feat(simulation): add Worker AI polygon runtime and terrain navigation

2026-09-25 16:40:45 +03:00
parent a7c64e009d
commit f01bd39037
88 changed files with 9918 additions and 108 deletions
@@ -0,0 +1,97 @@
+"""Private loopback transport over the operator's dedicated SSH reverse tunnel."""
+
+import hashlib
+import http.client
+import json
+import threading
+import time
+from pathlib import Path
+from urllib.parse import urlsplit
+
+PREFIX = "/api/v1/ai-polygon"
+
+
+class CoreClient:
+    def __init__(self, origin: str, token_file: Path, instance: str):
+        url = urlsplit(origin)
+        if (
+            url.scheme != "http"
+            or url.hostname != "127.0.0.1"
+            or url.path
+            or url.query
+            or url.fragment
+            or url.username
+            or not url.port
+        ):
+            raise ValueError("Core must use an explicit loopback SSH tunnel origin")
+        self.port = url.port
+        self.token = token_file.read_text().strip()
+        if not 32 <= len(self.token) <= 512:
+            raise ValueError("Invalid simulation credential")
+        self.instance = instance
+        self._connections = threading.local()
+
+    def request(self, path: str, body=None):
+        connection = getattr(self._connections, "connection", None)
+        if (
+            connection is not None
+            and time.monotonic() - getattr(self._connections, "last_used", 0) > 2
+        ):
+            connection.close()
+            connection = None
+        if connection is None:
+            connection = http.client.HTTPConnection("127.0.0.1", self.port, timeout=10)
+            self._connections.connection = connection
+        try:
+            connection.request(
+                "GET" if body is None else "POST",
+                PREFIX + path,
+                body=None if body is None else json.dumps(body, allow_nan=False).encode(),
+                headers={
+                    "Authorization": "Bearer " + self.token,
+                    "Worker-Instance": self.instance,
+                    "Content-Type": "application/json",
+                },
+            )
+            response = connection.getresponse()
+            raw = response.read(4 * 1024**2 + 1)
+            if response.status not in (200, 201) or len(raw) > 4 * 1024**2:
+                raise RuntimeError("Core rejected simulation operation: " + str(response.status))
+            self._connections.last_used = time.monotonic()
+            return json.loads(raw)
+        except Exception:
+            connection.close()
+            self._connections.connection = None
+            # Never retry an uncertain mutation automatically.
+            raise
+
+    def download(self, world: dict, target: Path):
+        if target.exists():
+            with target.open("rb") as stream:
+                if hashlib.file_digest(stream, "sha256").hexdigest() == world["sha256"]:
+                    return
+        if world.get("storage", {}).get("kind") == "worker":
+            raise RuntimeError("The admitted Worker-local scene is missing or changed")
+        connection = http.client.HTTPConnection("127.0.0.1", self.port, timeout=30)
+        temporary = target.with_suffix(".part")
+        try:
+            connection.request("GET", PREFIX + "/worlds/" + world["world_id"] + "/source.ply")
+            response = connection.getresponse()
+            if (
+                response.status != 200
+                or int(response.getheader("Content-Length") or 0) != world["byte_length"]
+            ):
+                raise RuntimeError("Scene transfer contract changed")
+            digest, size = hashlib.sha256(), 0
+            with temporary.open("wb") as stream:
+                while block := response.read(4 * 1024**2):
+                    size += len(block)
+                    if size > world["byte_length"]:
+                        raise RuntimeError("Scene transfer exceeds admitted size")
+                    digest.update(block)
+                    stream.write(block)
+            if size != world["byte_length"] or digest.hexdigest() != world["sha256"]:
+                raise RuntimeError("Scene transfer identity changed")
+            temporary.replace(target)
+        finally:
+            connection.close()