Developing With Orbs

Overview

Use this skill when the task needs a real Orb instead of local-only work. Favor direct SSH and scp for inspection and staging files, cargo x d for deploying workspace crates, orb-hil for hardware-in-loop workflows, and orb-mcu-util for MCU inspection and firmware operations on the device.

Quick Access

An Orb with ID 1234 is reachable over Avahi as:

ssh [email protected]

scp uses the same host naming:

scp ./local-file [email protected]:/tmp/local-file
scp [email protected]:/tmp/remote-file ./remote-file

If you already know the Orb IP, replace orb-1234.local with that IP.

Deploying Crates From This Repo

Use cargo x d as the short form of cargo x deploy from the workspace xtask crate:

export ORB_IP=orb-1234.local
export WORLDCOIN_PW='...'
cargo x d orb-mcu-util

Example:

cargo x d orb-mcu-util

Operational notes:

• ORB_IP can be a raw IP address or an Avahi host such as orb-1234.local.
• WORLDCOIN_PW should be set before deploys. The current xtask implementation

will prompt interactively if either variable is unset, but for repeatable runs, set both env vars explicitly.

• cargo x d <crate-name> builds the crate for

aarch64-unknown-linux-gnu, creates a .deb, copies it to the Orb, and reinstalls it there.

• If the crate declares systemd units in its package metadata, cargo x d

automatically restarts the associated service on the Orb after install.

Prefer cargo x d when you are deploying a workspace crate. Prefer raw scp when you are just staging an artifact or test file.

Copying Files With scp

Push a file onto the Orb:

scp ./artifact.bin [email protected]:/tmp/artifact.bin

Copy a file back from the Orb:

scp [email protected]:/tmp/log.txt ./log.txt

Common pattern for MCU work:

scp ./target/aarch64-unknown-linux-gnu/release/main-mcu.bin \
  [email protected]:/tmp/main-mcu.bin
ssh [email protected] \
  'orb-mcu-util image update main --path /tmp/main-mcu.bin'

Using the HIL CLI

The repo ships a hardware-in-loop CLI as orb-hil.

Run it from source:

AWS_PROFILE=hil aws sso login
AWS_PROFILE=hil cargo run -p orb-hil -- --help

Peripheral requirements matter:

• orb-hil flash needs an x86 Linux machine
• orb-hil reboot needs a serial adapter
• orb-hil login needs a serial adapter
• orb-hil cmd can work with a serial adapter or network access such as

SSH/Teleport

Do not recommend orb-hil reboot or orb-hil login as SSH-only replacements.

Important command families from hil/src/main.rs:

• button-ctrl
• cmd
• fetch-persistent
• flash
• login
• mcu
• nfsboot
• ota
• ping
• reboot
• set-recovery-pin

Examples:

AWS_PROFILE=hil cargo run -p orb-hil -- flash --help
AWS_PROFILE=hil cargo run -p orb-hil -- reboot --help
AWS_PROFILE=hil cargo run -p orb-hil -- cmd --help
AWS_PROFILE=hil cargo run -p orb-hil -- mcu --help

Use orb-hil when you need hardware-in-loop flows such as flashing, reboot orchestration, login automation, or command execution through supported HIL transport paths.

Using orb-mcu-util

orb-mcu-util is the direct MCU utility in this repo. It supports both normal and CAN-FD operation; add --can-fd when the task specifically needs that bus.

Core inspection and reboot commands:

ssh [email protected] 'orb-mcu-util info'
ssh [email protected] 'orb-mcu-util info --diag'
ssh [email protected] 'orb-mcu-util reboot main'
ssh [email protected] 'orb-mcu-util reboot security'
ssh [email protected] 'orb-mcu-util reboot orb'
ssh [email protected] 'orb-mcu-util reboot --delay 30 orb'
ssh [email protected] 'orb-mcu-util reboot-behavior button'
ssh [email protected] 'orb-mcu-util reboot-behavior always-on'

Firmware image commands:

ssh [email protected] \
  'orb-mcu-util image update main --path /tmp/main-mcu.bin'
ssh [email protected] \
  'orb-mcu-util image update security --path /tmp/security-mcu.bin'
ssh [email protected] \
  'orb-mcu-util image update main --path /tmp/main-mcu.bin --force'
ssh [email protected] 'orb-mcu-util image switch main'
ssh [email protected] 'orb-mcu-util image switch security'
ssh [email protected] 'orb-mcu-util image force-switch main'

Dump and stress commands:

ssh [email protected] 'orb-mcu-util dump main --duration 30'
ssh [email protected] 'orb-mcu-util dump security --duration 30 --logs-only'
ssh [email protected] 'orb-mcu-util stress main --duration 30'
ssh [email protected] 'orb-mcu-util stress security --duration 30'

Hardware, power, and peripheral commands:

ssh [email protected] 'orb-mcu-util hardware-revision'
ssh [email protected] 'orb-mcu-util power-cycle secure-element'
ssh [email protected] 'orb-mcu-util power-cycle heat-camera'
ssh [email protected] 'orb-mcu-util power-cycle wifi'
ssh [email protected] 'orb-mcu-util ui front red'
ssh [email protected] 'orb-mcu-util ui front white'
ssh [email protected] 'orb-mcu-util optics gimbal-home autohome'
ssh [email protected] 'orb-mcu-util optics gimbal-position --phi 45000 --theta 90000'
ssh [email protected] 'orb-mcu-util optics gimbal-move --phi 100 --theta -100'
ssh [email protected] 'orb-mcu-util optics trigger-camera eye 30'
ssh [email protected] 'orb-mcu-util optics trigger-camera face 30'
ssh [email protected] 'orb-mcu-util optics polarizer home'
ssh [email protected] 'orb-mcu-util optics polarizer passthrough'
ssh [email protected] 'orb-mcu-util optics polarizer vertical'
ssh [email protected] 'orb-mcu-util optics polarizer horizontal'
ssh [email protected] 'orb-mcu-util optics polarizer angle 900'
ssh [email protected] \
  'orb-mcu-util optics polarizer stress 0 100 --random'
ssh [email protected] \
  'orb-mcu-util optics polarizer settings --acceleration 100 --max-speed 100'

Use these patterns:

• info or info --diag to inspect current MCU state
• reboot and reboot-behavior to control board or Orb restart behavior
• image update after staging a firmware binary with scp
• image switch or image force-switch to change active image slots
• dump to collect MCU messages, optionally logs only
• stress to exercise MCU communication
• power-cycle for secure element, heat camera, or Wi-Fi power resets
• ui and optics when the task involves front LEDs, gimbal, cameras, or the

polarizer

• optics polarizer stress <speed> <repeat> uses positional arguments; in the

example above, 0 100 means speed 0 and 100 repetitions

For anything beyond the examples above, run:

ssh [email protected] 'orb-mcu-util --help'
ssh [email protected] 'orb-mcu-util image --help'
ssh [email protected] 'orb-mcu-util optics --help'
ssh [email protected] 'orb-mcu-util ui --help'

Source Of Truth

When the command surface matters, read these files directly:

• xtask/src/main.rs
• xtask/src/cmd/deploy.rs
• docs/src/hil/cli.md
• hil/src/main.rs
• mcu-util/src/main.rs