422 lines
19 KiB
PowerShell
422 lines
19 KiB
PowerShell
[CmdletBinding()]
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param(
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[Parameter(Mandatory = $true)]
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[string]$JobRoot,
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[Parameter(Mandatory = $true)]
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[string]$RunnerPath,
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[Parameter(Mandatory = $true)]
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[string]$ProfilePath,
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[Parameter(Mandatory = $true)]
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[string]$ValidFovRoot,
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[ValidateRange(0, 256)]
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[int]$PilotFrames = 0,
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[ValidateRange(1, 1000)]
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[int]$FreeGiBFloor = 360,
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[string]$RuntimeRoot = "D:\NDC_MISSIONCORE\runtime",
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[string]$ContainerImage = "nvcr.io/nvidia/tritonserver:26.06-py3"
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)
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$ErrorActionPreference = "Stop"
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$ProgressPreference = "SilentlyContinue"
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function Assert-LastExitCode {
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param([string]$Operation)
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if ($LASTEXITCODE -ne 0) {
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throw "$Operation failed with exit code $LASTEXITCODE"
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}
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}
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function Assert-RegularFile {
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param([string]$Path, [string]$Label)
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$item = Get-Item -LiteralPath $Path -Force
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if (-not $item.PSIsContainer -and -not ($item.Attributes -band [IO.FileAttributes]::ReparsePoint)) {
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return $item.FullName
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}
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throw "$Label is not a regular file"
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}
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function Assert-Directory {
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param([string]$Path, [string]$Label)
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$item = Get-Item -LiteralPath $Path -Force
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if ($item.PSIsContainer -and -not ($item.Attributes -band [IO.FileAttributes]::ReparsePoint)) {
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return $item.FullName
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}
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throw "$Label is not a real directory"
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}
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function Assert-DDrivePath {
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param([string]$Path, [string]$Label)
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$fullPath = [IO.Path]::GetFullPath($Path)
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if ([IO.Path]::GetPathRoot($fullPath).TrimEnd("\") -ine "D:") {
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throw "$Label must be stored on D:"
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}
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return $fullPath
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}
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function Get-DFreeBytes {
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return [int64](Get-PSDrive -Name D).Free
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}
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function Assert-FreeSpace {
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param(
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[string]$Phase,
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[int64]$RequiredAdditionalBytes = 0
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)
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$freeBytes = Get-DFreeBytes
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$floorBytes = [int64]$FreeGiBFloor * 1GB
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$requiredBytes = $floorBytes + $RequiredAdditionalBytes
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Write-Host (
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"DISK_GUARD PHASE={0} DRIVE=D FREE_BYTES={1} FREE_GIB={2} FLOOR_GIB={3} REQUIRED_ADDITIONAL_GIB={4}" -f
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$Phase,
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$freeBytes,
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[math]::Round($freeBytes / 1GB, 3),
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$FreeGiBFloor,
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[math]::Round($RequiredAdditionalBytes / 1GB, 3)
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)
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if ($freeBytes -lt $requiredBytes) {
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throw "D: does not have the guarded LAB E4 working-set reserve during $Phase"
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}
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return $freeBytes
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}
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function Convert-ToDockerPath {
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param([string]$Path)
