feat(perception): stage TRAVEL qualification
This commit is contained in:
DCCONSTRUCTIONS
@@ -0,0 +1,120 @@
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[CmdletBinding()]
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param(
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[Parameter(Mandatory = $true)]
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[string]$BuildContext,
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[Parameter(Mandatory = $true)]
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[ValidatePattern("^[A-Za-z0-9._-]{1,96}$")]
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[string]$RunId,
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[string]$OutputRoot = "D:\NDC_MISSIONCORE\runtime\results\m49-t3-travel"
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)
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$ErrorActionPreference = "Stop"
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$ProgressPreference = "SilentlyContinue"
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function Assert-LastExitCode([string]$Operation) {
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if ($LASTEXITCODE -ne 0) { throw "$Operation failed with exit code $LASTEXITCODE" }
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}
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function Resolve-DDirectory([string]$Path, [string]$Label, [bool]$Create) {
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if ($Create -and -not (Test-Path -LiteralPath $Path)) {
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$null = New-Item -ItemType Directory -Path $Path
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}
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$item = Get-Item -LiteralPath (Resolve-Path -LiteralPath $Path).Path -Force
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if (
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-not $item.PSIsContainer -or
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($item.Attributes -band [IO.FileAttributes]::ReparsePoint) -or
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[IO.Path]::GetPathRoot($item.FullName).TrimEnd("\") -ine "D:"
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) {
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throw "$Label must be a real D: directory"
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}
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return $item.FullName
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}
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function Get-Container([string]$Name) {
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$rows = @((& docker inspect $Name) | ConvertFrom-Json)
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Assert-LastExitCode "Docker inspection for $Name"
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if ($rows.Count -ne 1) { throw "Container identity for $Name is not unique" }
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return $rows[0]
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}
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if ($env:COMPUTERNAME -cne "DESKTOP-OPJ8J04") {
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throw "M49 T3 is pinned to Worker 006"
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}
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$context = Resolve-DDirectory $BuildContext "M49 T3 build context" $false
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$output = Resolve-DDirectory $OutputRoot "M49 T3 output root" $true
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$runOutput = Join-Path $output $RunId
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if (Test-Path -LiteralPath $runOutput) { throw "M49 T3 output already exists" }
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$null = New-Item -ItemType Directory -Path $runOutput
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$runOutput = Resolve-DDirectory $runOutput "M49 T3 run output" $false
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$dockerConfig = Join-Path $runOutput "docker-config"
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$null = New-Item -ItemType Directory -Path $dockerConfig
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'{"auths":{}}' | Set-Content -LiteralPath (Join-Path $dockerConfig "config.json") -Encoding ascii
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$env:DOCKER_CONFIG = $dockerConfig
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$os = Get-CimInstance Win32_OperatingSystem
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$freeMemoryGiB = [double]$os.FreePhysicalMemory / 1MB
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if ($freeMemoryGiB -lt 16.0) {
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throw ("M49 T3 requires 16 GiB free memory; observed {0:N2} GiB" -f $freeMemoryGiB)
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}
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$canonicalTriton = Get-Container "ndc-mission-core-triton"
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if (-not $canonicalTriton.State.Running -or $canonicalTriton.State.Health.Status -cne "healthy") {
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throw "Canonical Mission Core Triton must remain healthy during M49 T3"
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}
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$containerName = "ndc-mission-core-m49-t3-travel-$RunId"
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if (& docker ps -a --format "{{.Names}}" --filter "name=^/$containerName$") {
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throw "M49 T3 container name already exists"
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}
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$imageTag = "ndc/mission-core-m49-t3-travel:20260826"
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$buildStarted = [DateTimeOffset]::UtcNow
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& docker build --pull=false --tag $imageTag $context
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Assert-LastExitCode "M49 T3 image build"
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$buildCompleted = [DateTimeOffset]::UtcNow
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$runStarted = [DateTimeOffset]::UtcNow
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try {
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& docker run --rm --name $containerName --cpus 16 --memory 24g `
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--volume ((($runOutput -replace "\\", "/")) + ":/evidence") `
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$imageTag
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Assert-LastExitCode "M49 T3 upstream qualification"
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} finally {
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if (& docker ps -a --format "{{.Names}}" --filter "name=^/$containerName$") {
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& docker rm --force $containerName *> $null
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}
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}
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$runCompleted = [DateTimeOffset]::UtcNow
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$image = @((& docker image inspect $imageTag) | ConvertFrom-Json)[0]
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Assert-LastExitCode "M49 T3 image inspection"
