feat(perception): qualify E33 worker shadow
This commit is contained in:
DCCONSTRUCTIONS
@@ -0,0 +1,141 @@
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[CmdletBinding()]
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param(
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[Parameter(Mandatory = $true)]
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[string]$PackageRoot,
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[Parameter(Mandatory = $true)]
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[ValidatePattern("^[a-z0-9][a-z0-9._-]{2,95}$")]
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[string]$ExecutionId,
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[string]$OutputRoot = "D:\NDC_MISSIONCORE\runtime\derived\e33-worker-shadow",
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[string]$ContainerImage = "nvcr.io/nvidia/tritonserver:26.06-py3@sha256:58df7489c3f2276f9591d500a012dee03e23d35543ce3c390b4c001e6bf90794",
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[ValidateRange(1, 1000)]
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[int]$FreeGiBFloor = 300
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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) {
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throw "$Operation failed with exit code $LASTEXITCODE"
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}
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}
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function Resolve-DDirectory([string]$Path, [string]$Label) {
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$item = Get-Item -LiteralPath (Resolve-Path -LiteralPath $Path).Path -Force
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$root = [IO.Path]::GetPathRoot($item.FullName).TrimEnd("\")
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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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$root -ine "D:"
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) {
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throw "$Label must be a real D: directory"
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}
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return $item.FullName
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}
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function Convert-ToDockerPath([string]$Path) {
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return $Path.Replace("\", "/")
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}
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function Assert-FreeSpace([string]$Phase) {
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$free = [int64](Get-PSDrive -Name D).Free
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$floor = [int64]$FreeGiBFloor * 1GB
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Write-Host (
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"DISK_GUARD PHASE={0} DRIVE=D FREE_BYTES={1} FREE_GIB={2} FLOOR_GIB={3}" -f
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$Phase, $free, [math]::Round($free / 1GB, 3), $FreeGiBFloor
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)
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if ($free -lt ($floor + 1GB)) {
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throw "D: lacks the guarded E33 reserve during $Phase"
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}
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return $free
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}
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$package = Resolve-DDirectory $PackageRoot "E33 package"
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$packageManifestPath = Join-Path $package "manifest.json"
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if (-not (Test-Path -LiteralPath $packageManifestPath -PathType Leaf)) {
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throw "E33 package manifest is missing"
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}
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$packageManifest = Get-Content -LiteralPath $packageManifestPath -Raw | ConvertFrom-Json
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if (
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$packageManifest.schema_version -ne "missioncore.e33-worker-package/v1" -or
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$packageManifest.package_id -ne (Split-Path $package -Leaf) -or
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$packageManifest.package_id -notmatch "^e33-worker-package-[a-f0-9]{64}$"
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) {
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throw "E33 package manifest is incompatible"
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}
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if (-not (Test-Path -LiteralPath $OutputRoot)) {
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$null = New-Item -ItemType Directory -Path $OutputRoot
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}
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$output = Resolve-DDirectory $OutputRoot "E33 output root"
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$freeBefore = Assert-FreeSpace "preflight"
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& docker image inspect $ContainerImage *> $null
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Assert-LastExitCode "Pinned E33 container image inspection"
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$dockerPackage = Convert-ToDockerPath $package
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$dockerOutput = Convert-ToDockerPath $output
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$packageName = Split-Path $package -Leaf
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$containerPackage = "/opt/e33-input/$packageName"
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$command = @(
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"run", "--rm",
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"--network", "none",
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"--read-only",
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"--security-opt", "no-new-privileges:true",
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"--cap-drop", "ALL",
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"--pids-limit", "128",
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"--gpus", "all",
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"--tmpfs", "/tmp:rw,noexec,nosuid,size=256m",
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"-e", "PYTHONDONTWRITEBYTECODE=1",
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"-e", ("PYTHONPATH={0}/runtime" -f $containerPackage),
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"-e", ("E33_CONTAINER_IMAGE={0}" -f $ContainerImage),
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"-e", ("E33_WORKER_NODE={0}" -f $env:COMPUTERNAME),
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"-v", ("{0}:{1}:ro" -f $dockerPackage, $containerPackage),
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"-v", ("{0}:/output:rw" -f $dockerOutput),
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"--entrypoint", "python3",
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$ContainerImage,
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("{0}/runtime/run_e33_worker_shadow.py" -f $containerPackage),
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"--package", $containerPackage,
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"--output-root", "/output",
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"--execution-id", $ExecutionId
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)
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Write-Output ("PACKAGE_ID={0}" -f $packageManifest.package_id)
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Write-Output ("PACKAGE_IDENTITY_SHA256={0}" -f $packageManifest.identity_sha256)
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Write-Output ("CONTAINER_IMAGE={0}" -f $ContainerImage)
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Write-Output ("EXECUTION_ID={0}" -f $ExecutionId)
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& docker @command
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Assert-LastExitCode "E33 worker shadow"
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$matches = @(
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Get-ChildItem -LiteralPath $output -Directory -Filter "e33-worker-shadow-*" |
