feat(perception): add integrated TGS graph shadow gate
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DCCONSTRUCTIONS
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#!/usr/bin/env python3
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"""Build a clean-revision Worker 006 release for the integrated M4.9 shadow."""
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from __future__ import annotations
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import argparse
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import gzip
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import hashlib
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import io
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import json
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import os
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import re
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import subprocess
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import tarfile
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import tempfile
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from pathlib import Path
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REPOSITORY_ROOT = Path(__file__).resolve().parents[1]
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WHEEL_NAME = "nodedc_mission_core-0.1.0-py3-none-any.whl"
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PATCH_ID = re.compile(r"^[A-Za-z0-9._-]{1,96}$")
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SOURCES = (
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Path("experiments/perception/worker/Invoke-M49TgsIntegratedGraphShadow.ps1"),
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Path("experiments/perception/run_m48s_reference_graph_shadow_worker.py"),
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Path("experiments/perception/worker/rf_detr_large_native_kb4_config.pbtxt"),
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Path("experiments/perception/worker/m49_t3_travel/prepare_tgs_fail_closed_inputs.py"),
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Path("experiments/perception/worker/m49_t3_travel/prepare_tgs_full_shadow_inputs.py"),
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Path("experiments/perception/worker/m49_t3_travel/run_tgs_full_shadow.cpp"),
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Path("experiments/perception/worker/m49_t3_travel/build_tgs_full_shadow_binary.sh"),
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Path("experiments/perception/worker/m49_t3_travel/run_tgs_integrated_shadow.sh"),
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Path("experiments/perception/worker/m49_t3_travel/build_tgs_full_shadow_evidence.py"),
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Path("experiments/perception/worker/m49_t3_travel/build_tgs_integrated_graph_evidence.py"),
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Path("config/perception/m49-tgs-integrated-graph-shadow-v1.json"),
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Path("config/perception/m49-tgs-full-shadow-v1.json"),
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Path("config/perception/m48n-rf-detr-native-reference-graph-shadow-v0.json"),
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Path("config/perception/m4-recorded-realtime-baseline-v1.json"),
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Path("config/perception/rf-detr-large-native-kb4-risk-shadow-v0.json"),
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Path("config/perception/m4-geometry-association-v1.json"),
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Path("config/perception/m4-temporal-motion-v1.json"),
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Path("config/perception/m4-rolling-local-map-v1.json"),
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Path("config/perception/m4-replay-threat-v3.json"),
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)
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class ArtifactBuildError(RuntimeError):
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"""The integrated Worker release cannot be built from its declared revision."""
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def sha256_file(path: Path) -> str:
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digest = hashlib.sha256()
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with path.open("rb") as stream:
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for chunk in iter(lambda: stream.read(1024 * 1024), b""):
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digest.update(chunk)
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return digest.hexdigest()
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def git_revision() -> str:
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result = subprocess.run(
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["git", "rev-parse", "HEAD"],
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cwd=REPOSITORY_ROOT,
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check=True,
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capture_output=True,
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text=True,
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)
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revision = result.stdout.strip()
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if re.fullmatch(r"[a-f0-9]{40}", revision) is None:
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raise ArtifactBuildError("Git revision is not a full SHA-1")
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return revision
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def materialize_revision(revision: str, destination: Path) -> None:
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archive_path = destination.parent / "source.tar"
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subprocess.run(
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["git", "archive", "--format=tar", "--output", str(archive_path), revision],
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cwd=REPOSITORY_ROOT,
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check=True,
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capture_output=True,
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)
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destination.mkdir()
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root = destination.resolve()
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with tarfile.open(archive_path, "r:") as archive:
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for member in archive.getmembers():
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target = (destination / member.name).resolve()
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if target != root and root not in target.parents:
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raise ArtifactBuildError("Git archive contains an unsafe path")
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archive.extractall(destination)
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def build_wheel(source_root: Path, output: Path) -> Path:
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environment = os.environ.copy()
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environment["SOURCE_DATE_EPOCH"] = "0"
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result = subprocess.run(
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["uv", "build", "--wheel", "--out-dir", str(output)],
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cwd=source_root,
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env=environment,
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check=False,
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capture_output=True,
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text=True,
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)
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if result.returncode != 0:
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detail = (result.stderr or result.stdout).strip()
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raise ArtifactBuildError(f"wheel build failed: {detail}")
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wheel = output / WHEEL_NAME
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if not wheel.is_file() or wheel.is_symlink():
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raise ArtifactBuildError("expected Worker wheel was not built")
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return wheel
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def tar_info(path: Path, arcname: str) -> tarfile.TarInfo:
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info = tarfile.TarInfo(arcname)
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info.uid = info.gid = 0
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info.uname = info.gname = "root"
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info.mtime = 0
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if path.is_dir():
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info.type = tarfile.DIRTYPE
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info.mode = 0o755
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else:
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info.type = tarfile.REGTYPE
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info.mode = 0o755 if path.suffix in {".sh", ".ps1", ".py"} else 0o644
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info.size = path.stat().st_size
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return info
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def write_archive(stage: Path, target: Path) -> None:
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members = [stage / "manifest.env", stage / "files.txt", stage / "payload"]
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members.extend(sorted((stage / "payload").rglob("*")))
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target.parent.mkdir(parents=True, exist_ok=True)
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with (
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target.open("wb") as raw,
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gzip.GzipFile(filename="", mode="wb", fileobj=raw, compresslevel=9, mtime=0) as compressed,
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tarfile.open(fileobj=compressed, mode="w", format=tarfile.PAX_FORMAT) as archive,
