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perf(simulation): fsync commands without replaying run history

This commit is contained in:
DCCONSTRUCTIONS 2026-07-24 22:21:25 +03:00
parent 8eecb8ed69
commit b9ce5f53a0
3 changed files with 66 additions and 16 deletions
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2
src/k1link/simulation/px4_rover_control.py
View File

@ -12,7 +12,7 @@ from k1link.simulation.contracts import AckermannControlSetpoint
OFFBOARD_HEARTBEAT_SECONDS: Final = 0.1
OFFBOARD_WARMUP_HEARTBEATS: Final = 12
OFFBOARD_ADMISSION_TIMEOUT_SECONDS: Final = 12.0
OFFBOARD_ADMISSION_TIMEOUT_SECONDS: Final = 25.0
VEHICLE_COMMAND_DO_SET_MODE: Final = 176
VEHICLE_COMMAND_COMPONENT_ARM_DISARM: Final = 400

58
src/k1link/simulation/run_store.py
View File

@ -229,19 +229,7 @@ class QualificationRunStore:
self._require_writable()
with self._lock:
run = self.load(command.run_id)
if run.kind not in COMMANDABLE_RUN_KINDS:
raise QualificationRunTransitionError(
f"{run.kind.value} cannot causally accept control commands"
)
if run.state is not RunState.RUNNING:
raise QualificationRunTransitionError(
"control commands are accepted only while the run is running"
)
if command.authority_generation != run.authority.generation:
raise QualificationRunConflictError("command authority generation is stale")
ttl_ns = command.valid_until_sim_ns - command.issued_at_sim_ns
if ttl_ns > run.authority.command_ttl_max_ns:
raise QualificationRunTransitionError("command TTL exceeds the authority limit")
_validate_command_admission(command, run)
directory = self._existing_run_path(command.run_id) / "commands"
expected_sequence = _next_sequence(directory)
if command.sequence != expected_sequence:
@ -252,6 +240,31 @@ class QualificationRunStore:
)
return command
def submit_admitted_command(
self,
command: ControlSetpoint,
*,
admitted_run: QualificationRun,
) -> ControlSetpoint:
"""Fsync one command using the worker's single-writer admitted run snapshot."""
self._require_writable()
with self._lock:
if admitted_run.run_id != command.run_id:
raise QualificationRunConflictError("command belongs to another admitted run")
_validate_command_admission(command, admitted_run)
directory = self._existing_run_path(command.run_id) / "commands"
if command.sequence < 1:
raise QualificationRunConflictError("command sequence must be positive")
previous = directory / _sequence_name(command.sequence - 1)
if command.sequence > 1 and not previous.is_file():
raise QualificationRunConflictError("command sequence would create a journal gap")
_append_json_exclusive(
directory / _sequence_name(command.sequence),
command.to_dict(),
)
return command
def list_commands(self, run_id: str) -> tuple[ControlSetpoint, ...]:
path = self._existing_run_path(run_id)
with self._lock:
@ -536,6 +549,25 @@ def _next_sequence(directory: Path) -> int:
return len(_read_sequence_directory(directory, "journal")) + 1
def _validate_command_admission(
command: ControlSetpoint,
run: QualificationRun,
) -> None:
if run.kind not in COMMANDABLE_RUN_KINDS:
raise QualificationRunTransitionError(
f"{run.kind.value} cannot causally accept control commands"
)
if run.state is not RunState.RUNNING:
raise QualificationRunTransitionError(
"control commands are accepted only while the run is running"
)
if command.authority_generation != run.authority.generation:
raise QualificationRunConflictError("command authority generation is stale")
ttl_ns = command.valid_until_sim_ns - command.issued_at_sim_ns
if ttl_ns > run.authority.command_ttl_max_ns:
raise QualificationRunTransitionError("command TTL exceeds the authority limit")
def _sequence_name(sequence: int) -> str:
return f"{sequence:0{SEQUENCE_WIDTH}d}.json"

22
src/k1link/simulation/worker_agent.py
View File

@ -250,6 +250,10 @@ class SimulationWorkerAgent:
observed_at_utc=_utc_now(),
host_monotonic_ns=time.monotonic_ns(),
)
active = tuple(run for run in self.store.list_runs() if run.state in ACTIVE_STATES)
if len(active) > 1:
raise WorkerAgentError("multiple active qualification runs violate worker authority")
self._active_run_cache = active[0] if active else None
def serve_forever(self) -> None:
self.socket_path.parent.mkdir(mode=0o700, parents=True, exist_ok=True)
@ -300,6 +304,7 @@ class SimulationWorkerAgent:
terminal_state=RunState.ABORTED,
reason="worker-agent-shutdown",
)
self._active_run_cache = None
except Exception:
self.supervisor.stop()
@ -417,6 +422,7 @@ class SimulationWorkerAgent:
)
if running.state is not RunState.RUNNING:
raise WorkerAgentError(f"provider start ended in terminal state {running.state.value}")
self._active_run_cache = running
try:
self.command_controller.start(run_id)
self.collector.collect(run_id)
@ -433,8 +439,14 @@ class SimulationWorkerAgent:
terminal_state=RunState.ABORTED,
reason="px4-command-controller-admission-failed",
)
self._active_run_cache = None
finally:
raise WorkerAgentError("PX4 command controller admission failed") from exc
self._command_history[run_id] = {
command.command_id: command
for command in self.store.list_commands(run_id)
if isinstance(command, AckermannControlSetpoint)
}
return self.status()
def stop(self, *, run_id: str, idempotency_key: str) -> dict[str, Any]:
@ -472,6 +484,7 @@ class SimulationWorkerAgent:
) from command_stop_error
if terminal.state is not RunState.COMPLETED:
raise WorkerAgentError(f"provider stop ended in terminal state {terminal.state.value}")
self._active_run_cache = None
return self.status()
def command(
@ -525,7 +538,7 @@ class SimulationWorkerAgent:
steering_normalized=steering_normalized,
source="mission-core-control-station",
)
self.store.submit_command(command)
self.store.submit_admitted_command(command, admitted_run=active)
history[command.command_id] = command
try:
snapshot = self.command_controller.submit(command)
@ -624,10 +637,15 @@ class SimulationWorkerAgent:
)
def _active_run(self) -> QualificationRun | None:
cached: QualificationRun | None = getattr(self, "_active_run_cache", None)
if cached is not None:
return cached
active = tuple(run for run in self.store.list_runs() if run.state in ACTIVE_STATES)
if len(active) > 1:
raise WorkerAgentError("multiple active qualification runs violate worker authority")
return active[0] if active else None
result = active[0] if active else None
self._active_run_cache = result
return result
def _preflight(self) -> None:
required = (self.paths.px4_root, self.paths.agent_binary, self.paths.scenario_path)