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

simulation/ai-polygon/ddrnet_server.py

@@ -0,0 +1,83 @@
+"""Resident reference DDRNet adapter; run only inside the pinned module image.
+
+Raw pinhole RGB is the only input. No device mask, scene labels or actor truth.
+The container publishes this port on Windows loopback only and owns no weights.
+"""
+
+import hashlib
+import importlib.util
+import json
+from http.server import BaseHTTPRequestHandler, HTTPServer
+from pathlib import Path
+
+import numpy as np
+from PIL import Image
+
+
+def checked(path, expected):
+    value = Path(path)
+    if hashlib.sha256(value.read_bytes()).hexdigest() != expected:
+        raise RuntimeError("Pinned DDRNet asset changed: " + value.name)
+    return value
+
+
+def main():
+    checkpoint = checked(
+        "/assets/ddrnet-checkpoint.pth",
+        "b99c2838051bcd7b092fd3970aa62a77d5c0bbb809c9b9afb2ff4b0ebdaa4ee6",
+    )
+    runner = checked(
+        "/assets/ddrnet-goose-runner.py",
+        "b18ad60f277eea69a240a28f290611b94627fb9707faf1bb3e6e22102dad67c1",
+    )
+    spec = importlib.util.spec_from_file_location("polygon_pinned_goose", runner)
+    module = importlib.util.module_from_spec(spec)
+    spec.loader.exec_module(module)
+    model, _, _ = module.load_model("ddrnet", checkpoint)
+    tensor, _ = module.preprocess(Image.fromarray(np.zeros((600, 800, 3), np.uint8)))
+    module.infer(model, tensor)
+
+    class Handler(BaseHTTPRequestHandler):
+        def setup(self):
+            super().setup()
+            self.connection.settimeout(10)
+
+        def reply(self, status, body, kind="application/octet-stream"):
+            self.send_response(status)
+            self.send_header("Content-Type", kind)
+            self.send_header("Content-Length", str(len(body)))
+            self.end_headers()
+            self.wfile.write(body)
+
+        def do_GET(self):
+            if self.path != "/ready":
+                self.reply(404, b"")
+                return
+            self.reply(200, json.dumps({"model": "ddrnet-goose-pytorch-reference"}).encode())
+
+        def do_POST(self):
+            if self.path != "/infer" or self.headers.get("Content-Length") != "1440000":
+                self.reply(400, b"Expected 800x600 raw RGB uint8")
+                return
+            try:
+                raw = self.rfile.read(1440000)
+                if len(raw) != 1440000:
+                    raise ValueError("Incomplete camera frame")
+                rgb = np.frombuffer(raw, np.uint8).reshape(600, 800, 3)
+                tensor, _ = module.preprocess(Image.fromarray(rgb))
+                mask, _ = module.infer(model, tensor)
+                if mask.shape != (512, 512) or np.any(mask < 0) or np.any(mask >= 64):
+                    raise ValueError("DDRNet output contract changed")
+                self.reply(200, mask.astype(np.uint8).tobytes())
+            except (TimeoutError, ValueError, RuntimeError):
+                self.reply(500, b"DDRNet inference failed")
+
+        def log_message(self, *_):
+            pass
+
+    # External exposure is restricted by the Compose loopback publication.
+    HTTPServer(("0.0.0.0", 8010), Handler).serve_forever()
+
+
+if __name__ == "__main__":
+    main()