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$resultPath = Join-Path $runOutput "result.json"
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if (-not (Test-Path -LiteralPath $resultPath -PathType Leaf)) {
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throw "M49 T3 result.json is missing"
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}
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$result = Get-Content -LiteralPath $resultPath -Raw | ConvertFrom-Json
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if ($result.status -cne "passed") { throw "M49 T3 qualification did not pass" }
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$summary = [ordered]@{
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schema_version = "missioncore.m49-t3-worker-summary/v1"
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worker_id = "worker-006"
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run_id = $RunId
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image_tag = $imageTag
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image_id = [string]$image.Id
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image_size_bytes = [long]$image.Size
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build_started_utc = $buildStarted.ToString("o")
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build_wall_seconds = [math]::Round(($buildCompleted - $buildStarted).TotalSeconds, 6)
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qualification_wall_seconds = [math]::Round(($runCompleted - $runStarted).TotalSeconds, 6)
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free_memory_gib_before = [math]::Round($freeMemoryGiB, 6)
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canonical_triton_id = [string]$canonicalTriton.Id
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canonical_triton_health = [string]$canonicalTriton.State.Health.Status
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candidate_accepted = $true
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ravnoves00_quality_accepted = $false
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realtime_accepted = $false
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navigation_or_actuation_allowed = $false
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}
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$summary | ConvertTo-Json -Depth 3 | Set-Content -LiteralPath (
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Join-Path $runOutput "worker-summary.json"
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) -Encoding utf8
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$summary | ConvertTo-Json -Depth 3
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@@ -0,0 +1,62 @@
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[CmdletBinding()]
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param(
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[Parameter(Mandatory = $true)]
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[string]$ReleaseRoot,
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[Parameter(Mandatory = $true)]
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[ValidatePattern("^[A-Za-z0-9._-]{1,96}$")]
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[string]$RunId
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)
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$ErrorActionPreference = "Stop"
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$taskName = "MissionCore-M49T3Travel"
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$release = (Resolve-Path -LiteralPath $ReleaseRoot).Path
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$payload = Join-Path $release "payload"
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$runner = Join-Path $payload "Invoke-M49T3TravelQualification.ps1"
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if (-not (Test-Path -LiteralPath $runner -PathType Leaf)) {
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throw "M49 T3 runner is missing"
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}
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$existing = Get-ScheduledTask -TaskName $taskName -ErrorAction SilentlyContinue
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if ($existing -and $existing.State -eq "Running") {
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throw "$taskName is already running"
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}
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$powerShell = "$env:SystemRoot\System32\WindowsPowerShell\v1.0\powershell.exe"
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$arguments = @(
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"-NoLogo", "-NoProfile", "-NonInteractive", "-ExecutionPolicy", "Bypass",
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"-File", "`"$runner`"",
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"-BuildContext", "`"$payload`"",
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"-RunId", "`"$RunId`""
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) -join " "
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$userId = [System.Security.Principal.WindowsIdentity]::GetCurrent().Name
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$action = New-ScheduledTaskAction `
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-Execute $powerShell `
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-Argument $arguments `
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-WorkingDirectory $payload
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$principal = New-ScheduledTaskPrincipal `
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-UserId $userId `
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-LogonType Interactive `
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-RunLevel Limited
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$trigger = New-ScheduledTaskTrigger -Once -At ((Get-Date).AddMinutes(30))
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$settings = New-ScheduledTaskSettingsSet `
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-AllowStartIfOnBatteries `
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-DontStopIfGoingOnBatteries `
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-StartWhenAvailable `
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-ExecutionTimeLimit ([TimeSpan]::FromHours(3))
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Register-ScheduledTask `
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-TaskName $taskName `
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-Action $action `
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-Principal $principal `
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-Trigger $trigger `
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-Settings $settings `
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-Description "One-shot M49 T3 pinned TRAVEL upstream qualification." `
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-Force | Out-Null
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Start-ScheduledTask -TaskName $taskName
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[pscustomobject]@{
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task_name = $taskName
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run_id = $RunId
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release_root = $release
