392 lines
16 KiB
PowerShell
392 lines
16 KiB
PowerShell
[CmdletBinding()]
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param(
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[Parameter(Mandatory = $true)]
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[string]$ReleaseRoot,
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[Parameter(Mandatory = $true)]
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[string]$CandidateRoot,
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[Parameter(Mandatory = $true)]
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[ValidatePattern("^[a-f0-9]{64}$")]
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[string]$ExpectedWheelSha256,
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[Parameter(Mandatory = $true)]
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[ValidatePattern("^[A-Za-z0-9._-]{1,96}$")]
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[string]$RunId,
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[ValidateRange(1, 4489)]
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[int]$MaximumFrames = 300,
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[ValidateRange(1.0, 120.0)]
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[double]$SourceRateHz = 10.0,
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[ValidateRange(0.0, 1.0)]
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[double]$MinimumDeliveryRatio = 0.999,
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[ValidateRange(0.1, 120.0)]
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[double]$MinimumEffectiveWorldStateFps = 9.5,
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[ValidateRange(1.0, 10000.0)]
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[double]$MaximumWorldStateCompletionP95Ms = 125.0,
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[switch]$AdditiveLowStep,
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[string]$OutputRoot = (
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"D:\NDC_MISSIONCORE\runtime\results\m48n-native-reference-graph-shadow"
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)
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)
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$ErrorActionPreference = "Stop"
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$ProgressPreference = "SilentlyContinue"
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function Assert-LastExitCode([string]$Operation) {
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if ($LASTEXITCODE -ne 0) { throw "$Operation failed with exit code $LASTEXITCODE" }
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}
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function Get-Sha256([string]$Path) {
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return (Get-FileHash -LiteralPath $Path -Algorithm SHA256).Hash.ToLowerInvariant()
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}
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function Assert-File([string]$Path, [string]$ExpectedSha256, [string]$Label) {
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$item = Get-Item -LiteralPath (Resolve-Path -LiteralPath $Path).Path -Force
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if ($item.PSIsContainer -or ($item.Attributes -band [IO.FileAttributes]::ReparsePoint)) {
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throw "$Label must be a regular file"
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}
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if ((Get-Sha256 $item.FullName) -cne $ExpectedSha256) {
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throw "$Label SHA-256 changed"
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}
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return $item.FullName
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}
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function Resolve-DDirectory([string]$Path, [string]$Label, [bool]$Create) {
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if ($Create -and -not (Test-Path -LiteralPath $Path)) {
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$null = New-Item -ItemType Directory -Path $Path
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}
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$item = Get-Item -LiteralPath (Resolve-Path -LiteralPath $Path).Path -Force
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if (
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-not $item.PSIsContainer -or
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($item.Attributes -band [IO.FileAttributes]::ReparsePoint) -or
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[IO.Path]::GetPathRoot($item.FullName).TrimEnd("\") -ine "D:"
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) {
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throw "$Label must be a real D: directory"
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}
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return $item.FullName
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}
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function Convert-ToDockerPath([string]$Path) { return $Path.Replace("\", "/") }
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function Get-Container([string]$Name) {
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$rows = @((& docker inspect $Name) | ConvertFrom-Json)
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Assert-LastExitCode "Docker inspection for $Name"
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if ($rows.Count -ne 1) { throw "Container identity for $Name is not unique" }
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return $rows[0]
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}
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if ($env:COMPUTERNAME -cne "DESKTOP-OPJ8J04") {
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throw "M48N native reference graph is pinned to DESKTOP-OPJ8J04"
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}
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$release = Resolve-DDirectory $ReleaseRoot "M48N release root" $false
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$candidate = Resolve-DDirectory $CandidateRoot "M48N candidate root" $false
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$output = Resolve-DDirectory $OutputRoot "M48N output root" $true
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$runOutput = Join-Path $output $RunId
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if (Test-Path -LiteralPath $runOutput) { throw "M48N run output already exists" }
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$null = New-Item -ItemType Directory -Path $runOutput
