feat(simulation): qualify real S1B provider lifecycle
This commit is contained in:
DCCONSTRUCTIONS
@@ -0,0 +1,19 @@
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schema_version: missioncore.stock-rover-lifecycle/v1
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profile_id: s1b-stock-rover-lifecycle-v1
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speed_factor: 1
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dwell_seconds: 5
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authority:
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simulation_or_shadow_only: true
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actuator_authority: false
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navigation_or_safety_accepted: false
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direct_actuator_setpoints_allowed: false
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agent_ready_log_patterns:
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- running...
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px4_ready_log_patterns:
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- 'world: rover, model: rover_ackermann_0'
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- Startup script returned successfully
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- successfully created rt/fmu/out/vehicle_status_v1 data writer
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- Running, connected
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@@ -0,0 +1,347 @@
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from __future__ import annotations
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import argparse
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import hashlib
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import os
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import re
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import shutil
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import sys
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import time
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from datetime import UTC, datetime
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from pathlib import Path
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from k1link.artifacts import write_json_atomic
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from k1link.simulation import (
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AuthorityProfile,
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LocalProcessWorkerAdapter,
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PosixProcessSupervisor,
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ProviderPin,
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QualificationRun,
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QualificationRunStore,
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ReproducibilityTier,
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RunKind,
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RunState,
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S0WorkerGuard,
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SimulationApplicationService,
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StockRoverTargetPaths,
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load_stock_rover_lifecycle_profile,
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stock_rover_process_environment,
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stock_rover_process_specs,
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)
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from k1link.simulation.s0 import ComponentPin, S0Profile
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from k1link.simulation.worker import SimulationWorldControl
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EXPECTED_DISTRO = "MissionCore-Sim"
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COMMIT_PATTERN = re.compile(r"^[a-f0-9]{40}$")
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PROVIDER_IDS = (
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"px4-autopilot",
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"gazebo",
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"px4-gazebo-models",
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"micro-xrce-dds-agent",
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)
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class _LifecycleOnlyWorldControl(SimulationWorldControl):
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def pause(self, run_id: str) -> None:
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raise RuntimeError(f"world pause is not admitted by S1B lifecycle run {run_id}")
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def resume(self, run_id: str) -> None:
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raise RuntimeError(f"world resume is not admitted by S1B lifecycle run {run_id}")
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def step(self, run_id: str, step_count: int) -> int:
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raise RuntimeError(f"world step is not admitted by S1B lifecycle run {run_id}:{step_count}")
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def main() -> int:
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parser = argparse.ArgumentParser(
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description="Run the accepted PX4/Gazebo stock rover under Mission Core S1B ownership."
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)
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parser.add_argument("--run-id", required=True)
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parser.add_argument("--mission-core-commit", required=True)
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parser.add_argument("--lifecycle-profile", type=Path, required=True)
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parser.add_argument(
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"--s0-profile",
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type=Path,
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default=Path("/mnt/d/NDC_MISSIONCORE/simulation/source/qualification-profile.yaml"),
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)
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parser.add_argument(
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"--d-root",
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type=Path,
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default=Path("/mnt/d/NDC_MISSIONCORE/simulation"),
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)
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args = parser.parse_args()
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if not COMMIT_PATTERN.fullmatch(args.mission_core_commit):
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parser.error("--mission-core-commit must be an exact 40-character Git revision")
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if os.geteuid() == 0:
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parser.error("the lifecycle harness must run as the unprivileged missioncore user")
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if os.environ.get("WSL_DISTRO_NAME") != EXPECTED_DISTRO:
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parser.error(f"the lifecycle harness requires WSL distribution {EXPECTED_DISTRO}")
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paths = StockRoverTargetPaths.from_d_root(args.d_root)
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lifecycle_profile_path = args.lifecycle_profile.expanduser().resolve()
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s0_profile_path = args.s0_profile.expanduser().resolve()
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lifecycle_profile = load_stock_rover_lifecycle_profile(lifecycle_profile_path)
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guard = S0WorkerGuard(s0_profile_path)
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_preflight(paths, guard.profile)
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artifact_runs_root = paths.d_root / "artifacts/s1/runs"