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return $Path.Replace("\", "/")
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}
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$jobDirectory = Assert-DDrivePath (Assert-Directory (Resolve-Path -LiteralPath $JobRoot).Path "Job root") "Job root"
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$runner = Assert-DDrivePath (Assert-RegularFile (Resolve-Path -LiteralPath $RunnerPath).Path "LAB E4 runner") "LAB E4 runner"
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$profile = Assert-DDrivePath (Assert-RegularFile (Resolve-Path -LiteralPath $ProfilePath).Path "LAB E4 profile") "LAB E4 profile"
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$validFov = Assert-DDrivePath (Assert-Directory (Resolve-Path -LiteralPath $ValidFovRoot).Path "Valid-FOV root") "Valid-FOV root"
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$runtime = Assert-DDrivePath (Assert-Directory (Resolve-Path -LiteralPath $RuntimeRoot).Path "Runtime root") "Runtime root"
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$runnerRoot = Split-Path $runner -Parent
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if ((Split-Path $profile -Parent) -ne $runnerRoot) {
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throw "LAB E4 runner and profile must share one read-only mount"
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}
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foreach ($dependency in @(
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"run_recorded_perception_epoch.py",
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"run_e3_rectified_segmentation.py",
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"run_evaluation_prelabels.py"
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)) {
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$null = Assert-RegularFile (Join-Path $runnerRoot $dependency) "LAB E4 runner dependency"
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}
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$job = Get-Content -LiteralPath (Join-Path $jobDirectory "job.json") -Raw | ConvertFrom-Json
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if ($job.schema_version -ne "missioncore.compute-job/v1" -or $job.job_id -ne (Split-Path $jobDirectory -Leaf)) {
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throw "Compute job manifest is incompatible"
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}
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$sourceId = [string]$job.input.source_id
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$epoch = [int]$job.input.codec_epoch
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$fullFrameCount = [int]$job.input.segment_count
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$activeFrameCount = if ($PilotFrames -gt 0) { $PilotFrames } else { $fullFrameCount }
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$timelineStart = [double]$job.input.timeline.start_seconds
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$timelineEnd = [double]$job.input.timeline.end_seconds
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$timelineDuration = $timelineEnd - $timelineStart
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if (
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$sourceId -ne "sensor.camera.right" -or
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$fullFrameCount -lt 1 -or
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$activeFrameCount -gt $fullFrameCount -or
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$timelineDuration -le 0
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) {
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throw "LAB E4 camera job contract is invalid"
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}
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Write-Output ("PHASE=job-manifest-validated JOB={0} FRAMES={1}/{2}" -f $job.job_id, $activeFrameCount, $fullFrameCount)
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$epochRoot = Join-Path $jobDirectory ("input\camera\{0}\epoch-{1}" -f $sourceId, $epoch)
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$epochRoot = Assert-DDrivePath (Assert-Directory $epochRoot "Camera epoch") "Camera epoch"
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$initPath = Assert-RegularFile (Join-Path $epochRoot "init.mp4") "Camera init"
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$segmentsRoot = Assert-Directory (Join-Path $epochRoot "segments") "Camera segments"
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$derivedRoot = Join-Path $runtime "derived"
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$tmpRoot = Join-Path $runtime "tmp"
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$cacheRoot = Assert-DDrivePath (Assert-Directory (Join-Path $runtime "cache\perception-e3-models-v1") "EoMT cache") "EoMT cache"
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$e3Environment = Assert-DDrivePath (Assert-Directory (Join-Path $derivedRoot "perception-e3-opencv413092-v1") "E3 dependency environment") "E3 dependency environment"
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$torchEnvironment = Assert-DDrivePath (Assert-Directory (Join-Path $derivedRoot "perception-p0-env-v1") "Torch environment") "Torch environment"
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$transformersEnvironment = Assert-DDrivePath (Assert-Directory (Join-Path $derivedRoot "perception-p0-transformers4576-v1") "Transformers environment") "Transformers environment"
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$null = New-Item -ItemType Directory -Path $derivedRoot -Force
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$null = New-Item -ItemType Directory -Path $tmpRoot -Force
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# Conservative upper bound: decoded RGB + RGB overlay + one-byte semantic mask,
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# plus 20% filesystem/encoding overhead and the reconstructed source stream.
