if ! backup_exists; then
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cleanup_work_dir
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fi
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exit "${status}"
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}
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trap on_exit EXIT
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trap 'exit 130' INT TERM HUP
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if [[ "${1:-}" == "--help" || "${1:-}" == "-h" ]]; then
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usage
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exit 0
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fi
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if [[ "${1:-}" == "--dry-run" ]]; then
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dry_run=true
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shift
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fi
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[[ $# -eq 1 ]] || {
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usage >&2
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exit 2
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}
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for command_name in basename cat cmp cp dirname file find mkdir mktemp mv readlink rm wc; do
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command -v "${command_name}" >/dev/null 2>&1 || die "required command not found: ${command_name}"
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done
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[[ -d "${SDK_ROOT}" && ! -L "${SDK_ROOT}" ]] ||
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die "bundled SDK must be a real directory: ${SDK_ROOT}"
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[[ -d "${SDK_ROOT}/arm64" && ! -L "${SDK_ROOT}/arm64" ]] ||
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die "bundled ARM64 SDK must be a real directory: ${SDK_ROOT}/arm64"
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[[ -d "${SDK_ROOT}/x64" && ! -L "${SDK_ROOT}/x64" ]] ||
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die "bundled x86-64 SDK must be a real directory: ${SDK_ROOT}/x64"
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[[ -d "${SDK_ROOT}/licenses" && ! -L "${SDK_ROOT}/licenses" ]] ||
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die "bundled SDK licenses must be a real directory: ${SDK_ROOT}/licenses"
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[[ -f "${ROS_CONFIG_FILE}" && ! -L "${ROS_CONFIG_FILE}" ]] ||
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die "ROS SDK configuration must be a real file: ${ROS_CONFIG_FILE}"
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[[ -d "$1" ]] || die "SDK directory not found: $1"
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input_source="$(readlink -f -- "$1")"
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case "${input_source}" in
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*_arm64)
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arm64_source="${input_source}"
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x64_source="${input_source%_arm64}_x86_64"
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;;
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*_x86_64)
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x64_source="${input_source}"
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arm64_source="${input_source%_x86_64}_arm64"
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;;
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*)
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die "SDK directory name must end with _arm64 or _x86_64: ${input_source}"
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;;
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esac
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[[ -d "${arm64_source}" ]] || die "paired ARM64 SDK directory not found: ${arm64_source}"
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[[ -d "${x64_source}" ]] || die "paired x86-64 SDK directory not found: ${x64_source}"
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case "${arm64_source}" in
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"${SDK_ROOT}" | "${SDK_ROOT}"/*) die "the ARM64 source cannot be inside ${SDK_ROOT}" ;;
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esac
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case "${x64_source}" in
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"${SDK_ROOT}" | "${SDK_ROOT}"/*) die "the x86-64 source cannot be inside ${SDK_ROOT}" ;;
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esac
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core_library_path() {
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local source_dir=$1
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local core_link="${source_dir}/lib/libOrbbecSDK.so"
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[[ -e "${core_link}" ]] || die "missing core SDK library: ${core_link}"
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readlink -f -- "${core_link}"
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}
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sdk_version() {
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local core_library
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core_library="$(core_library_path "$1")"
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local filename=${core_library##*/}
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[[ "${filename}" == libOrbbecSDK.so.* ]] ||
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die "cannot determine SDK version from core library: ${core_library}"
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echo "${filename#libOrbbecSDK.so.}"
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}
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verify_architecture() {
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local source_dir=$1
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local expected_arch=$2
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local core_library
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local description
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core_library="$(core_library_path "${source_dir}")"
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description="$(file -Lb -- "${core_library}")"
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case "${expected_arch}" in
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arm64)
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[[ "${description}" == *"ARM aarch64"* || "${description}" == *"AArch64"* ]] ||
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die "${source_dir} is not an ARM64 SDK (${description})"
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;;
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x64)
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[[ "${description}" == *"x86-64"* ]] ||
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die "${source_dir} is not an x86-64 SDK (${description})"
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;;
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*)
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die "internal error: unsupported architecture ${expected_arch}"
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;;
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esac
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}
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verify_symlinks_within() {
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local root_dir
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local link_path
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local resolved_path
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root_dir="$(readlink -f -- "$1")"
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while IFS= read -r -d '' link_path; do
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if ! resolved_path="$(readlink -f -- "${link_path}")"; then
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die "broken symbolic link: ${link_path}"
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fi
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case "${resolved_path}" in
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"${root_dir}"/*) ;;