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runtime_runs_root = paths.d_root / "runtime/s1/runs"
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evidence_root = paths.d_root / "artifacts/s1/lifecycle" / args.run_id
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evidence_root.mkdir(mode=0o700, parents=True, exist_ok=False)
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interface_names = _loopback_only_interfaces()
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write_json_atomic(
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evidence_root / "network.json",
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{
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"schema_version": "missioncore.s1b-network-evidence/v1",
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"run_id": args.run_id,
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"namespace": "product-owned-unshare-net",
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"interfaces": list(interface_names),
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"loopback_only": interface_names == ("lo",),
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},
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)
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run = QualificationRun(
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run_id=args.run_id,
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episode_id=f"episode-{args.run_id}",
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kind=RunKind.SIMULATION_CLOSED_LOOP,
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state=RunState.ADMITTED,
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scenario_generation="px4-v1.17.0-stock-rover-ackermann",
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scenario_sha256=_sha256(paths.scenario_path),
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profile_generation=lifecycle_profile.profile_id,
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profile_sha256=_sha256(lifecycle_profile_path),
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mission_core_commit=args.mission_core_commit,
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providers=_provider_pins(guard.profile),
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host_profile_id=guard.profile.profile_id,
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host_profile_sha256=guard.profile_sha256,
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seed=42,
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reproducibility_tier=ReproducibilityTier.R1,
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authority=AuthorityProfile(
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generation=1,
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command_ttl_max_ns=250_000_000,
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heartbeat_timeout_monotonic_ns=500_000_000,
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),
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clock_domain="gazebo:/clock",
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created_at_utc=_utc_now(),
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)
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store = QualificationRunStore(artifact_runs_root)
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store.create(run)
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supervisor = PosixProcessSupervisor(
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runtime_runs_root,
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base_environment=stock_rover_process_environment(paths),
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)
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adapter = LocalProcessWorkerAdapter(
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guard,
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supervisor,
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stock_rover_process_specs(paths, lifecycle_profile),
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_LifecycleOnlyWorldControl(),
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)
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service = SimulationApplicationService(store, adapter)
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verdict = "fail"
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detail = "lifecycle did not start"
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observed_provider_ids: tuple[str, ...] = ()
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try:
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running = service.start(
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run.run_id,
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idempotency_key=f"{run.run_id}:start",
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observed_at_utc=_utc_now(),
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host_monotonic_ns=time.monotonic_ns(),
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)
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if running.state is not RunState.RUNNING:
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raise RuntimeError(
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f"Mission Core did not admit provider readiness: {running.state.value}"
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)
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observed_provider_ids = tuple(record.process_id for record in supervisor.snapshot())
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time.sleep(lifecycle_profile.dwell_seconds)
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supervisor.snapshot()
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terminal = service.stop(
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run.run_id,
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idempotency_key=f"{run.run_id}:stop",
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observed_at_utc=_utc_now(),
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host_monotonic_ns=time.monotonic_ns(),
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sim_time_ns=None,
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)
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if terminal.state is not RunState.COMPLETED:
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raise RuntimeError(
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f"Mission Core provider shutdown was not clean: {terminal.state.value}"
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)
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residue = _provider_residue()
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if supervisor.residue() or residue:
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raise RuntimeError("provider process residue remained after Mission Core stop")
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if store.list_commands(run.run_id):
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raise RuntimeError("S1B lifecycle unexpectedly contains control commands")
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verdict = "pass"
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detail = "real stock-rover providers reached declared readiness and stopped cleanly"
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except BaseException as exc:
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detail = f"{type(exc).__name__}: {exc}"
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_abort_active_run(service, store, run.run_id)
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supervisor.stop()
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finally:
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terminal_run = store.load(run.run_id)
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residue = _provider_residue()
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_capture_directory(
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artifact_runs_root / run.run_id,
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evidence_root / "qualification-run",
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)
