feat(simulation): add Polygon live worker gateway
This commit is contained in:
DCCONSTRUCTIONS
+134
-2
@@ -18,7 +18,7 @@ from k1link.simulation import (
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RunKind,
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RunState,
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)
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from k1link.web.polygon_api import build_polygon_router
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from k1link.web.polygon_api import StartStockRoverRequest, build_polygon_router
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SHA_A = "a" * 64
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SHA_B = "b" * 64
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@@ -130,7 +130,8 @@ def test_polygon_api_is_read_only_and_fails_closed_when_unconfigured() -> None:
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router = build_polygon_router(root_provider=lambda: None)
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routes = [route for route in router.routes if isinstance(route, APIRoute)]
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assert all(route.methods <= {"GET", "HEAD"} for route in routes)
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archive_routes = [route for route in routes if "/worker" not in route.path]
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assert all(route.methods <= {"GET", "HEAD"} for route in archive_routes)
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with pytest.raises(HTTPException) as failure:
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_endpoint(router, "/api/v1/polygon/runs", "GET")(limit=20)
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assert failure.value.status_code == 503
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@@ -183,3 +184,134 @@ def test_polygon_api_rejects_corrupt_evidence_without_partial_response(
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_endpoint(router, "/api/v1/polygon/runs", "GET")(limit=20)
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assert failure.value.status_code == 500
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assert "целостности" in failure.value.detail
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class _FakeWorkerGateway:
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def __init__(self) -> None:
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self.calls: list[tuple[str, str]] = []
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self.active_run_id: str | None = None
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def status(self) -> dict[str, Any]:
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return self._status()
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def live(self) -> dict[str, Any]:
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if self.active_run_id is None:
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raise AssertionError("test worker has no active run")
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return {
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"schema_version": "missioncore.vehicle-state/v1",
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"run_id": self.active_run_id,
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"sequence": 1,
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"observed_at_utc": "2026-07-24T18:00:00Z",
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"host_monotonic_ns": 123,
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"sim_time_ns": 456,
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"frame_id": "map_enu",
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"child_frame_id": "base_link_flu",
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"pose": {
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"position_m": {"x": 1.0, "y": 2.0, "z": 0.1},
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"orientation_xyzw": {"x": 0.0, "y": 0.0, "z": 0.0, "w": 1.0},
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},
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"source": {
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"provider": "gazebo",
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"topic": "/world/rover/dynamic_pose/info",
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"signal": "ground-truth",
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"quality": "diagnostic",
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},
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"safety": {
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"scope": "virtual-only",
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"actuator_authority": False,
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"navigation_or_safety_accepted": False,
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},
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}
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def start(
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self,
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*,
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run_id: str,
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mission_core_commit: str,
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idempotency_key: str,
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) -> dict[str, Any]:
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self.calls.append(("start", idempotency_key))
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assert mission_core_commit == "d" * 40
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self.active_run_id = run_id
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return self._status()
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def stop(self, *, run_id: str, idempotency_key: str) -> dict[str, Any]:
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self.calls.append(("stop", idempotency_key))
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assert run_id == self.active_run_id
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self.active_run_id = None
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return self._status()
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def _status(self) -> dict[str, Any]:
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return {
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"schema_version": "missioncore.simulation-worker-status/v1",
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"worker_id": "mission-gpu-s1",
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"transport": "unix",
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"mode": "simulation",
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"available": True,
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"control_available": True,
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"active_run_id": self.active_run_id,
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"run_state": "running" if self.active_run_id else None,
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"provider_ids": ["px4-gazebo-stock-rover"] if self.active_run_id else [],
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"isolation": {
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"network": "loopback-only-netns",
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"process_identity": "missioncore",
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"artifact_policy": "d-only",
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},
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"authority": {
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"scope": "virtual-only",
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"actuator_authority": False,
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"direct_actuator_setpoints_allowed": False,
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},
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}
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def test_polygon_worker_api_fails_closed_then_proxies_virtual_only_lifecycle() -> None:
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worker = _FakeWorkerGateway()
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disabled = build_polygon_router(
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root_provider=lambda: None,
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worker_provider=lambda: worker,
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control_provider=lambda: False,
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commit_provider=lambda: "d" * 40,
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)
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status = _endpoint(disabled, "/api/v1/polygon/worker", "GET")()
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assert status["available"] is True
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assert status["control_available"] is False
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with pytest.raises(HTTPException) as failure:
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_endpoint(disabled, "/api/v1/polygon/worker/runs", "POST")(
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request=StartStockRoverRequest(scenario_id="stock-rover-ackermann"),
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idempotency_key="start-disabled",
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)
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assert failure.value.status_code == 403
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enabled = build_polygon_router(
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root_provider=lambda: None,
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worker_provider=lambda: worker,
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control_provider=lambda: True,
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commit_provider=lambda: "d" * 40,
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)
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running = _endpoint(enabled, "/api/v1/polygon/worker/runs", "POST")(
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request=StartStockRoverRequest(scenario_id="stock-rover-ackermann"),
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idempotency_key="start-001",
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)
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assert running["active_run_id"].startswith("s1c-ddddddd-")
