# Argonaut 3 — Deploy Files

This folder contains the systemd unit files and launch wrappers that live
OUTSIDE the ROS2 workspace on RPi5, version-controlled here so they are
recoverable. The files in this folder are copies — the authoritative
running copies are at the deploy locations noted below.

---

## Files

| Repo file | Deploy location on RPi5 | Purpose |
|---|---|---|
| `argonaut.service` | `/etc/systemd/system/argonaut.service` | Autonomy stack service unit |
| `argonaut-stack.sh` | `/usr/local/bin/argonaut-stack.sh` (chmod +x) | Autonomy stack launch wrapper |
| `argonaut-api.service` | `/etc/systemd/system/argonaut-api.service` | FastAPI backend service unit |
| `argonaut-api.sh` | `/usr/local/bin/argonaut-api.sh` (chmod +x) | FastAPI backend launch wrapper |

Also required (NOT stored here — contains environment specifics):
`/etc/argonaut/rov.env` — EnvironmentFile for argonaut.service:
```
ENV=dev
BLUEOS_IP=192.168.1.100
RECORD=true
```

---

## Python dependencies (RPi5)

The FastAPI backend (`rov_api`) requires fastapi and uvicorn installed
system-wide so they resolve regardless of which user runs the service:

```
sudo pip3 install fastapi uvicorn --break-system-packages --ignore-installed typing_extensions
```

The `--ignore-installed typing_extensions` flag is required because the
Debian-managed `typing_extensions` package has no pip RECORD file and
cannot be uninstalled by pip; ignoring it lets the install complete while
leaving the Debian package in place.

Confirmed working versions: fastapi 0.139.0, uvicorn 0.50.0.

---

## Install / re-deploy procedure

From this repo folder on RPi5:

```
sudo cp deploy/argonaut.service      /etc/systemd/system/argonaut.service
sudo cp deploy/argonaut-api.service  /etc/systemd/system/argonaut-api.service
sudo cp deploy/argonaut-stack.sh     /usr/local/bin/argonaut-stack.sh
sudo cp deploy/argonaut-api.sh       /usr/local/bin/argonaut-api.sh
sudo chmod +x /usr/local/bin/argonaut-stack.sh /usr/local/bin/argonaut-api.sh
sudo systemctl daemon-reload
```

---

## Service management

DEV POLICY: both services are installed but NOT enabled-on-boot.
Start manually (verify BlueOS heartbeat before starting the stack):

```
sudo systemctl start argonaut.service
sudo systemctl start argonaut-api.service
```

Field readiness — enable on boot only when field-ready:

```
sudo systemctl enable argonaut.service
sudo systemctl enable argonaut-api.service
```

---

## Notes

- `/home/ubuntu/ros2_ws` is a symlink to `/data/ros2_ws` (NVMe data drive).
  Both wrappers rely on this — do not remove the symlink.
- `argonaut-api.service` orders After=argonaut.service but does not Require
  it, so the API can start independently for /health checks. Mission
  commands return a clear "service unavailable" error if the stack is down.