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Where-Object {
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$resultPath = Join-Path $_.FullName "result.json"
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if (-not (Test-Path -LiteralPath $resultPath -PathType Leaf)) {
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return $false
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}
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$result = Get-Content -LiteralPath $resultPath -Raw | ConvertFrom-Json
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return (
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$result.identity.execution_id -eq $ExecutionId -and
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$result.identity.package_id -eq $packageManifest.package_id
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)
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}
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)
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if ($matches.Count -ne 1) {
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throw "E33 immutable result could not be resolved uniquely"
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}
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$resultRoot = $matches[0].FullName
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$resultManifest = Get-Content -LiteralPath (Join-Path $resultRoot "result.json") -Raw |
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ConvertFrom-Json
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if (
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$resultManifest.schema_version -ne "missioncore.e33-worker-shadow-result/v1" -or
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$resultManifest.publication_scope -ne "worker-shadow-diagnostic-only"
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) {
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throw "E33 result manifest is incompatible"
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}
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$freeAfter = Assert-FreeSpace "completed"
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Write-Output ("RESULT_ROOT={0}" -f $resultRoot)
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Write-Output ("RESULT_ID={0}" -f $resultManifest.result_id)
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Write-Output ("ACCEPTANCE_STATE={0}" -f $resultManifest.acceptance_state)
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Write-Output ("DISK_FREE_BYTES_BEFORE={0}" -f $freeBefore)
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Write-Output ("DISK_FREE_BYTES_AFTER={0}" -f $freeAfter)
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@@ -0,0 +1,37 @@
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{
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"schema_version": "missioncore.e33-worker-shadow-profile/v1",
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"mode": "full-session-qualification",
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"expected_e32_result_id": "e32-track-geometry-a14ca0e7fb3850ca0dfa3c41634e1b490a2d58ab74d101afc6d6921fbdb0e6fd",
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"expected_worker_node": "DESKTOP-OPJ8J04",
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"container_image": "nvcr.io/nvidia/tritonserver:26.06-py3@sha256:58df7489c3f2276f9591d500a012dee03e23d35543ce3c390b4c001e6bf90794",
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"pacing": {
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"speed": 1.0,
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"start_delay_ms": 250.0
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},
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"queues": {
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"work_capacity": 2,
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"result_capacity": 2
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},
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"deadlines": {
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"result_ms": 100.0,
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"stale_ms": 150.0,
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"unavailable_ms": 500.0
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},
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"resources": {
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"sample_interval_seconds": 1.0
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},
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"acceptance": {
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"minimum_effective_fps": 9.5,
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"maximum_input_drop_fraction": 0.001,
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"maximum_result_drop_fraction": 0.0,
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"maximum_result_age_p95_ms": 100.0,
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"maximum_deadline_miss_fraction": 0.01,
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"maximum_release_lag_p95_ms": 25.0,
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"maximum_process_rss_mib": 1024.0,
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"require_gpu_visible": true
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},
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"authority": {
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"commands_enabled": false,
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"navigation_or_safety_accepted": false
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}
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}
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@@ -0,0 +1,40 @@
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#!/usr/bin/env python3
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"""Execute one immutable E33 package inside the bounded worker container."""
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from __future__ import annotations
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import argparse
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import json
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from pathlib import Path
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from k1link.compute.e33_worker_shadow import run_e33_worker_shadow
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def main() -> int:
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parser = argparse.ArgumentParser()
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parser.add_argument("--package", type=Path, required=True)
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parser.add_argument("--output-root", type=Path, required=True)
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parser.add_argument("--execution-id", required=True)
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args = parser.parse_args()
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result = run_e33_worker_shadow(
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args.package,
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args.output_root,
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execution_id=args.execution_id,
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)
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print(
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json.dumps(
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{
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"result_id": result.result_id,
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"result_root": str(result.result_root),
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"accepted": result.accepted,
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"metrics": result.report["metrics"],
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},
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ensure_ascii=False,
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sort_keys=True,
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)
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)
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return 0 if result.accepted else 2
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if __name__ == "__main__":
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raise SystemExit(main())
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