feat(perception): qualify inline temporal stability
This commit is contained in:
DCCONSTRUCTIONS
@@ -9,6 +9,7 @@ param(
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[Parameter(Mandatory = $true)] [string]$ValidFovRoot,
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[Parameter(Mandatory = $true)] [string]$ProjectionPackRoot,
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[Parameter(Mandatory = $true)] [string]$PackageRoot,
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[string]$StabilityProfilePath = "",
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[switch]$PreflightOnly,
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[switch]$PersistentService,
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[switch]$TokenStdin,
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@@ -84,6 +85,10 @@ $liveProfile = Resolve-DFile $LiveProfilePath "LAB E15 live profile"
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$e14Profile = Resolve-DFile $E14ProfilePath "Accepted E14 profile"
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$detectorProfile = Resolve-DFile $DetectorProfilePath "Detector profile"
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$semanticProfile = Resolve-DFile $SemanticProfilePath "Semantic profile"
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$stabilityProfile = $null
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if ($StabilityProfilePath) {
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$stabilityProfile = Resolve-DFile $StabilityProfilePath "LAB E23 stability profile"
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}
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$validFov = Resolve-DDirectory $ValidFovRoot "Valid-FOV root"
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$projectionPack = Resolve-DDirectory $ProjectionPackRoot "E15 projection pack"
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$package = Resolve-DDirectory $PackageRoot "Mission Core package root"
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@@ -97,6 +102,9 @@ foreach ($path in @($liveProfile, $e14Profile, $detectorProfile, $semanticProfil
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throw "Runner and profiles must share one immutable mount"
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}
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}
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if ($stabilityProfile -and (Split-Path $stabilityProfile -Parent) -ne $runnerRoot) {
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throw "Runner and LAB E23 stability profile must share one immutable mount"
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}
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foreach ($dependency in @(
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"e10_fusion_runtime.py",
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"e15_shadow_runtime.py",
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@@ -115,6 +123,9 @@ foreach ($dependency in @(
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if (-not (Test-Path -LiteralPath (Join-Path $package "k1link\compute\live_perception.py") -PathType Leaf)) {
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throw "Mission Core package mount lacks live perception synchronization"
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}
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if (-not (Test-Path -LiteralPath (Join-Path $package "k1link\compute\inline_temporal.py") -PathType Leaf)) {
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throw "Mission Core package mount lacks inline temporal state"
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}
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$job = Get-Content -LiteralPath (Join-Path $jobDirectory "job.json") -Raw | ConvertFrom-Json
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if (
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@@ -130,6 +141,17 @@ if (
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[bool]$live.authority.navigation_or_safety_accepted -or
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$live.transport.pyav_version -ne "18.0.0"
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) { throw "LAB E15 replay-shadow authority contract changed" }
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if ($stabilityProfile) {
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$stability = Get-Content -LiteralPath $stabilityProfile -Raw | ConvertFrom-Json
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if (
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$stability.schema_version -ne "missioncore.e23-inline-temporal-profile/v1" -or
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$stability.mode -ne "inline-shadow-qualification" -or
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$stability.stage -ne "warm-worker-after-fusion-before-result-publication" -or
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$stability.source.calibration_sha256 -ne $live.source.calibration_sha256 -or
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[bool]$stability.authority.commands_enabled -or
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[bool]$stability.authority.navigation_or_safety_accepted
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) { throw "LAB E23 inline temporal authority contract changed" }
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}
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$projection = Get-Content -LiteralPath (Join-Path $projectionPack "manifest.json") -Raw | ConvertFrom-Json
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if (
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$projection.schema_version -ne "missioncore.e15-live-projection-pack/v1" -or
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@@ -137,6 +159,12 @@ if (
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$projection.identity.calibration_slot -ne "camera_1" -or
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$projection.identity.calibration_sha256 -ne $live.source.calibration_sha256
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) { throw "LAB E15 projection pack binding changed" }
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$packageManifest = Get-Content -LiteralPath (Join-Path $package "manifest.json") -Raw | ConvertFrom-Json
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if (
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$packageManifest.schema_version -ne "missioncore.e15-worker-package/v1" -or
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$packageManifest.package_id -ne (Split-Path $package -Leaf) -or
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$packageManifest.identity_sha256 -notmatch "^[a-f0-9]{64}$"
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) { throw "LAB E15 worker package manifest changed" }
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$mediaManifest = Get-Content -LiteralPath (Join-Path $mediaRuntime "manifest.json") -Raw | ConvertFrom-Json
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if (
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$mediaManifest.schema_version -ne "missioncore.e15-media-runtime/v1" -or
