feat(simulation): qualify S0 time and resource gates

simulation/s0/worker-smoke.sh

@@ -12,9 +12,17 @@ readonly PX4_ROOT="${MISSIONCORE_SIM_PX4_ROOT:-${D_ROOT}/source/PX4-Autopilot}"
 readonly AGENT_PREFIX="${MISSIONCORE_SIM_AGENT_PREFIX:-${D_ROOT}/runtime/micro-xrce-dds-agent/2.4.3}"
 readonly PX4_MSGS_SETUP="${MISSIONCORE_SIM_PX4_MSGS_SETUP:-${D_ROOT}/build/ros2/px4_msgs/install/setup.bash}"
 readonly ARTIFACT_ROOT="${MISSIONCORE_SIM_ARTIFACT_ROOT:-${D_ROOT}/artifacts/s0}"
+readonly PROFILE_PATH="${MISSIONCORE_SIM_PROFILE_PATH:-${D_ROOT}/source/qualification-profile.yaml}"
+readonly TIME_PROBE="${MISSIONCORE_SIM_TIME_PROBE:-${D_ROOT}/source/gazebo_time_control.py}"
 readonly RUN_ID="${1:-$(date -u +%Y%m%dT%H%M%SZ)}"
+readonly SPEED_FACTOR="${2:-1}"
 readonly RUN_DIR="${ARTIFACT_ROOT}/${RUN_ID}"
 
+if [[ "${SPEED_FACTOR}" != "1" && "${SPEED_FACTOR}" != "2" ]]; then
+    echo "error: speed factor must be one of the reviewed values: 1 or 2" >&2
+    exit 2
+fi
+
 if [[ "${MISSIONCORE_S0_NETNS:-0}" != "1" ]]; then
     if [[ "${EUID}" -ne 0 ]]; then
         echo "error: initial worker-smoke invocation must run as root to create the network namespace" >&2
@@ -53,6 +61,11 @@ readonly VEHICLE_STATUS_LOG="${RUN_DIR}/vehicle-status.yaml"
 readonly CLOCK_LOG="${RUN_DIR}/clock.yaml"
 readonly NETWORK_LOG="${RUN_DIR}/network.txt"
 readonly RESOURCE_LOG="${RUN_DIR}/resource-snapshot.txt"
+readonly GZ_SERVICES_LOG="${RUN_DIR}/gazebo-services.txt"
+readonly GZ_TOPICS_LOG="${RUN_DIR}/gazebo-topics.txt"
+readonly TIME_CONTROL_LOG="${RUN_DIR}/time-control.json"
+readonly RESOURCE_BASELINE_LOG="${RUN_DIR}/resource-baseline.json"
+readonly TIME_PROBE_STDOUT="${RUN_DIR}/time-probe.stdout"
 readonly RESULT_LOG="${RUN_DIR}/result.env"
 
 for required_file in \
@@ -60,7 +73,9 @@ for required_file in \
     "${PX4_ROOT}/Tools/simulation/gz/worlds/rover.sdf" \
     "${AGENT_BIN}" \
     "/opt/ros/jazzy/setup.bash" \
-    "${PX4_MSGS_SETUP}"; do
+    "${PX4_MSGS_SETUP}" \
+    "${PROFILE_PATH}" \
+    "${TIME_PROBE}"; do
     if [[ ! -e "${required_file}" ]]; then
         echo "error: required S0 runtime input is missing: ${required_file}" >&2
         exit 2
@@ -134,7 +149,7 @@ fi
 } >"${NETWORK_LOG}"
 
 coproc PX4_PROCESS {
-    exec setsid env HEADLESS=1 make -C "${PX4_ROOT}" \
+    exec setsid env HEADLESS=1 PX4_SIM_SPEED_FACTOR="${SPEED_FACTOR}" make -C "${PX4_ROOT}" \
         px4_sitl gz_rover_ackermann >"${PX4_LOG}" 2>&1
 }
 px4_pgid="${PX4_PROCESS_PID}"
@@ -168,6 +183,8 @@ fi
     echo "runtime_listeners=loopback-only-netns"
     ss -lunp
 } >>"${NETWORK_LOG}"
+gz service -l >"${GZ_SERVICES_LOG}"
+gz topic -l >"${GZ_TOPICS_LOG}"
 