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$pixelWorkingSet = [int64]$activeFrameCount * 800 * 600 * 7
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$workingSetReserve = [int64][math]::Ceiling(($pixelWorkingSet * 1.2) + [int64]$job.input.byte_length)
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$freeBytesBefore = Assert-FreeSpace "preflight" $workingSetReserve
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& docker image inspect $ContainerImage *> $null
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Assert-LastExitCode "Existing container image inspection"
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$runnerName = Split-Path $runner -Leaf
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$profileName = Split-Path $profile -Leaf
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$orchestratorSha256 = (Get-FileHash -LiteralPath $PSCommandPath -Algorithm SHA256).Hash.ToLowerInvariant()
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$preflightArgs = @(
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"run", "--rm", "--gpus", "all", "--network", "none", "--read-only",
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"--security-opt", "no-new-privileges:true", "--cap-drop", "ALL",
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"--pids-limit", "512", "--shm-size", "4g",
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"--tmpfs", "/tmp:rw,noexec,nosuid,size=2g",
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"-e", "PYTHONPATH=/opt/transformers:/opt/env",
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"-e", "TORCH_HOME=/cache/torch",
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"-e", "HF_HOME=/cache/huggingface",
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"-e", "HF_HUB_OFFLINE=1",
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"-e", "TRANSFORMERS_OFFLINE=1",
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"-v", ((Convert-ToDockerPath $jobDirectory) + ":/job:ro"),
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"-v", ((Convert-ToDockerPath $validFov) + ":/valid-fov:ro"),
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"-v", ((Convert-ToDockerPath $cacheRoot) + ":/cache:ro"),
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"-v", ((Convert-ToDockerPath $e3Environment) + ":/environment:ro"),
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"-v", ((Convert-ToDockerPath $torchEnvironment) + ":/opt/env:ro"),
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"-v", ((Convert-ToDockerPath $transformersEnvironment) + ":/opt/transformers:ro"),
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"-v", ((Convert-ToDockerPath $runnerRoot) + ":/runner:ro"),
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"--entrypoint", "python3",
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$ContainerImage,
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("/runner/{0}" -f $runnerName), "preflight",
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"--job", "/job",
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"--profile", ("/runner/{0}" -f $profileName),
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"--valid-fov-root", "/valid-fov",
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"--cache", "/cache",
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"--environment", "/environment"
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)
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Write-Output "PHASE=e4-preflight-start"
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& docker @preflightArgs
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Assert-LastExitCode "LAB E4 preflight"
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Write-Output "PHASE=e4-preflight-complete"
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$runToken = [Guid]::NewGuid().ToString("N")
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$workRoot = Join-Path $tmpRoot ("{0}-e4-{1}" -f $job.job_id, $runToken)
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$framesRoot = Join-Path $workRoot "frames"
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$streamPath = Join-Path $workRoot "camera.mp4"
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$ptsPath = Join-Path $workRoot "pts.json"
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$timelinePath = Join-Path $workRoot "timeline.jsonl"
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$publishRoot = Join-Path $derivedRoot (".{0}-e4-{1}.publish" -f $job.job_id, $runToken)
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$stagingRoot = Join-Path $publishRoot "output"
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$null = New-Item -ItemType Directory -Path $framesRoot
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$null = New-Item -ItemType Directory -Path $publishRoot
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$totalWatch = [Diagnostics.Stopwatch]::StartNew()
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$completed = $false
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Write-Output "PHASE=e4-private-staging-created"
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try {
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$stream = [IO.File]::Open($streamPath, [IO.FileMode]::CreateNew, [IO.FileAccess]::Write, [IO.FileShare]::None)
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try {
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$input = [IO.File]::OpenRead($initPath)
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try {
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$input.CopyTo($stream)
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}
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finally {
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$input.Dispose()
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}
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for ($sequence = 1; $sequence -le $activeFrameCount; $sequence++) {