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@@ -165,6 +193,7 @@ $liveProfileName = Split-Path $liveProfile -Leaf
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$e14ProfileName = Split-Path $e14Profile -Leaf
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$detectorProfileName = Split-Path $detectorProfile -Leaf
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$semanticProfileName = Split-Path $semanticProfile -Leaf
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$stabilityProfileName = if ($stabilityProfile) { Split-Path $stabilityProfile -Leaf } else { $null }
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$projectionMount = "/" + (Split-Path $projectionPack -Leaf)
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$packageMount = "/" + (Split-Path $package -Leaf)
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$orchestratorSha256 = (Get-FileHash -LiteralPath $PSCommandPath -Algorithm SHA256).Hash.ToLowerInvariant()
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@@ -200,6 +229,11 @@ $commonRunnerArgs = @(
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"--environment", "/environment",
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"--worker-package", $packageMount
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)
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if ($stabilityProfileName) {
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$commonRunnerArgs += @(
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"--stability-profile", ("/runner/{0}" -f $stabilityProfileName)
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)
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}
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if ($PersistentService) {
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if ($PreflightOnly -or $TokenStdin) {
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@@ -214,6 +248,14 @@ if ($PersistentService) {
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throw "Persistent output root must be a direct child of its guarded D: parent"
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}
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$runnerSha256 = (Get-FileHash -LiteralPath $runner -Algorithm SHA256).Hash.ToLowerInvariant()
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$liveProfileSha256 = (Get-FileHash -LiteralPath $liveProfile -Algorithm SHA256).Hash.ToLowerInvariant()
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$e14ProfileSha256 = (Get-FileHash -LiteralPath $e14Profile -Algorithm SHA256).Hash.ToLowerInvariant()
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$detectorProfileSha256 = (Get-FileHash -LiteralPath $detectorProfile -Algorithm SHA256).Hash.ToLowerInvariant()
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$semanticProfileSha256 = (Get-FileHash -LiteralPath $semanticProfile -Algorithm SHA256).Hash.ToLowerInvariant()
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$stabilityProfileSha256 = if ($stabilityProfile) {
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(Get-FileHash -LiteralPath $stabilityProfile -Algorithm SHA256).Hash.ToLowerInvariant()
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}
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else { "none" }
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$existingContainerId = docker ps -a --filter ("name=^{0}$" -f $PersistentContainer) --format "{{.ID}}"
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Assert-LastExitCode "Persistent worker container lookup"
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if ($existingContainerId) {
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@@ -221,7 +263,14 @@ if ($PersistentService) {
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Assert-LastExitCode "Persistent worker label inspection"
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if (
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$labels.'missioncore.role' -ne "perception-persistent-worker" -or
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$labels.'missioncore.runner.sha256' -ne $runnerSha256
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$labels.'missioncore.runner.sha256' -ne $runnerSha256 -or
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$labels.'missioncore.live.sha256' -ne $liveProfileSha256 -or
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$labels.'missioncore.e14.sha256' -ne $e14ProfileSha256 -or
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$labels.'missioncore.detector.sha256' -ne $detectorProfileSha256 -or
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$labels.'missioncore.semantic.sha256' -ne $semanticProfileSha256 -or
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$labels.'missioncore.stability.sha256' -ne $stabilityProfileSha256 -or
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$labels.'missioncore.worker-package.identity' -ne $packageManifest.identity_sha256 -or
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$labels.'missioncore.projection.identity' -ne $projection.identity_sha256
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) { throw "Existing persistent worker has a different immutable identity" }
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$running = docker inspect --format "{{.State.Running}}" $PersistentContainer
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Assert-LastExitCode "Persistent worker state inspection"
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@@ -258,6 +307,13 @@ if ($PersistentService) {
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"run", "--detach", "--name", $PersistentContainer,
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"--label", "missioncore.role=perception-persistent-worker",
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"--label", ("missioncore.runner.sha256={0}" -f $runnerSha256),
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"--label", ("missioncore.live.sha256={0}" -f $liveProfileSha256),
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"--label", ("missioncore.e14.sha256={0}" -f $e14ProfileSha256),
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"--label", ("missioncore.detector.sha256={0}" -f $detectorProfileSha256),
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"--label", ("missioncore.semantic.sha256={0}" -f $semanticProfileSha256),
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"--label", ("missioncore.stability.sha256={0}" -f $stabilityProfileSha256),
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"--label", ("missioncore.worker-package.identity={0}" -f $packageManifest.identity_sha256),
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"--label", ("missioncore.projection.identity={0}" -f $projection.identity_sha256),
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"--gpus", "all", "--network", ("container:{0}" -f $TritonContainer),
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"--read-only", "--security-opt", "no-new-privileges:true", "--cap-drop", "ALL",
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"--pids-limit", "512", "--shm-size", "4g",
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