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state = (Get-ScheduledTask -TaskName $taskName).State.ToString()
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} | ConvertTo-Json -Compress
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@@ -0,0 +1,72 @@
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FROM ros:jazzy-ros-base@sha256:2589a8fba5257307857890173c069852c2abf913a0be7970f172478baecb09e4
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SHELL ["/bin/bash", "-o", "pipefail", "-c"]
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ARG TRAVEL_REVISION=95dc2fbd66a343efd9060c45a5711b6307a950a4
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ARG KITTI_FIXTURE_SHA256=bf272996d5b6d25cc5589e1089137cb20a98b63bd4823a7fea5631b359f6d68c
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ARG KITTI_GOLD_SHA256=8aaacaa57d17a8a2f043c3ea0a0c134d36a3c50da2385f2364ca4eff53ea9b9f
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ENV DEBIAN_FRONTEND=noninteractive
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RUN apt-get update \
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&& apt-get install -y --no-install-recommends \
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build-essential \
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ca-certificates \
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cmake \
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curl \
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git \
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libboost-filesystem-dev \
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libboost-system-dev \
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libeigen3-dev \
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libpcl-dev \
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mpi-default-dev \
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python3-colcon-common-extensions \
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ros-jazzy-pcl-conversions \
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ros-jazzy-rclcpp \
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ros-jazzy-sensor-msgs \
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ros-jazzy-std-msgs \
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time \
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&& rm -rf /var/lib/apt/lists/*
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RUN mkdir -p /opt/travel/src/TRAVEL \
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&& git -C /opt/travel/src/TRAVEL init \
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&& git -C /opt/travel/src/TRAVEL remote add origin https://github.com/url-kaist/TRAVEL.git \
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&& git -C /opt/travel/src/TRAVEL fetch --depth 1 origin "${TRAVEL_REVISION}" \
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&& git -C /opt/travel/src/TRAVEL checkout --detach FETCH_HEAD \
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&& test "$(git -C /opt/travel/src/TRAVEL rev-parse HEAD)" = "${TRAVEL_REVISION}" \
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&& test -z "$(git -C /opt/travel/src/TRAVEL status --porcelain)"
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RUN mkdir -p /opt/travel/fixture/00/velodyne \
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&& curl -L --fail --retry 3 \
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-o /opt/travel/fixture/00/velodyne/000000.bin \
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https://github.com/url-kaist/TRAVEL/releases/download/test-data-v1/kitti00_000000.bin \
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&& test "$(stat -c%s /opt/travel/fixture/00/velodyne/000000.bin)" = "1994688" \
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&& echo "${KITTI_FIXTURE_SHA256} /opt/travel/fixture/00/velodyne/000000.bin" | sha256sum -c - \
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&& echo "${KITTI_GOLD_SHA256} /opt/travel/src/TRAVEL/cpp/tests/data/kitti00_000000_gold.bin" | sha256sum -c -
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RUN cmake \
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-S /opt/travel/src/TRAVEL/cpp/travel \
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-B /opt/travel/core-build \
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-DTRAVEL_BUILD_EXAMPLES=ON \
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-DTRAVEL_BUILD_TESTS=ON \
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-DCMAKE_BUILD_TYPE=Release \
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&& cmake --build /opt/travel/core-build \
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--target regression_kitti run_travel_kitti \
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--parallel 16
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RUN set +u \
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&& source /opt/ros/jazzy/setup.bash \
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&& set -u \
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&& colcon build \
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--base-paths /opt/travel/src/TRAVEL \
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--build-base /opt/travel/ros-build \
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--install-base /opt/travel/ros-install \
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--merge-install \
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--packages-select travel_ros \
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--cmake-args -DCMAKE_BUILD_TYPE=Release \
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&& test -x /opt/travel/ros-install/lib/travel_ros/travel_node
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COPY qualify.sh /usr/local/bin/m49-t3-travel-qualify
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RUN chmod 0755 /usr/local/bin/m49-t3-travel-qualify
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ENTRYPOINT ["/usr/local/bin/m49-t3-travel-qualify"]
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@@ -0,0 +1,100 @@
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#!/usr/bin/env bash
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set -euo pipefail
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readonly EVIDENCE_ROOT=/evidence
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readonly RESULT_PATH="${EVIDENCE_ROOT}/result.json"
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readonly LOG_PATH="${EVIDENCE_ROOT}/qualification.log"
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readonly RESOURCE_PATH="${EVIDENCE_ROOT}/resource.txt"
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readonly STARTED_UTC="$(date -u +%Y-%m-%dT%H:%M:%SZ)"
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readonly STARTED_NS="$(date +%s%N)"
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mkdir -p "${EVIDENCE_ROOT}"
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if [[ -e "${RESULT_PATH}" || -e "${LOG_PATH}" || -e "${RESOURCE_PATH}" ]]; then
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echo "evidence output already exists" >&2
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exit 2
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fi
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status=failed
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failure_stage=bootstrap
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finalize() {
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local exit_code=$?