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$path = Assert-RegularFile (Join-Path $segmentsRoot ("{0}.m4s" -f $sequence)) "Camera segment"
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$input = [IO.File]::OpenRead($path)
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try {
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$input.CopyTo($stream)
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}
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finally {
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$input.Dispose()
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}
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if ($sequence % 500 -eq 0 -or $sequence -eq $activeFrameCount) {
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Write-Output ("PHASE=e4-stream-reconstruction SEGMENTS={0}/{1}" -f $sequence, $activeFrameCount)
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}
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}
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$stream.Flush($true)
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}
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finally {
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$stream.Dispose()
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}
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$null = Assert-FreeSpace "post-stream-reconstruction"
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$extractWatch = [Diagnostics.Stopwatch]::StartNew()
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Write-Output "PHASE=e4-frame-extraction-start"
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& ffmpeg -hide_banner -loglevel fatal -i $streamPath -map 0:v:0 -fps_mode passthrough -frames:v $activeFrameCount (Join-Path $framesRoot "frame-%06d.png")
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Assert-LastExitCode "LAB E4 camera extraction"
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& ffprobe -v error -select_streams v:0 -show_entries frame=best_effort_timestamp_time -of json $streamPath | Set-Content -LiteralPath $ptsPath -Encoding utf8
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Assert-LastExitCode "LAB E4 camera timestamp probe"
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$decodedFrames = @(Get-ChildItem -LiteralPath $framesRoot -File -Filter "frame-*.png")
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$ptsDocument = Get-Content -LiteralPath $ptsPath -Raw | ConvertFrom-Json
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$pts = @($ptsDocument.frames)
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if ($decodedFrames.Count -ne $activeFrameCount -or $pts.Count -lt $activeFrameCount) {
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throw "Decoded LAB E4 frame count differs from the requested camera epoch"
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}
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$firstEpochSeconds = [double]::Parse(
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([string]$pts[0].best_effort_timestamp_time).Trim(),
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[Globalization.CultureInfo]::InvariantCulture
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)
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$previousEpochSeconds = -1.0
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$timelineWriter = [IO.StreamWriter]::new($timelinePath, $false, [Text.UTF8Encoding]::new($false))
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try {
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for ($index = 0; $index -lt $activeFrameCount; $index++) {
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$epochSeconds = [double]::Parse(
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([string]$pts[$index].best_effort_timestamp_time).Trim(),
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[Globalization.CultureInfo]::InvariantCulture
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) - $firstEpochSeconds
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if ($epochSeconds -le $previousEpochSeconds -or $epochSeconds -gt ($timelineDuration + 0.001)) {
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throw "Decoded LAB E4 timestamps are not strictly monotonic inside the camera timeline"
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}
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$row = [ordered]@{
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frame_index = $index
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epoch_seconds = $epochSeconds
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session_seconds = $timelineStart + $epochSeconds
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}
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$timelineWriter.WriteLine(($row | ConvertTo-Json -Compress))
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$previousEpochSeconds = $epochSeconds
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}
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$timelineWriter.Flush()
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}
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finally {
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$timelineWriter.Dispose()
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}
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$extractWatch.Stop()
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$freeBytesPostExtract = Assert-FreeSpace "post-frame-extraction"
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Write-Output ("PHASE=e4-frame-extraction-complete FRAMES={0}" -f $activeFrameCount)
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$runArgs = @(
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"run", "--rm", "--gpus", "all", "--network", "none", "--read-only",
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"--security-opt", "no-new-privileges:true", "--cap-drop", "ALL",
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"--pids-limit", "512", "--shm-size", "4g",