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*) die "symbolic link points outside ${root_dir}: ${link_path} -> ${resolved_path}" ;;
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esac
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done < <(find "${root_dir}" -type l -print0)
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}
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verify_source_layout() {
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local source_dir=$1
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local expected_arch=$2
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local required_path
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for required_path in \
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include/libobsensor/ObSensor.h \
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include/libobsensor/ObSensor.hpp \
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lib/OrbbecSDKConfig-release.cmake \
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lib/OrbbecSDKConfig.cmake \
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lib/OrbbecSDKVersion.cmake \
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lib/OrbbecSDKConfig.xml; do
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[[ -f "${source_dir}/${required_path}" ]] ||
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die "missing required ${expected_arch} SDK file: ${source_dir}/${required_path}"
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done
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[[ -d "${source_dir}/lib/extensions" ]] ||
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die "missing ${expected_arch} SDK extensions directory: ${source_dir}/lib/extensions"
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verify_architecture "${source_dir}" "${expected_arch}"
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verify_symlinks_within "${source_dir}/lib"
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}
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copy_architecture() {
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local source_dir=$1
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local target_arch=$2
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local destination_dir=$3
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local cmake_file
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local copied_core_library=false
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mkdir -p -- "${destination_dir}/include" "${destination_dir}/lib"
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cp -a -- "${source_dir}/include/libobsensor" "${destination_dir}/include/"
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while IFS= read -r -d '' library; do
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cp -a -- "${library}" "${destination_dir}/lib/"
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copied_core_library=true
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done < <(find "${source_dir}/lib" -maxdepth 1 \( -type f -o -type l \) \
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-name 'libOrbbecSDK.so*' -print0)
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[[ "${copied_core_library}" == true ]] ||
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die "no core SDK libraries were copied for ${target_arch}"
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for cmake_file in \
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OrbbecSDKConfig-release.cmake \
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OrbbecSDKConfig.cmake \
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OrbbecSDKVersion.cmake; do
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cp -a -- "${source_dir}/lib/${cmake_file}" "${destination_dir}/lib/"
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done
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cp -a -- "${source_dir}/lib/extensions" "${destination_dir}/lib/"
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}
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verify_source_layout "${arm64_source}" arm64
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verify_source_layout "${x64_source}" x64
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cmp -s -- "${arm64_source}/lib/OrbbecSDKConfig.xml" \
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"${x64_source}/lib/OrbbecSDKConfig.xml" ||
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die "ARM64 and x86-64 OrbbecSDKConfig.xml files do not match"
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arm64_version="$(sdk_version "${arm64_source}")"
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x64_version="$(sdk_version "${x64_source}")"
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[[ "${arm64_version}" == "${x64_version}" ]] ||
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die "SDK versions do not match: ARM64=${arm64_version}, x86-64=${x64_version}"
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work_dir="$(mktemp -d -- "${PACKAGE_DIR}/.sdk-update.XXXXXX")"
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staged_sdk="${work_dir}/SDK.new"
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staged_config="${work_dir}/OrbbecSDKConfig_v2.0.xml.new"
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mkdir -p -- "${staged_sdk}"
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copy_architecture "${arm64_source}" arm64 "${staged_sdk}/arm64"
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copy_architecture "${x64_source}" x64 "${staged_sdk}/x64"
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cp -a -- "${x64_source}/lib/OrbbecSDKConfig.xml" "${staged_config}"
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verify_architecture "${staged_sdk}/arm64" arm64
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verify_architecture "${staged_sdk}/x64" x64
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verify_symlinks_within "${staged_sdk}"
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sdk_file_count="$(find "${staged_sdk}" \( -type f -o -type l \) | wc -l)"
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file_count=$((sdk_file_count + 1))
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echo "Validated Orbbec SDK ${arm64_version} for ARM64 and x86-64."
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echo "Staged ${file_count} ROS package files, including ${ROS_CONFIG_FILE}."
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if [[ "${dry_run}" == true ]]; then
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echo "Dry run complete; SDK libraries, licenses, and runtime configuration were not changed."
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exit 0
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fi
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arm64_backup_dir="${work_dir}/arm64.old"
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x64_backup_dir="${work_dir}/x64.old"
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config_backup_file="${work_dir}/OrbbecSDKConfig_v2.0.xml.old"
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mv -- "${SDK_ROOT}/arm64" "${arm64_backup_dir}"
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mv -- "${SDK_ROOT}/x64" "${x64_backup_dir}"
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mv -- "${ROS_CONFIG_FILE}" "${config_backup_file}"
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mv -- "${staged_sdk}/arm64" "${SDK_ROOT}/arm64"
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mv -- "${staged_sdk}/x64" "${SDK_ROOT}/x64"
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mv -- "${staged_config}" "${ROS_CONFIG_FILE}"
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# The verified SDK and runtime configuration are now active. Mark the
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# transaction as committed; the exit handler removes the temporary backups.
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arm64_backup_dir=""
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x64_backup_dir=""
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config_backup_file=""
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echo "Updated bundled ARM64, x86-64, and runtime configuration to Orbbec SDK ${arm64_version}."
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echo "Left ${SDK_ROOT}/licenses unchanged."
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