412 lines
16 KiB
PowerShell
412 lines
16 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, 1000000)]
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[int]$StartFrame = 1000,
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[ValidateRange(0, 1000000)]
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[int]$EndFrame = 1600,
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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]$ModelRoot = "D:\NDC_MISSIONCORE\runtime\models\yolox_s",
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[string]$TritonContainer = "mission-core-triton",
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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 $fullPath
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}
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function Convert-ToDockerPath {
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param([string]$Path)
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return $Path.Replace("\", "/")
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}
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function Get-DFreeBytes {
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return [int64](Get-PSDrive -Name D).Free
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}
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function Assert-FreeSpace {
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param([string]$Phase, [int64]$RequiredAdditionalBytes = 0)
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$freeBytes = Get-DFreeBytes
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$floorBytes = [int64]$FreeGiBFloor * 1GB
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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 ($floorBytes + $RequiredAdditionalBytes)) {
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throw "D: does not have the guarded LAB E8 working-set reserve during $Phase"
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}
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return $freeBytes
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}
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function Test-TritonModelReady {
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try {
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$response = Invoke-WebRequest `
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-Uri "http://127.0.0.1:8000/v2/models/yolox_s/ready" `
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-Method Get -UseBasicParsing -TimeoutSec 10
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return $response.StatusCode -eq 200
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}
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catch {
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return $false
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}
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}
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$jobDirectory = Assert-DDrivePath (
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Assert-Directory (Resolve-Path -LiteralPath $JobRoot).Path "Job root"
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) "Job root"
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$runner = Assert-DDrivePath (
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Assert-RegularFile (Resolve-Path -LiteralPath $RunnerPath).Path "LAB E8 runner"
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) "LAB E8 runner"
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$profile = Assert-DDrivePath (
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Assert-RegularFile (Resolve-Path -LiteralPath $ProfilePath).Path "LAB E8 profile"
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) "LAB E8 profile"
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$validFov = Assert-DDrivePath (
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Assert-Directory (Resolve-Path -LiteralPath $ValidFovRoot).Path "Valid-FOV root"
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) "Valid-FOV root"
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$runtime = Assert-DDrivePath (
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Assert-Directory (Resolve-Path -LiteralPath $RuntimeRoot).Path "Runtime root"
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) "Runtime root"
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$model = Assert-DDrivePath (
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Assert-Directory (Resolve-Path -LiteralPath $ModelRoot).Path "YOLOX model root"
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) "YOLOX model root"
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$runnerRoot = Split-Path $runner -Parent
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if ((Split-Path $profile -Parent) -ne $runnerRoot) {
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throw "LAB E8 runner and profile must share one read-only mount"
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}
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foreach ($dependency in @(
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"run_e5_instance_tracking.py",
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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 $dependency) "LAB E8 runner dependency"
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}
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$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]$job.input.segment_count
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$clipFrameCount = $EndFrame - $StartFrame + 1
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$timelineStart = [double]$job.input.timeline.start_seconds
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if (
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$sourceId -ne "sensor.camera.right" -or
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$StartFrame -lt 0 -or
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$EndFrame -lt $StartFrame -or
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$EndFrame -ge $fullFrameCount -or
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$clipFrameCount -lt 2
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) {
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throw "LAB E8 clip escapes the camera job"
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}
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Write-Output (
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"PHASE=job-manifest-validated JOB={0} CLIP={1}-{2} FRAMES={3}" -f
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$job.job_id, $StartFrame, $EndFrame, $clipFrameCount
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)
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$epochRoot = Assert-DDrivePath (
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Assert-Directory (
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Join-Path $jobDirectory ("input\camera\{0}\epoch-{1}" -f $sourceId, $epoch)
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) "Camera epoch"
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) "Camera epoch"
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$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 $runtime "tmp"
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$pythonEnvironment = Assert-DDrivePath (
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Assert-Directory (Join-Path $derivedRoot "perception-p0-env-v1") "Python environment"
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) "Python environment"
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$null = New-Item -ItemType Directory -Path $derivedRoot -Force
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$null = New-Item -ItemType Directory -Path $tmpRoot -Force
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# LAB E8 has temporary decoded input but no per-frame output images. Reserve
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# decoded RGB payload, partial stream and two GiB for filesystem/codec overhead.