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"--tmpfs", "/tmp:rw,noexec,nosuid,size=2g",
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"-e", "PYTHONPATH=/opt/transformers:/opt/env",
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"-e", "TORCH_HOME=/cache/torch",
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"-e", "HF_HOME=/cache/huggingface",
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"-e", "HF_HUB_OFFLINE=1",
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"-e", "TRANSFORMERS_OFFLINE=1",
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"-v", ((Convert-ToDockerPath $jobDirectory) + ":/job:ro"),
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"-v", ((Convert-ToDockerPath $validFov) + ":/valid-fov:ro"),
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"-v", ((Convert-ToDockerPath $framesRoot) + ":/frames:ro"),
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"-v", ((Convert-ToDockerPath $workRoot) + ":/work:ro"),
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"-v", ((Convert-ToDockerPath $publishRoot) + ":/publish:rw"),
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"-v", ((Convert-ToDockerPath $cacheRoot) + ":/cache:ro"),
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"-v", ((Convert-ToDockerPath $e3Environment) + ":/environment:ro"),
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"-v", ((Convert-ToDockerPath $torchEnvironment) + ":/opt/env:ro"),
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"-v", ((Convert-ToDockerPath $transformersEnvironment) + ":/opt/transformers:ro"),
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"-v", ((Convert-ToDockerPath $runnerRoot) + ":/runner:ro"),
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"--entrypoint", "python3",
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$ContainerImage,
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("/runner/{0}" -f $runnerName), "run",
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"--job", "/job",
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"--profile", ("/runner/{0}" -f $profileName),
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"--valid-fov-root", "/valid-fov",
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"--frames", "/frames",
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"--timeline", "/work/timeline.jsonl",
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"--cache", "/cache",
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"--environment", "/environment",
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"--output", "/publish/output",
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"--frame-limit", [string]$activeFrameCount,
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"--free-bytes-floor", [string]([int64]$FreeGiBFloor * 1GB),
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"--orchestrator-sha256", $orchestratorSha256,
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"--container-image", $ContainerImage,
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"--telemetry-interval-seconds", "1"
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)
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Write-Output ("PHASE=e4-inference-start FRAMES={0}" -f $activeFrameCount)
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& docker @runArgs
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Assert-LastExitCode "LAB E4 semantic inference"
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$freeBytesPostInference = Assert-FreeSpace "post-inference"
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Write-Output "PHASE=e4-inference-complete"
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if ($PilotFrames -gt 0) {
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$pilotParent = Join-Path $derivedRoot "e4-pilots"
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$null = New-Item -ItemType Directory -Path $pilotParent -Force
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$pilotRoot = Join-Path $pilotParent ("pilot-{0}-{1}" -f $activeFrameCount, $runToken)
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Move-Item -LiteralPath $stagingRoot -Destination $pilotRoot
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Remove-Item -LiteralPath $publishRoot -Force
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$completed = $true
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Write-Output ("PILOT_ROOT={0}" -f $pilotRoot)
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Write-Output ("PILOT_FRAMES={0}" -f $activeFrameCount)
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Write-Output ("DISK_FREE_BYTES_BEFORE={0}" -f $freeBytesBefore)
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Write-Output ("DISK_FREE_BYTES_POST_EXTRACT={0}" -f $freeBytesPostExtract)
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Write-Output ("DISK_FREE_BYTES_POST_INFERENCE={0}" -f $freeBytesPostInference)
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return
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}
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$videoPath = Join-Path $stagingRoot "perception.mp4"
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$encodeWatch = [Diagnostics.Stopwatch]::StartNew()
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$averageFps = $fullFrameCount / $timelineDuration
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$fpsText = $averageFps.ToString("0.#########", [Globalization.CultureInfo]::InvariantCulture)
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$durationText = $timelineDuration.ToString("0.#########", [Globalization.CultureInfo]::InvariantCulture)
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& ffmpeg -hide_banner -loglevel error -framerate $fpsText -i (Join-Path $stagingRoot "overlay-frames\frame-%06d.png") -t $durationText -c:v h264_nvenc -preset p4 -tune hq -rc vbr -cq 21 -b:v 0 -pix_fmt yuv420p -movflags +faststart $videoPath
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Assert-LastExitCode "LAB E4 video encoding"