 set +u
 # shellcheck source=/dev/null
@@ -189,10 +206,20 @@ if grep -Fq "/fmu/out/vehicle_status_v1" "${TOPICS_LOG}"; then
     vehicle_status_topic="/fmu/out/vehicle_status_v1"
 fi
 timeout 20s ros2 topic echo --once \
-    "${vehicle_status_topic}" >"${VEHICLE_STATUS_LOG}"
+    "${vehicle_status_topic}" px4_msgs/msg/VehicleStatus >"${VEHICLE_STATUS_LOG}"
 timeout 20s ros2 topic echo --once \
     /clock rosgraph_msgs/msg/Clock >"${CLOCK_LOG}"
 
+python3 "${TIME_PROBE}" \
+    --profile "${PROFILE_PATH}" \
+    --speed-factor "${SPEED_FACTOR}" \
+    --time-output "${TIME_CONTROL_LOG}" \
+    --resource-output "${RESOURCE_BASELINE_LOG}" \
+    --storage-root "${D_ROOT}" \
+    --owned-pid "${agent_pid}" \
+    --owned-pgid "${px4_pgid}" \
+    --owned-pgid "${bridge_pgid}" >"${TIME_PROBE_STDOUT}"
+
 {
     echo "sample=non-acceptance-point-snapshot"
     free -b
@@ -219,6 +246,8 @@ px4_status="fail"
 dds_status="fail"
 vehicle_status="fail"
 clock_status="fail"
+time_control_status="fail"
+resource_baseline_status="fail"
 lifecycle_status="fail"
 
 grep -Fq "world: rover, model: rover_ackermann_0" "${PX4_LOG}" && px4_status="pass"
@@ -230,6 +259,9 @@ if grep -Fq "session established" "${AGENT_LOG}" \
 fi
 grep -Fq "arming_state:" "${VEHICLE_STATUS_LOG}" && vehicle_status="pass"
 grep -Fq "clock:" "${CLOCK_LOG}" && clock_status="pass"
+grep -Fq '"verdict": "pass"' "${TIME_CONTROL_LOG}" && time_control_status="pass"
+grep -Fq '"verdict": "pass"' "${RESOURCE_BASELINE_LOG}" \
+    && resource_baseline_status="pass"
 if ! pgrep -f "${PX4_ROOT}/build/px4_sitl_default/bin/px4" >/dev/null \
     && ! pgrep -f "gz sim.*rover.sdf" >/dev/null \
     && ! pgrep -f "${AGENT_BIN}" >/dev/null; then
@@ -240,10 +272,13 @@ fi
     echo "run_id=${RUN_ID}"
     echo "network_scope=loopback-only-netns"
     echo "actuator_authority=false"
+    echo "speed_factor=${SPEED_FACTOR}"
     echo "px4_stock_rover=${px4_status}"
     echo "uxrce_dds=${dds_status}"
     echo "ros2_vehicle_status=${vehicle_status}"
     echo "gazebo_clock=${clock_status}"
+    echo "pause_step_speed=${time_control_status}"
+    echo "resource_baseline=${resource_baseline_status}"
     echo "clean_lifecycle=${lifecycle_status}"
 } >"${RESULT_LOG}"
 
@@ -251,6 +286,8 @@ if [[ "${px4_status}" != "pass" \
     || "${dds_status}" != "pass" \
     || "${vehicle_status}" != "pass" \
     || "${clock_status}" != "pass" \
+    || "${time_control_status}" != "pass" \
+    || "${resource_baseline_status}" != "pass" \
     || "${lifecycle_status}" != "pass" ]]; then
     echo "error: one or more S0 smoke checks failed; inspect ${RUN_DIR}" >&2
     exit 1