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$runOutput = Resolve-DDirectory $runOutput "M48N run output" $false
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$wheel = Assert-File (
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Join-Path $release "nodedc_mission_core-0.1.0-py3-none-any.whl"
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) $ExpectedWheelSha256 "M48N wheel"
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$expectedConfigs = [ordered]@{
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"m48n-rf-detr-native-reference-graph-shadow-v0.json" = (
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"1db6f6fa0561d819505a5e4f62fe256dab6fe4d9da6b4f1a9a5073bfcf772c90"
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)
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"m4-recorded-realtime-baseline-v1.json" = (
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"ea10359339e6cce31b5780a2710299771cab7cc0c1c2a2b56a1621f786b31fa8"
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)
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"rf-detr-large-native-kb4-risk-shadow-v0.json" = (
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"dbf4da5dbad6c3c22b1280b46ffcad81719bd183c81c263a4859847d829019b6"
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)
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"m4-geometry-association-v1.json" = (
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"cc666c9389a5e221957faddec89584709b66918d14abaf646f1832e001421999"
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)
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"m4-temporal-motion-v1.json" = (
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"7130eaee24a95c7d888bf7598010e03e129e1c3ac5b34bcd8401015ff4244b39"
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)
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"m4-rolling-local-map-v1.json" = (
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"f7e3315eaf6ffaf3aee1e04913933812092cf82bbcc9984c1a6fa2d9250e6784"
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)
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"m4-replay-threat-v3.json" = (
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"8c3a5aa837da1f028f5998fb504a1381f9b2b68de6420a32160410b6dc0887c7"
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)
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}
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if ($AdditiveLowStep) {
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$expectedConfigs.Remove("m48n-rf-detr-native-reference-graph-shadow-v0.json")
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$expectedConfigs["m48r3-native-low-step-reference-graph-shadow-v1.json"] = (
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"d5434825c3a73a9a070aea37927755771e07d38a017111d2014a8e8c88969227"
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)
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$expectedConfigs["m48r3-additive-low-step-occupancy-v1.json"] = (
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"62dd41400169080e1a38f713b283b67cdf201078c4c7fd807783fe6c1838082c"
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)
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}
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foreach ($entry in $expectedConfigs.GetEnumerator()) {
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$null = Assert-File (Join-Path $release $entry.Key) $entry.Value (
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"M48N config {0}" -f $entry.Key
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)
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}
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$runner = Get-Item -LiteralPath (
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Join-Path $release "run_m48s_reference_graph_shadow_worker.py"
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)
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if ($runner.PSIsContainer -or ($runner.Attributes -band [IO.FileAttributes]::ReparsePoint)) {
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throw "M48N graph runner must be a regular file"
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}
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$runnerSha256 = Get-Sha256 $runner.FullName
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$nativeConfig = Assert-File (
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Join-Path $release "rf_detr_large_native_kb4_config.pbtxt"
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) "15e100029df92c1390c567517eac6d8bf640591c865bf87a3955289292ba3a22" (
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"native RF-DETR Triton config"
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)
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$nativeEngine = Assert-File (
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Join-Path $candidate "rf-detr-native-uint8.plan"
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) "b8a40b3580edff001ec9680de68707242294ff590ab296000fae371f1083f695" (
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"native RF-DETR TensorRT engine"
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)
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$modelRoot = Join-Path $runOutput "triton-models"
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$modelDirectory = Join-Path $modelRoot "rf_detr_large_native_kb4"
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$modelVersionDirectory = Join-Path $modelDirectory "1"
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$null = New-Item -ItemType Directory -Path $modelVersionDirectory
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Copy-Item -LiteralPath $nativeConfig -Destination (Join-Path $modelDirectory "config.pbtxt")
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Copy-Item -LiteralPath $nativeEngine -Destination (Join-Path $modelVersionDirectory "model.plan")
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if (
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(Get-Sha256 (Join-Path $modelVersionDirectory "model.plan")) -cne
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"b8a40b3580edff001ec9680de68707242294ff590ab296000fae371f1083f695"
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) {
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throw "staged native RF-DETR TensorRT engine SHA-256 changed"
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}
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$source = [ordered]@{
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CameraIndex = (
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"D:\NDC_MISSIONCORE\runtime\jobs\recorded-camera-602ac89026ed12978619801d" +
