74 lines
2.6 KiB
Bash
Executable File
74 lines
2.6 KiB
Bash
Executable File
#!/usr/bin/env bash
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#
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# Run the persistent Simulation Worker agent in a fresh loopback-only network
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# namespace. The Unix socket remains reachable from Mission Core because the
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# worker shares the host mount namespace while PX4/Gazebo have no routed NIC.
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set -Eeuo pipefail
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readonly EXPECTED_DISTRO="MissionCore-Sim"
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readonly D_ROOT="/mnt/d/NDC_MISSIONCORE/simulation"
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SOURCE_ROOT="$(cd -- "$(dirname -- "${BASH_SOURCE[0]}")/../.." && pwd -P)"
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readonly SOURCE_ROOT
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readonly MISSION_CORE_COMMIT="${1:-}"
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readonly SOCKET_ROOT="/run/missioncore-sim"
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readonly SOCKET_PATH="${SOCKET_ROOT}/worker.sock"
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readonly ROS_SETUP="/opt/ros/jazzy/setup.bash"
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readonly PX4_MSGS_SETUP="${D_ROOT}/build/ros2/px4_msgs/install/setup.bash"
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if [[ -z "${MISSION_CORE_COMMIT}" ]]; then
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echo "usage: $0 <exact-40-character-mission-core-commit>" >&2
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exit 2
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fi
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if [[ "${SOURCE_ROOT}" != "${D_ROOT}/source/"* ]]; then
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echo "error: worker source generation must be staged below the reviewed D root" >&2
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exit 2
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fi
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if ! [[ "${MISSION_CORE_COMMIT}" =~ ^[a-f0-9]{40}$ ]]; then
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echo "error: Mission Core commit must contain exactly 40 lowercase hex characters" >&2
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exit 2
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fi
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if [[ "${MISSIONCORE_S1_NETNS:-0}" != "1" ]]; then
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if [[ "${EUID}" -ne 0 ]]; then
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echo "error: initial worker invocation must run as root to create the namespace" >&2
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exit 2
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fi
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if [[ "${WSL_DISTRO_NAME:-}" != "${EXPECTED_DISTRO}" ]]; then
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echo "error: expected WSL distro ${EXPECTED_DISTRO}" >&2
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exit 2
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fi
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install -d -m 0700 -o missioncore -g missioncore -- "${SOCKET_ROOT}"
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if [[ -e "${SOCKET_PATH}" && ! -S "${SOCKET_PATH}" ]]; then
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echo "error: worker socket path is occupied by a non-socket" >&2
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exit 2
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fi
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exec unshare --net -- bash -c '
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set -e
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ip link set lo up
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exec runuser -u missioncore -- env MISSIONCORE_S1_NETNS=1 "$@"
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' bash "$0" "$@"
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fi
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if [[ "${EUID}" -eq 0 || "${WSL_DISTRO_NAME:-}" != "${EXPECTED_DISTRO}" ]]; then
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echo "error: worker agent escaped the reviewed worker identity" >&2
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exit 2
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fi
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if [[ ! -f "${ROS_SETUP}" || ! -f "${PX4_MSGS_SETUP}" ]]; then
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echo "error: reviewed ROS 2 Jazzy/px4_msgs runtime is incomplete" >&2
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exit 2
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fi
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# shellcheck disable=SC1090
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source "${ROS_SETUP}"
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# shellcheck disable=SC1090
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source "${PX4_MSGS_SETUP}"
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exec env \
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ROS_DOMAIN_ID=0 \
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PYTHONPATH="${SOURCE_ROOT}/src:${PYTHONPATH:-}" \
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python3 -m k1link.simulation.worker_agent \
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--socket "${SOCKET_PATH}" \
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--mission-core-commit "${MISSION_CORE_COMMIT}" \
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--lifecycle-profile "${SOURCE_ROOT}/simulation/s1/stock-rover-lifecycle.yaml"
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