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local completed_ns
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local elapsed_ms
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completed_ns="$(date +%s%N)"
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elapsed_ms="$(( (completed_ns - STARTED_NS) / 1000000 ))"
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python3 - "${RESULT_PATH}" "${status}" "${failure_stage}" "${exit_code}" \
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"${STARTED_UTC}" "${elapsed_ms}" <<'PY'
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import json
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import pathlib
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import sys
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target, status, stage, exit_code, started_utc, elapsed_ms = sys.argv[1:]
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document = {
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"schema_version": "missioncore.m49-t3-travel-upstream-qualification/v1",
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"status": status,
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"failure_stage": None if status == "passed" else stage,
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"exit_code": int(exit_code),
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"started_utc": started_utc,
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"elapsed_ms": int(elapsed_ms),
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"authority": {
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"candidate_build_qualified": status == "passed",
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"ravnoves00_quality_accepted": False,
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"realtime_accepted": False,
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"navigation_or_actuation_allowed": False,
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},
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"revisions": {
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"travel": "95dc2fbd66a343efd9060c45a5711b6307a950a4",
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},
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"fixture": {
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"bytes": 1994688,
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"sha256": "bf272996d5b6d25cc5589e1089137cb20a98b63bd4823a7fea5631b359f6d68c",
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"gold_sha256": "8aaacaa57d17a8a2f043c3ea0a0c134d36a3c50da2385f2364ca4eff53ea9b9f",
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},
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}
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pathlib.Path(target).write_text(
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json.dumps(document, indent=2, sort_keys=True) + "\n", encoding="utf-8"
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)
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PY
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}
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trap finalize EXIT
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exec > >(tee "${LOG_PATH}") 2>&1
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failure_stage=source-integrity
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test "$(git -C /opt/travel/src/TRAVEL rev-parse HEAD)" = \
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"95dc2fbd66a343efd9060c45a5711b6307a950a4"
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test -z "$(git -C /opt/travel/src/TRAVEL status --porcelain)"
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test "$(stat -c%s /opt/travel/fixture/00/velodyne/000000.bin)" = "1994688"
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echo "bf272996d5b6d25cc5589e1089137cb20a98b63bd4823a7fea5631b359f6d68c /opt/travel/fixture/00/velodyne/000000.bin" | sha256sum -c -
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echo "8aaacaa57d17a8a2f043c3ea0a0c134d36a3c50da2385f2364ca4eff53ea9b9f /opt/travel/src/TRAVEL/cpp/tests/data/kitti00_000000_gold.bin" | sha256sum -c -
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failure_stage=cpp-kitti-regression
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/usr/bin/time -v -o "${RESOURCE_PATH}" \
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/opt/travel/core-build/tests/regression_kitti \
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/opt/travel/fixture/00/velodyne/000000.bin \
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/tmp/travel-run-dump.bin \
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/opt/travel/src/TRAVEL/cpp/tests/data/kitti00_000000_gold.bin
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failure_stage=cpp-example-smoke
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mkdir -p /tmp/travel-example
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/opt/travel/core-build/examples/run_travel_kitti \
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/opt/travel/fixture/00 0 /tmp/travel-example
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for output in \
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/tmp/travel-example/0_ground.bin \
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/tmp/travel-example/0_nonground.bin \
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/tmp/travel-example/0_labeled.bin; do
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test -s "${output}"
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done
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failure_stage=ros2-discovery
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set +u
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source /opt/ros/jazzy/setup.bash
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source /opt/travel/ros-install/setup.bash
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set -u
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test -x /opt/travel/ros-install/lib/travel_ros/travel_node
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test "$(ros2 pkg prefix travel_ros)" = "/opt/travel/ros-install"
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ros2 pkg executables travel_ros | grep -F "travel_ros travel_node"
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failure_stage=complete
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status=passed
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