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"\input\camera\sensor.camera.right\epoch-1\index.jsonl"
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)
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SourcePack = (
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"D:\NDC_MISSIONCORE\runtime\derived" +
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"\e10-lidar-pack-576c994a6c814e2592dd6240ace3902a5db94843312c759a73ba0c9166157d2b" +
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"\lidar-pack.npz"
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)
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LocalSurface = (
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"D:\NDC_MISSIONCORE\runtime\derived" +
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"\k1-local-surface-23762244c8bdb97de26fb721ac957d7a00bc9a63571ac4cfa4be19c4effc7d55" +
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"\local-surface.npz"
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)
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Video = (
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"D:\NDC_MISSIONCORE\runtime\experiments\e46e\inputs" +
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"\right-cadd1696ff000904eb78633a0a8418104b8024f178b91f3421789021ccb160e8.mp4"
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)
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Mask = (
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"D:\NDC_MISSIONCORE\runtime\inputs\e2" +
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"\valid-fov-mask-b4dd8ddf2b87c1d520ee8a0868c4fea062d7c14d1bae73ccabd3abe1f3acbac2" +
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"\mask.png"
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)
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}
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foreach ($entry in $source.GetEnumerator()) {
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if (-not (Test-Path -LiteralPath $entry.Value -PathType Leaf)) {
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throw "M48N source $($entry.Key) is missing"
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}
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}
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if ((Get-Sha256 $source.Video) -cne "cadd1696ff000904eb78633a0a8418104b8024f178b91f3421789021ccb160e8") {
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throw "RAVNOVES00 video SHA-256 changed"
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}
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if ((Get-Sha256 $source.Mask) -cne "a40cee06b7c6f69b6a09a11563dcfd237f3de833b1ccd31459e66692e528ba63") {
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throw "valid-FOV mask SHA-256 changed"
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}
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$media = Resolve-DDirectory (
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"D:\NDC_MISSIONCORE\runtime\derived\perception-e15-media-pyav180-lz445-v1"
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) "PyAV dependency" $false
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$opencv = Resolve-DDirectory (
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"D:\NDC_MISSIONCORE\runtime\derived\perception-e3-opencv413092-v1\packages"
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) "OpenCV dependency" $false
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$pillow = Resolve-DDirectory (
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"D:\NDC_MISSIONCORE\runtime\derived\perception-p0-env-v1"
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) "Pillow dependency" $false
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$image = (
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"nvcr.io/nvidia/tritonserver:26.06-py3@" +
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"sha256:58df7489c3f2276f9591d500a012dee03e23d35543ce3c390b4c001e6bf90794"
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)
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& docker image inspect $image *> $null
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Assert-LastExitCode "pinned M48N image inspection"
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$canonicalTriton = Get-Container "ndc-mission-core-triton"
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if (-not $canonicalTriton.State.Running -or $canonicalTriton.State.Health.Status -cne "healthy") {
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throw "Canonical Triton must remain healthy during M48N shadow"
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}
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$canonicalTritonId = [string]$canonicalTriton.Id
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$tritonName = if ($AdditiveLowStep) {
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"ndc-mission-core-m48r3-low-step-triton"
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} else {
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"ndc-mission-core-m48n-native-reference-graph-triton"
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}
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$graphName = if ($AdditiveLowStep) {
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"ndc-mission-core-m48r3-low-step-reference-graph"
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} else {
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"ndc-mission-core-m48n-native-reference-graph"
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}
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foreach ($name in @($tritonName, $graphName)) {
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if (& docker ps -a --format "{{.Names}}" --filter "name=^/$name$") {
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throw "M48N candidate container $name already exists"
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}
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}
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try {
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& docker create `
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--name $tritonName `
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--label "com.nodedc.product=mission-core" `
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--label "com.nodedc.stack=ndc-mission-core-compute" `
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--label "com.nodedc.role=bounded-native-rf-detr-reference-graph-triton" `
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--label "com.nodedc.managed-by=codex-bounded-experiment" `