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$encodeWatch.Stop()
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$null = Assert-FreeSpace "post-video-encoding"
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Write-Output "PHASE=e4-video-encoding-complete"
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$masksPath = Join-Path $stagingRoot "masks.tar.gz"
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$archiveWatch = [Diagnostics.Stopwatch]::StartNew()
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& tar.exe -czf $masksPath -C $stagingRoot semantic-masks
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Assert-LastExitCode "LAB E4 mask archive publication"
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$archiveWatch.Stop()
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$freeBytesPostArtifacts = Assert-FreeSpace "post-mask-archive"
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Write-Output "PHASE=e4-mask-archive-complete"
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$totalWatch.Stop()
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$finalizeArgs = @(
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"run", "--rm", "--network", "none", "--read-only",
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"--security-opt", "no-new-privileges:true", "--cap-drop", "ALL",
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"--pids-limit", "128", "--tmpfs", "/tmp:rw,noexec,nosuid,size=256m",
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"-e", "PYTHONPATH=/opt/transformers:/opt/env",
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"-v", ((Convert-ToDockerPath $stagingRoot) + ":/output:rw"),
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"-v", ((Convert-ToDockerPath $runnerRoot) + ":/runner:ro"),
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"--entrypoint", "python3",
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$ContainerImage,
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("/runner/{0}" -f $runnerName), "finalize",
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"--output", "/output",
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"--video", "/output/perception.mp4",
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"--masks", "/output/masks.tar.gz",
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"--extract-seconds", $extractWatch.Elapsed.TotalSeconds.ToString("0.######", [Globalization.CultureInfo]::InvariantCulture),
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"--encode-seconds", $encodeWatch.Elapsed.TotalSeconds.ToString("0.######", [Globalization.CultureInfo]::InvariantCulture),
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"--archive-seconds", $archiveWatch.Elapsed.TotalSeconds.ToString("0.######", [Globalization.CultureInfo]::InvariantCulture),
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"--wall-seconds", $totalWatch.Elapsed.TotalSeconds.ToString("0.######", [Globalization.CultureInfo]::InvariantCulture),
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"--encoder", "ffmpeg-h264_nvenc-p4-cq21-yuv420p-faststart",
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"--disk-free-before-bytes", [string]$freeBytesBefore,
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"--disk-free-post-extract-bytes", [string]$freeBytesPostExtract,
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"--disk-free-post-inference-bytes", [string]$freeBytesPostInference,
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"--disk-free-post-artifacts-bytes", [string]$freeBytesPostArtifacts,
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"--disk-floor-bytes", [string]([int64]$FreeGiBFloor * 1GB),
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"--working-set-reserve-bytes", [string]$workingSetReserve
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)
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& docker @finalizeArgs
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Assert-LastExitCode "LAB E4 result finalization"
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$result = Get-Content -LiteralPath (Join-Path $stagingRoot "result.json") -Raw | ConvertFrom-Json
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if (
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|
$result.schema_version -ne "missioncore.recorded-perception-result/v2" -or
|
|
$result.result_id -notmatch "^result-[a-f0-9]{64}$" -or
|
|
[int]$result.frames_processed -ne $fullFrameCount -or
|
|
$result.ground_truth -ne $false
|
|
) {
|
|
throw "Final LAB E4 result manifest is incompatible"
|
|
}
|
|
$finalRoot = Join-Path $derivedRoot ([string]$result.result_id)
|
|
if (Test-Path -LiteralPath $finalRoot) {
|
|
throw "An immutable result with the same LAB E4 identity already exists: $finalRoot"
|
|
}
|
|
|
|
foreach ($temporaryChild in @("overlay-frames", "semantic-masks")) {
|
|
$temporaryPath = Join-Path $stagingRoot $temporaryChild
|
|
if (Test-Path -LiteralPath $temporaryPath) {
|
|
Remove-Item -LiteralPath $temporaryPath -Recurse -Force
|
|
}
|
|
}
|
|
Move-Item -LiteralPath $stagingRoot -Destination $finalRoot
|
|
Remove-Item -LiteralPath $publishRoot -Force
|
|
$completed = $true
|
|
$freeBytesFinal = Assert-FreeSpace "post-publication"
|
|
Write-Output ("RESULT_ROOT={0}" -f $finalRoot)
|
|
Write-Output ("RESULT_ID={0}" -f $result.result_id)
|
|
Write-Output ("DISK_FREE_BYTES_BEFORE={0}" -f $freeBytesBefore)
|
|
Write-Output ("DISK_FREE_BYTES_POST_EXTRACT={0}" -f $freeBytesPostExtract)
|
|
Write-Output ("DISK_FREE_BYTES_POST_INFERENCE={0}" -f $freeBytesPostInference)
|
|
Write-Output ("DISK_FREE_BYTES_POST_ARTIFACTS={0}" -f $freeBytesPostArtifacts)
|
|
Write-Output ("DISK_FREE_BYTES_FINAL={0}" -f $freeBytesFinal)
|
|
}
|
|
finally {
|
|
if (Test-Path -LiteralPath $workRoot) {
|
|
Remove-Item -LiteralPath $workRoot -Recurse -Force
|
|
}
|
|
if (-not $completed -and (Test-Path -LiteralPath $publishRoot)) {
|
|
Remove-Item -LiteralPath $publishRoot -Recurse -Force
|
|
}
|
|
}
|