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$pixelWorkingSet = [int64]$clipFrameCount * 800 * 600 * 3
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$partialStreamReserve = [int64][math]::Ceiling(
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([int64]$job.input.byte_length * ($EndFrame + 1) / $fullFrameCount) * 1.2
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)
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$workingSetReserve = [int64][math]::Ceiling($pixelWorkingSet * 1.4) + $partialStreamReserve + 2GB
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$freeBytesBefore = Assert-FreeSpace "preflight" $workingSetReserve
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& docker image inspect $ContainerImage *> $null
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Assert-LastExitCode "Existing container image inspection"
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$tritonState = docker inspect --format "{{.State.Running}}" $TritonContainer
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Assert-LastExitCode "Triton container inspection"
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if ($tritonState.Trim().ToLowerInvariant() -ne "true") {
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throw "LAB E8 requires the existing Triton container"
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}
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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", "--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=/runner:/opt/env",
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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 $model) + ":/model:ro"),
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"-v", ((Convert-ToDockerPath $pythonEnvironment) + ":/opt/env:ro"),
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"-v", ((Convert-ToDockerPath $runnerRoot) + ":/runner:ro"),
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"--entrypoint", "python3", $ContainerImage,
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("/runner/{0}" -f $runnerName), "preflight",
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"--job", "/job",
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"--profile", ("/runner/{0}" -f $profileName),
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"--valid-fov-root", "/valid-fov",
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"--model-root", "/model"
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)
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Write-Output "PHASE=e8-preflight-start"
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& docker @preflightArgs
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Assert-LastExitCode "LAB E8 preflight"
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Write-Output "PHASE=e8-preflight-complete"
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$modelWasReady = Test-TritonModelReady
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$loadedByRun = $false
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if (-not $modelWasReady) {
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Invoke-WebRequest `
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-Uri "http://127.0.0.1:8000/v2/repository/models/yolox_s/load" `
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-Method Post -ContentType "application/json" -Body "{}" `
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-UseBasicParsing -TimeoutSec 60 *> $null
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$loadedByRun = $true
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$deadline = [DateTime]::UtcNow.AddSeconds(60)
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while (-not (Test-TritonModelReady)) {
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if ([DateTime]::UtcNow -ge $deadline) {
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throw "YOLOX-S did not become ready in Triton"
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}
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Start-Sleep -Milliseconds 500
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}
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}
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Write-Output ("PHASE=e8-model-ready LOADED_BY_RUN={0}" -f $loadedByRun)
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$runToken = [Guid]::NewGuid().ToString("N")
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$workRoot = Join-Path $tmpRoot ("{0}-e8-{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}-e8-{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 = $false
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Write-Output "PHASE=e8-private-staging-created"
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try {
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$stream = [IO.File]::Open(
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$streamPath, [IO.FileMode]::CreateNew, [IO.FileAccess]::Write, [IO.FileShare]::None
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)
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try {
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$input = [IO.File]::OpenRead($initPath)
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try { $input.CopyTo($stream) } finally { $input.Dispose() }
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for ($sequence = 1; $sequence -le ($EndFrame + 1); $sequence++) {
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$path = Assert-RegularFile (
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Join-Path $segmentsRoot ("{0}.m4s" -f $sequence)
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) "Camera segment"
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$input = [IO.File]::OpenRead($path)
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try { $input.CopyTo($stream) } finally { $input.Dispose() }
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}
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$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=e8-frame-extraction-start"
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$selectFilter = "select='between(n,{0},{1})'" -f $StartFrame, $EndFrame
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& ffmpeg -hide_banner -loglevel fatal -i $streamPath -map 0:v:0 `
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-vf $selectFilter -fps_mode passthrough (Join-Path $framesRoot "frame-%06d.png")
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Assert-LastExitCode "LAB E8 camera clip extraction"
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& ffprobe -v error -select_streams v:0 `
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-show_entries frame=best_effort_timestamp_time -of json $streamPath |