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runtime_run_root = runtime_runs_root / run.run_id
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if runtime_run_root.is_dir():
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_capture_directory(runtime_run_root, evidence_root / "provider-runtime")
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write_json_atomic(
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evidence_root / "result.json",
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{
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"schema_version": "missioncore.s1b-stock-rover-result/v1",
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"verdict": verdict,
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"detail": detail,
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"run_id": run.run_id,
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"run_state": terminal_run.state.value,
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"terminal_reason": terminal_run.terminal_reason,
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"mission_core_commit": run.mission_core_commit,
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"host_profile_id": run.host_profile_id,
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"host_profile_sha256": run.host_profile_sha256,
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"lifecycle_profile_id": lifecycle_profile.profile_id,
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"lifecycle_profile_sha256": run.profile_sha256,
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"scenario_sha256": run.scenario_sha256,
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"provider_ids": list(observed_provider_ids),
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"event_count": len(store.list_events(run.run_id)),
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"command_count": len(store.list_commands(run.run_id)),
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"process_residue": list(residue),
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"network_interfaces": list(interface_names),
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"network_scope": "loopback-only-netns",
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"actuator_authority": False,
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"direct_actuator_setpoints_allowed": False,
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"finished_at_utc": _utc_now(),
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},
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)
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_write_digest_index(evidence_root)
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print(f"verdict={verdict}")
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print(f"evidence_root={evidence_root}")
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return 0 if verdict == "pass" else 1
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def _preflight(paths: StockRoverTargetPaths, profile: S0Profile) -> None:
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required = (
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paths.px4_root,
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paths.agent_binary,
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paths.scenario_path,
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)
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missing = tuple(str(path) for path in required if not path.exists())
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if missing:
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raise RuntimeError(f"S1B target input is missing: {', '.join(missing)}")
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free_bytes = shutil.disk_usage(paths.d_root).free
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stop_floor_bytes = profile.storage.stop_below_gib * 1024**3
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if free_bytes < stop_floor_bytes:
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raise RuntimeError("D free space is below the accepted S0 stop floor")
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if not all(component.qualification_state == "accepted" for component in profile.components):
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raise RuntimeError("an S0 provider generation is no longer accepted")
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def _loopback_only_interfaces() -> tuple[str, ...]:
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interfaces = tuple(sorted(path.name for path in Path("/sys/class/net").iterdir()))
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if interfaces != ("lo",):
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raise RuntimeError(f"S1B must run in a loopback-only namespace; observed {interfaces}")
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return interfaces
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def _provider_pins(profile: S0Profile) -> tuple[ProviderPin, ...]:
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components = {component.identifier: component for component in profile.components}
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missing = tuple(identifier for identifier in PROVIDER_IDS if identifier not in components)
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if missing:
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raise RuntimeError(f"S0 profile is missing provider pins: {', '.join(missing)}")
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return tuple(_provider_pin(components[identifier]) for identifier in PROVIDER_IDS)
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def _provider_pin(component: ComponentPin) -> ProviderPin:
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version = component.resolved_version or component.requested_ref
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revision = component.resolved_commit or version
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return ProviderPin(
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identifier=component.identifier,
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version=version,
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revision=revision,
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)
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def _abort_active_run(
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service: SimulationApplicationService,
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store: QualificationRunStore,
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run_id: str,
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) -> None:
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current = store.load(run_id)
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if current.state not in {RunState.RUNNING, RunState.PAUSED, RunState.STOPPING}:
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return
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try:
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service.stop(
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run_id,
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idempotency_key=f"{run_id}:harness-abort",
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observed_at_utc=_utc_now(),
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host_monotonic_ns=time.monotonic_ns(),
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sim_time_ns=None,
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terminal_state=RunState.ABORTED,
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reason="target-harness-failure",
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)
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except Exception:
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return
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def _provider_residue() -> tuple[str, ...]:
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tokens = (
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"MicroXRCEAgent",
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"/build/px4_sitl_default/bin/px4",
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"gz sim",