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--read-only `
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--security-opt "no-new-privileges:true" `
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--cap-drop ALL `
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--pids-limit 512 `
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--shm-size 1g `
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--gpus all `
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--tmpfs "/tmp:rw,noexec,nosuid,size=2g" `
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--health-cmd "curl --fail --silent http://127.0.0.1:8000/v2/health/ready" `
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--health-interval 5s `
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--health-timeout 3s `
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--health-start-period 20s `
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--health-retries 24 `
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-v ((Convert-ToDockerPath $modelRoot) + ":/models:ro") `
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$image `
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tritonserver `
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--model-repository=/models `
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--model-control-mode=explicit `
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--load-model=rf_detr_large_native_kb4 `
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--disable-auto-complete-config `
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--strict-readiness=true `
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--exit-on-error=true `
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--allow-http=true `
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--allow-grpc=false `
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--allow-metrics=false *> $null
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Assert-LastExitCode "M48N Triton creation"
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& docker start $tritonName *> $null
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Assert-LastExitCode "M48N Triton start"
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$ready = $false
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foreach ($attempt in 1..60) {
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Start-Sleep -Seconds 2
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$candidateContainer = Get-Container $tritonName
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if (-not $candidateContainer.State.Running) {
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& docker logs $tritonName
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throw "M48N Triton stopped during startup"
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}
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if ($candidateContainer.State.Health.Status -ceq "healthy") {
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$ready = $true
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break
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}
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}
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if (-not $ready) { throw "M48N Triton did not become healthy" }
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if (@((Get-Container $tritonName).HostConfig.PortBindings.PSObject.Properties).Count -ne 0) {
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throw "M48N Triton published a host port"
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}
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$graphConfigName = if ($AdditiveLowStep) {
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"m48r3-native-low-step-reference-graph-shadow-v1.json"
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} else {
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"m48n-rf-detr-native-reference-graph-shadow-v0.json"
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}
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$additiveArguments = if ($AdditiveLowStep) {
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@(
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"--additive-low-step-profile",
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"/release/m48r3-additive-low-step-occupancy-v1.json"
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)
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} else {
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@()
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}
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$arguments = @(
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"run", "--name", $graphName,
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"--label", "com.nodedc.product=mission-core",
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"--label", "com.nodedc.stack=ndc-mission-core-compute",
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"--label", "com.nodedc.role=bounded-native-rf-detr-reference-graph",
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"--label", "com.nodedc.managed-by=codex-bounded-experiment",
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"--network", ("container:{0}" -f $tritonName),
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"--read-only",
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"--security-opt", "no-new-privileges:true",
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"--cap-drop", "ALL",
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"--pids-limit", "256",
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"--gpus", "all",
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"--tmpfs", "/tmp:rw,noexec,nosuid,size=2g",
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"-e", "PYTHONDONTWRITEBYTECODE=1",
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"-e", (
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"PYTHONPATH=/release/nodedc_mission_core-0.1.0-py3-none-any.whl:" +
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"/opt/media:/opt/opencv:/opt/pillow"
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),
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"-v", ((Convert-ToDockerPath $release) + ":/release:ro"),
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"-v", ((Convert-ToDockerPath $runOutput) + ":/output:rw"),
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"-v", ((Convert-ToDockerPath $media) + ":/opt/media:ro"),
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"-v", ((Convert-ToDockerPath $opencv) + ":/opt/opencv:ro"),
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"-v", ((Convert-ToDockerPath $pillow) + ":/opt/pillow:ro"),
