feat(perception): integrate vegetation policy review
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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 DDRNet + M49 load gate."""
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from __future__ import annotations
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import argparse
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import json
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import re
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import subprocess
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import sys
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import tempfile
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from pathlib import Path
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SCRIPT_ROOT = Path(__file__).resolve().parent
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if str(SCRIPT_ROOT) not in sys.path:
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sys.path.insert(0, str(SCRIPT_ROOT))
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from build_m49_tgs_integrated_graph_worker_artifact import ( # noqa: E402
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PATCH_ID,
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REPOSITORY_ROOT,
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WHEEL_NAME,
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ArtifactBuildError,
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build_wheel,
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git_revision,
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materialize_revision,
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sha256_file,
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write_archive,
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)
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from build_m49_tgs_integrated_graph_worker_artifact import ( # noqa: E402
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SOURCES as M49_SOURCES,
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)
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SOURCES = M49_SOURCES + (
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Path(
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"experiments/perception/worker/lab_v1_vegetation_goose/"
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"run_goose_vegetation_benchmark.py"
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),
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Path(
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"experiments/perception/worker/lab_v1_vegetation_goose/"
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"run_vegetation_integrated_load.py"
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),
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Path(
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"experiments/perception/worker/m49_t3_travel/"
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"build_vegetation_integrated_graph_evidence.py"
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),
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Path("config/perception/lab-v1-goose-vegetation-benchmark-v1.json"),
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Path("config/perception/lab-v1-vegetation-mission-policy-v1.json"),
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Path("config/perception/lab-v1-vegetation-provider-label-map-v1.json"),
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Path("config/perception/lab-v1-vegetation-integrated-shadow-v1.json"),
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)
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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-vegetation-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.lab-v1-vegetation-integrated-worker-release/v1",
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"patch_id": patch_id,
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"transition": "lab-v1-vegetation-m49-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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"ddrnet_checkpoint_sha256": (
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"b99c2838051bcd7b092fd3970aa62a77d5c0bbb809c9b9afb2ff4b0ebdaa4ee6"
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),
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"images": {
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"travel": (
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"sha256:7b412020f4d8392d1d1ed1b33beadc44140f0ea8f781e62dd69796042334300f"
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),
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"parity": (
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"sha256:ceb13548617e4bd3f619766bfdff00af3fa5160946b367828da6d2233dcdcba0"
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),
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"runtime": (
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"sha256:58df7489c3f2276f9591d500a012dee03e23d35543ce3c390b4c001e6bf90794"
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),
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"vegetation": (
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"sha256:591cb382c099eeb05e7ec16e2371e0b2da54d2bb5c49ec0f4ac88dbf72b0f0cd"
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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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"route_truth_available": 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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"heavy_vegetation_candidates": ["ddrnet"],
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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(
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"\n".join(payload_files) + "\n", encoding="utf-8"
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)
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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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