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"rover.sdf",
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)
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residue: list[str] = []
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for process_dir in Path("/proc").iterdir():
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if not process_dir.name.isdigit() or int(process_dir.name) == os.getpid():
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continue
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try:
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command = (process_dir / "cmdline").read_bytes().replace(b"\x00", b" ").decode()
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except (FileNotFoundError, PermissionError, UnicodeDecodeError):
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continue
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if command and any(token in command for token in tokens):
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residue.append(f"{process_dir.name}:{command.strip()}")
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return tuple(sorted(residue))
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def _capture_directory(source: Path, destination: Path) -> None:
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if destination.exists():
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raise RuntimeError(f"evidence destination already exists: {destination}")
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shutil.copytree(source, destination)
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def _write_digest_index(evidence_root: Path) -> None:
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records = []
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for path in sorted(evidence_root.rglob("*")):
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if path.is_file() and path.name != "sha256-index.json":
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records.append(
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{
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"path": path.relative_to(evidence_root).as_posix(),
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"sha256": _sha256(path),
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"bytes": path.stat().st_size,
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}
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)
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write_json_atomic(
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evidence_root / "sha256-index.json",
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{
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"schema_version": "missioncore.evidence-digest-index/v1",
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"files": records,
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},
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)
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def _sha256(path: Path) -> str:
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digest = hashlib.sha256()
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with path.open("rb") as stream:
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while chunk := stream.read(1024 * 1024):
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digest.update(chunk)
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return digest.hexdigest()
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def _utc_now() -> str:
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return datetime.now(UTC).isoformat(timespec="milliseconds").replace("+00:00", "Z")
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if __name__ == "__main__":
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sys.exit(main())
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+53
@@ -0,0 +1,53 @@
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#!/usr/bin/env bash
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#
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# Enter a fresh loopback-only namespace and execute the S1B stock-rover
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# lifecycle as the unprivileged missioncore worker identity.
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set -Eeuo pipefail
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readonly EXPECTED_DISTRO="MissionCore-Sim"
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readonly D_ROOT="/mnt/d/NDC_MISSIONCORE/simulation"
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readonly SOURCE_ROOT="$(cd -- "$(dirname -- "${BASH_SOURCE[0]}")/../.." && pwd -P)"
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readonly RUN_ID="${1:-}"
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readonly MISSION_CORE_COMMIT="${2:-}"
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if [[ -z "${RUN_ID}" || -z "${MISSION_CORE_COMMIT}" ]]; then
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echo "usage: $0 <run-id> <exact-40-character-mission-core-commit>" >&2
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exit 2
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fi
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if [[ "${SOURCE_ROOT}" != "${D_ROOT}/source/"* ]]; then
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echo "error: S1B source generation must be staged below the reviewed D root" >&2
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exit 2
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fi
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if ! [[ "${MISSION_CORE_COMMIT}" =~ ^[a-f0-9]{40}$ ]]; then
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echo "error: Mission Core commit must contain exactly 40 lowercase hex characters" >&2
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exit 2
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fi
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if [[ "${MISSIONCORE_S1_NETNS:-0}" != "1" ]]; then
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if [[ "${EUID}" -ne 0 ]]; then
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echo "error: initial S1B invocation must run as root to create the network namespace" >&2
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exit 2
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fi
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if [[ "${WSL_DISTRO_NAME:-}" != "${EXPECTED_DISTRO}" ]]; then
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echo "error: expected WSL distro ${EXPECTED_DISTRO}" >&2
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exit 2
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fi
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exec unshare --net -- bash -c '
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set -e
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ip link set lo up
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exec runuser -u missioncore -- env MISSIONCORE_S1_NETNS=1 "$@"
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' bash "$0" "$@"
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fi
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if [[ "${EUID}" -eq 0 || "${WSL_DISTRO_NAME:-}" != "${EXPECTED_DISTRO}" ]]; then
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echo "error: S1B inner lifecycle escaped the reviewed worker identity" >&2
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exit 2
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fi
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exec env \
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PYTHONPATH="${SOURCE_ROOT}/src" \
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python3 "${SOURCE_ROOT}/simulation/s1/stock_rover_lifecycle.py" \
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--run-id "${RUN_ID}" \
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--mission-core-commit "${MISSION_CORE_COMMIT}" \
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--lifecycle-profile "${SOURCE_ROOT}/simulation/s1/stock-rover-lifecycle.yaml"
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Reference in New Issue
Block a user