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"-v", ((Convert-ToDockerPath $source.CameraIndex) + ":/source/camera-index.jsonl:ro"),
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"-v", ((Convert-ToDockerPath $source.SourcePack) + ":/source/source-pack.npz:ro"),
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"-v", ((Convert-ToDockerPath $source.LocalSurface) + ":/source/local-surface.npz:ro"),
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"-v", ((Convert-ToDockerPath $source.Video) + ":/source/right.mp4:ro"),
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"-v", ((Convert-ToDockerPath $source.Mask) + ":/source/mask.png:ro"),
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"--entrypoint", "python3",
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$image,
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"/release/run_m48s_reference_graph_shadow_worker.py",
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"--graph-config", ("/release/{0}" -f $graphConfigName),
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"--baseline-profile", "/release/m4-recorded-realtime-baseline-v1.json",
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"--detector-profile", "/release/rf-detr-large-native-kb4-risk-shadow-v0.json",
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"--geometry-profile", "/release/m4-geometry-association-v1.json",
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"--temporal-motion-profile", "/release/m4-temporal-motion-v1.json",
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"--rolling-map-profile", "/release/m4-rolling-local-map-v1.json",
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"--threat-profile", "/release/m4-replay-threat-v3.json",
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"--camera-index", "/source/camera-index.jsonl",
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"--source-pack", "/source/source-pack.npz",
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"--local-surface", "/source/local-surface.npz",
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"--video", "/source/right.mp4",
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"--valid-fov-mask", "/source/mask.png",
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"--triton-origin", "http://127.0.0.1:8000",
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"--loops", "1",
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"--maximum-frames", ([string]$MaximumFrames),
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"--source-rate-hz", ([string]::Format(
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[Globalization.CultureInfo]::InvariantCulture, "{0:R}", $SourceRateHz
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)),
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"--minimum-delivery-ratio", ([string]::Format(
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[Globalization.CultureInfo]::InvariantCulture, "{0:R}", $MinimumDeliveryRatio
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)),
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"--minimum-effective-world-state-fps", ([string]::Format(
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[Globalization.CultureInfo]::InvariantCulture,
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"{0:R}",
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$MinimumEffectiveWorldStateFps
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)),
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"--maximum-world-state-completion-p95-ms", ([string]::Format(
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[Globalization.CultureInfo]::InvariantCulture,
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"{0:R}",
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$MaximumWorldStateCompletionP95Ms
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)),
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"--load-purpose", "production-rate",
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"--runtime-artifact-sha256", $ExpectedWheelSha256,
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"--runner-sha256", $runnerSha256,
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"--output", "/output/result.json",
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"--progress", "/output/progress.jsonl",
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"--frame-ledger", "/output/frames.jsonl"
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) + $additiveArguments
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& docker @arguments
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Assert-LastExitCode "M48N native complete reference graph shadow"
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foreach ($name in @("result.json", "frames.jsonl", "progress.jsonl")) {
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if (-not (Test-Path -LiteralPath (Join-Path $runOutput $name) -PathType Leaf)) {
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throw "M48N graph artifact $name was not written"
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}
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}
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} finally {
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foreach ($name in @($graphName, $tritonName)) {
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if (& docker ps -a --format "{{.Names}}" --filter "name=^/$name$") {
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& docker rm -f $name *> $null
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}
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}
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$canonicalAfter = Get-Container "ndc-mission-core-triton"
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|
if (
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$canonicalAfter.Id -cne $canonicalTritonId -or
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-not $canonicalAfter.State.Running -or
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$canonicalAfter.State.Health.Status -cne "healthy"
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) {
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throw "Canonical Triton changed during M48N shadow"
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}
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}
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Write-Output ("M48N_NATIVE_REFERENCE_GRAPH_RESULT={0}" -f (Join-Path $runOutput "result.json"))
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Write-Output "CANONICAL_TRITON_ACTION=none"
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Write-Output "PRODUCTION_ACCEPTED=false"
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