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 +1,34 @@
+param([string]$Root = 'D:\NDC_MISSIONCORE\runtime\simulation')
+# Windows PowerShell 5 treats Docker's normal stderr progress as ErrorRecords.
+# Native failures are checked by exit code after each command below.
+$ErrorActionPreference = 'Continue'
+$ProgressPreference = 'SilentlyContinue'
+$tag = 'ndc/mission-core-ai-module-cmu-navigation:158e67b3-v1'
+$receipt = Join-Path $Root 'assets\cmu-navigation-v1.json'
+$existing = docker image inspect $tag --format '{{.Id}}' 2>$null
+if ($LASTEXITCODE -ne 0) {
+    # Public upstream images need no credentials. Windows SSH cannot access the
+    # interactive user's credential helper; isolate only this build's config.
+    $endpoint = docker context inspect --format '{{.Endpoints.docker.Host}}'
+    if ($LASTEXITCODE -ne 0) { throw 'Docker endpoint unavailable' }
+    $buildConfig = Join-Path $PSScriptRoot 'public-build-config'
+    New-Item -ItemType Directory -Force $buildConfig | Out-Null
+    # An explicit anonymous registry prevents CLI auto-discovery of wincred.
+    [IO.File]::WriteAllText((Join-Path $buildConfig 'config.json'), '{"auths":{"https://index.docker.io/v1/":{}}}')
+    $env:DOCKER_CONFIG = $buildConfig
+    $env:BUILDX_CONFIG = Join-Path $buildConfig 'buildx'
+    docker --config $buildConfig --host $endpoint.Trim() build --progress plain -t $tag -f (Join-Path $PSScriptRoot 'Dockerfile') $PSScriptRoot
+    if ($LASTEXITCODE -ne 0) { throw 'CMU navigation image build failed' }
+    $existing = docker image inspect $tag --format '{{.Id}}'
+    if ($LASTEXITCODE -ne 0) { throw 'Built navigation image is unavailable' }
+}
+$value = @{
+    schema_version = 'missioncore.ai-polygon-navigation-install/v1'
+    upstream = 'HongbiaoZ/autonomous_exploration_development_environment'
+    upstream_commit = '158e67b31b644ed1e8b06eb1d7f70e183cc62591'
+    image = $existing.Trim()
+    tag = $tag
+    installed_at = [DateTime]::UtcNow.ToString('o')
+}
+[IO.File]::WriteAllText($receipt, ($value | ConvertTo-Json -Depth 5), [Text.UTF8Encoding]::new($false))
+$value | ConvertTo-Json -Compress