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 +1,155 @@
+"""Run-owned additive Docker stack. Caller must hold Core's GPU reservation."""
+
+import hashlib
+import http.client
+import json
+import subprocess
+import sys
+import time
+from pathlib import Path
+
+ROOT = Path(__file__).resolve().parent
+sys.path.insert(0, str(ROOT.parents[1] / "src"))
+NAVIGATION_NAME = "ndc-mission-core-ai-module-simulation-cmu-navigation"
+NAMES = (
+    "ndc-ai-polygon-ddrnet",
+    "ndc-ai-polygon-segformer",
+    "ndc-ai-polygon-rfdetr",
+    NAVIGATION_NAME,
+)
+
+
+def sha256(path):
+    with Path(path).open("rb") as stream:
+        return hashlib.file_digest(stream, "sha256").hexdigest()
+
+
+def docker(*args, check=True):
+    return subprocess.run(
+        ["docker", *args], check=check, capture_output=True, text=True, timeout=120
+    )
+
+
+class ModelStack:
+    def __init__(self):
+        self.profile_path = ROOT / "models.worker-006.json"
+        self.profile = json.loads(self.profile_path.read_text())
+        self.ids = []
+
+    def preflight(self):
+        from k1link.simulation.ai_polygon.composition import compose
+
+        compose(ROOT)  # Portable graph admission happens before any Isaac boot.
+        for model in [*self.profile["models"], self.profile["navigation"]]:
+            for key in ("checkpoint", "runner"):
+                if key in model and sha256(model[key]) != model[key + "_sha256"]:
+                    raise RuntimeError("Simulation model identity changed: " + model["id"])
+            actual = docker(
+                "image", "inspect", model["image"], "--format", "{{.Id}}"
+            ).stdout.strip()
+            if actual != model["image"]:
+                raise RuntimeError("Simulation model image is unavailable")
+        if sha256(self.profile["labels"]) != self.profile["labels_sha256"]:
+            raise RuntimeError("GOOSE label table changed")
+
+    def start(self, cancelled=None, on_acquired=None, selection=None):
+        from k1link.simulation.ai_polygon.composition import compose
+
+        graph = compose(ROOT, selection)
+        services = {
+            "simulation-ddrnet-goose": "ddrnet",
+            "simulation-segformer-ade": "segformer",
+            "simulation-rf-detr": "detector",
+        }
+        module_ids = [node.module.module_id for node in graph.nodes]
+        installed = {*services, "simulation-cmu-navigation", "simulation-waypoint-mission"}
+        if set(module_ids) - installed:
+            raise ValueError("Uninstalled simulation provider")
+        self.preflight()
+        for name in NAMES:
+            if docker("container", "inspect", name, check=False).returncode == 0:
+                raise RuntimeError(
+                    "An existing simulation container requires reconciliation: " + name
+                )
+        if cancelled and cancelled():
+            raise InterruptedError("Model startup cancelled")
+        try:
+            selected = [services[module] for module in module_ids if module in services]
+            docker("compose", "-f", str(ROOT / "compose.models.yaml"), "up", "-d", *selected)
+            if "simulation-cmu-navigation" in module_ids:
+                docker(
+                    "run",
+                    "-d",
+                    "--name",
+                    NAVIGATION_NAME,
+                    "--restart",
+                    "no",
+                    "--label",
+                    "com.nodedc.product=mission-core",
+                    "--label",
+                    "com.nodedc.stack=ai-polygon",
+                    "--label",
+                    "com.nodedc.role=ai-module",
+                    "--label",
+                    "com.nodedc.managed-by=ai-polygon-worker",
+                    "--label",
+                    "com.nodedc.composition-sha256=" + graph.sha256,
+                    "--cpus",
+                    "3",
+                    "--memory",
+                    "2g",
+                    "-p",
+                    "127.0.0.1:18093:8010",
+                    "--mount",
+                    f"type=bind,source={ROOT},target=/adapter,readonly",
+                    self.profile["navigation"]["image"],
+                )
+        finally:
+            # Capture immutable IDs even after a partial Compose start.
+            for name in NAMES:
+                result = docker("container", "inspect", name, check=False)
+                if result.returncode == 0:
+                    row = json.loads(result.stdout)[0]
+                    if row["Config"]["Labels"].get("com.nodedc.stack") == "ai-polygon":
+                        self.ids.append(row["Id"])
+            if on_acquired:
+                on_acquired(list(self.ids))
+        deadline = time.monotonic() + 120
+        while time.monotonic() < deadline:
+            if cancelled and cancelled():
+                raise InterruptedError("Model startup cancelled")
+            ready = True
+            for port, path in (
+                (18091, "/ready"),
+                (18092, "/v2/models/rf_detr_large/versions/1/ready"),
+                (18093, "/ready"),
+            ):
+                connection = http.client.HTTPConnection("127.0.0.1", port, timeout=2)
+                try:
+                    connection.request("GET", path)
+                    response = connection.getresponse()
+                    response.read(65536)
+                    ready &= response.status == 200
+                except OSError:
+                    ready = False
+                finally:
+                    connection.close()
+            if ready:
+                return
+            time.sleep(0.5)
+        raise TimeoutError("Simulation models did not become ready")
+
+    def stop(self):
+        failures = []
+        for identity in self.ids:
+            result = docker("container", "rm", "-f", identity, check=False)
+            if (
+                result.returncode
+                and docker("container", "inspect", identity, check=False).returncode == 0
+            ):
+                failures.append(identity)
+        if failures:
+            raise RuntimeError("Simulation GPU resources were not released")
+        self.ids.clear()
+        # Only our now-unused network; Docker refuses removal if another endpoint uses it.
+        docker("network", "rm", "ndc-ai-polygon-models", check=False)