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):
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for path in members:
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info = tar_info(path, path.relative_to(stage).as_posix())
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if path.is_file():
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with path.open("rb") as stream:
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archive.addfile(info, stream)
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else:
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archive.addfile(info, io.BytesIO())
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def build_artifact(
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patch_id: str,
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output_directory: Path,
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*,
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revision: str | None = None,
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source_root: Path | None = None,
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) -> dict[str, object]:
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if PATCH_ID.fullmatch(patch_id) is None:
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raise ArtifactBuildError("patch id is invalid")
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selected_revision = revision or git_revision()
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if re.fullmatch(r"[a-f0-9]{40}", selected_revision) is None:
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raise ArtifactBuildError("artifact revision is invalid")
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with tempfile.TemporaryDirectory(prefix="mission-core-m49-integrated-") as directory:
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stage = Path(directory)
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snapshot = source_root
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if snapshot is None:
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snapshot = stage / "source"
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materialize_revision(selected_revision, snapshot)
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sources = tuple(snapshot / relative for relative in SOURCES)
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if any(path.is_symlink() or not path.is_file() for path in sources):
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raise ArtifactBuildError("release input is not a regular file")
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payload = stage / "payload"
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payload.mkdir()
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wheel = build_wheel(snapshot, stage / "wheel")
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copied: list[Path] = []
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for source in sources:
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destination = payload / source.name
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if destination.exists():
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raise ArtifactBuildError("release payload file names are not unique")
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destination.write_bytes(source.read_bytes())
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copied.append(destination)
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wheel_destination = payload / WHEEL_NAME
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wheel_destination.write_bytes(wheel.read_bytes())
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copied.append(wheel_destination)
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release = {
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"schema_version": "missioncore.m49-tgs-integrated-graph-worker-release/v1",
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"patch_id": patch_id,
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"transition": "m49-tgs-native-risk-integrated-shadow/v1",
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"code_revision": selected_revision,
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"worker_id": "worker-006",
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"source_pack_sha256": (
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"0685d24219d8236caf8b7f1685e93f6d6b59e7fd015a768d88a92bbe8b154944"
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),
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"expected_frames": 4489,
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"requested_source_rate_hz": 12.0,
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"native_engine_sha256": (
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"b8a40b3580edff001ec9680de68707242294ff590ab296000fae371f1083f695"
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),
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"images": {
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"travel": "sha256:7b412020f4d8392d1d1ed1b33beadc44140f0ea8f781e62dd69796042334300f",
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"parity": "sha256:ceb13548617e4bd3f619766bfdff00af3fa5160946b367828da6d2233dcdcba0",
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"runtime": (
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"sha256:58df7489c3f2276f9591d500a012dee03e23d35543ce3c390b4c001e6bf90794"
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),
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},
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"authority": {
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"visual_quality_accepted": False,
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"traversability_accepted": False,
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"physical_free_space_accepted": False,
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"commands_enabled": False,
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"actuation_allowed": False,
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"navigation_or_safety_accepted": False,
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"production_accepted": False,
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},
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"scope": {
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"gauss_or_playcanvas_action": "none",
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"durable_worker_action": "none",
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"canonical_triton_action": "none",
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},
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"files": {
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path.name: {"sha256": sha256_file(path), "bytes": path.stat().st_size}
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for path in sorted(copied)
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},
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}
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release_path = payload / "release.json"
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release_path.write_text(
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json.dumps(release, indent=2, sort_keys=True) + "\n", encoding="utf-8"
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)
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payload_files = sorted((*release["files"], release_path.name))
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(stage / "manifest.env").write_text(
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f"id={patch_id}\ncomponent=mission-core-worker\ntype=shadow-release\n",
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encoding="utf-8",
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)
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(stage / "files.txt").write_text("\n".join(payload_files) + "\n", encoding="utf-8")
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target = output_directory.resolve() / f"nodedc-{patch_id}.tgz"
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write_archive(stage, target)
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return {
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"ok": True,
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"patch_id": patch_id,
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"artifact": str(target),
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"sha256": sha256_file(target),
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"code_revision": selected_revision,
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"wheel_sha256": release["files"][WHEEL_NAME]["sha256"],
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"payload_files": payload_files,
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"transition": release["transition"],
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}
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def main() -> int:
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parser = argparse.ArgumentParser()
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parser.add_argument("patch_id")
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parser.add_argument(
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"--output-directory",
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type=Path,
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default=REPOSITORY_ROOT / ".runtime/worker-artifacts",
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)
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arguments = parser.parse_args()
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try:
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result = build_artifact(arguments.patch_id, arguments.output_directory)
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except (ArtifactBuildError, OSError, subprocess.SubprocessError) as exc:
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parser.error(str(exc))
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print(json.dumps(result, indent=2, sort_keys=True))
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return 0
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if __name__ == "__main__":
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raise SystemExit(main())
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