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live = _endpoint(enabled, "/api/v1/polygon/worker/live", "GET")()
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assert live["run_id"] == running["active_run_id"]
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assert live["source"]["quality"] == "diagnostic"
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stopped = _endpoint(enabled, "/api/v1/polygon/worker/runs/{run_id}/stop", "POST")(
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run_id=running["active_run_id"],
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idempotency_key="stop-001",
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)
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assert stopped["active_run_id"] is None
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assert worker.calls == [("start", "start-001"), ("stop", "stop-001")]
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def test_polygon_worker_status_is_explicitly_unavailable_when_not_registered() -> None:
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router = build_polygon_router(
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root_provider=lambda: None,
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worker_provider=lambda: None,
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)
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status = _endpoint(router, "/api/v1/polygon/worker", "GET")()
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assert status["schema_version"] == "missioncore.simulation-worker-status/v1"
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assert status["available"] is False
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assert status["control_available"] is False
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assert status["authority"]["scope"] == "virtual-only"
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@@ -0,0 +1,123 @@
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from __future__ import annotations
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import json
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import socket
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import threading
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from pathlib import Path
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from typing import Any
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from uuid import uuid4
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import pytest
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from k1link.simulation.worker_gateway import (
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REQUEST_SCHEMA,
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RESPONSE_SCHEMA,
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SimulationWorkerGatewayError,
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SimulationWorkerUnavailableError,
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UnixSocketWorkerGateway,
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)
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def _status() -> dict[str, Any]:
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return {
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"schema_version": "missioncore.simulation-worker-status/v1",
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"worker_id": "mission-gpu-s1",
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"transport": "unix",
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"mode": "simulation",
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"available": True,
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"control_available": True,
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"active_run_id": None,
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"run_state": None,
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"provider_ids": [],
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"isolation": {
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"network": "loopback-only-netns",
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"process_identity": "missioncore",
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"artifact_policy": "d-only",
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},
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"authority": {
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"scope": "virtual-only",
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"actuator_authority": False,
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"direct_actuator_setpoints_allowed": False,
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},
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}
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def _serve_once(
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socket_path: Path,
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result: dict[str, Any],
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*,
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mutate_response: bool = False,
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) -> tuple[threading.Thread, list[dict[str, Any]]]:
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requests: list[dict[str, Any]] = []
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ready = threading.Event()
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def serve() -> None:
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with socket.socket(socket.AF_UNIX, socket.SOCK_STREAM) as server:
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server.bind(str(socket_path))
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server.listen(1)
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ready.set()
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connection, _ = server.accept()
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with connection:
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request = json.loads(connection.makefile("rb").readline())
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requests.append(request)
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response = {
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"schema_version": RESPONSE_SCHEMA,
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"request_id": "wrong" if mutate_response else request["request_id"],
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"ok": True,
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"result": result,
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"error": None,
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}
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connection.sendall(
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json.dumps(response, separators=(",", ":")).encode("utf-8") + b"\n"
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)
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thread = threading.Thread(target=serve, daemon=True)
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thread.start()
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assert ready.wait(timeout=2)
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return thread, requests
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def test_unix_worker_gateway_uses_exact_bounded_private_protocol() -> None:
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socket_path = Path(f"/tmp/mc-{uuid4().hex}.sock")
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thread, requests = _serve_once(socket_path, _status())
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gateway = UnixSocketWorkerGateway(socket_path)
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try:
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status = gateway.status()
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thread.join(timeout=2)
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assert status["worker_id"] == "mission-gpu-s1"
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assert requests == [
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{
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"schema_version": REQUEST_SCHEMA,
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"request_id": requests[0]["request_id"],
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"operation": "status",
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"payload": {},
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}
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]
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assert len(requests[0]["request_id"]) == 32
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finally:
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socket_path.unlink(missing_ok=True)
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def test_unix_worker_gateway_rejects_response_identity_drift() -> None:
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socket_path = Path(f"/tmp/mc-{uuid4().hex}.sock")
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thread, _ = _serve_once(socket_path, _status(), mutate_response=True)
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gateway = UnixSocketWorkerGateway(socket_path)
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try:
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with pytest.raises(SimulationWorkerGatewayError, match="identity"):
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gateway.status()
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thread.join(timeout=2)
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finally:
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socket_path.unlink(missing_ok=True)
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def test_unix_worker_gateway_reports_missing_worker_without_path_disclosure(
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tmp_path: Path,
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) -> None:
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gateway = UnixSocketWorkerGateway(tmp_path / "missing.sock")
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with pytest.raises(SimulationWorkerUnavailableError) as failure:
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gateway.status()
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assert str(tmp_path) not in str(failure.value)
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