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Set-Content -LiteralPath $ptsPath -Encoding utf8
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Assert-LastExitCode "LAB E8 camera timestamp probe"
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$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 $clipFrameCount -or $pts.Count -ne ($EndFrame + 1)) {
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throw "Decoded LAB E8 frame/timestamp count differs from the selected clip"
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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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$previousSessionSeconds = -1.0
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$timelineWriter = [IO.StreamWriter]::new(
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$timelinePath, $false, [Text.UTF8Encoding]::new($false)
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)
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try {
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for ($localIndex = 0; $localIndex -lt $clipFrameCount; $localIndex++) {
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$sourceIndex = $StartFrame + $localIndex
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$epochSeconds = [double]::Parse(
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([string]$pts[$sourceIndex].best_effort_timestamp_time).Trim(),
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[Globalization.CultureInfo]::InvariantCulture
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) - $firstEpochSeconds
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$sessionSeconds = $timelineStart + $epochSeconds
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if ($sessionSeconds -le $previousSessionSeconds) {
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throw "Decoded LAB E8 clip timestamps are not strictly monotonic"
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}
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$row = [ordered]@{
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frame_index = $localIndex
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sequence = $localIndex + 1
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source_frame_index = $sourceIndex
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source_sequence = $sourceIndex + 1
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epoch_seconds = $epochSeconds
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session_seconds = $sessionSeconds
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}
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$timelineWriter.WriteLine(($row | ConvertTo-Json -Compress))
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$previousSessionSeconds = $sessionSeconds
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}
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$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=e8-frame-extraction-complete FRAMES={0}" -f $clipFrameCount)
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$runArgs = @(
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"run", "--rm", "--gpus", "all",
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"--network", ("container:{0}" -f $TritonContainer),
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"--read-only", "--security-opt", "no-new-privileges:true", "--cap-drop", "ALL",
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"--pids-limit", "256", "--shm-size", "1g",
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"--tmpfs", "/tmp:rw,noexec,nosuid,size=512m",
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"-e", "PYTHONPATH=/runner:/opt/env",
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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 $model) + ":/model:ro"),
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"-v", ((Convert-ToDockerPath $pythonEnvironment) + ":/opt/env: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 $runnerRoot) + ":/runner:ro"),
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"--entrypoint", "python3", $ContainerImage,
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("/runner/{0}" -f $runnerName), "run",
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"--job", "/job",
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"--profile", ("/runner/{0}" -f $profileName),
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"--valid-fov-root", "/valid-fov",
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"--model-root", "/model",
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"--frames", "/frames",
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"--timeline", "/work/timeline.jsonl",
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"--output", "/publish/output",
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"--triton-url", "http://127.0.0.1:8000",
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"--free-bytes-floor", [string]([int64]$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=e8-source-paced-replay-start FRAMES={0}" -f $clipFrameCount)
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& docker @runArgs
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Assert-LastExitCode "LAB E8 source-paced detector/tracker"
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$freeBytesPostReplay = Assert-FreeSpace "post-replay"
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Write-Output "PHASE=e8-source-paced-replay-complete"
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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.e8-realtime-tracking-result/v1" -or
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$result.result_id -notmatch "^e8-realtime-tracking-[a-f0-9]{64}$" -or
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$result.acceptance_state -ne "accepted" -or
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$result.ground_truth -ne $false
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) {
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throw "Final LAB E8 result manifest is incompatible or rejected"
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}
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$finalRoot = Join-Path $derivedRoot ([string]$result.result_id)
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if (Test-Path -LiteralPath $finalRoot) {
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throw "An immutable result with the same LAB E8 identity already exists: $finalRoot"
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}
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Move-Item -LiteralPath $stagingRoot -Destination $finalRoot
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Remove-Item -LiteralPath $publishRoot -Force
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$totalWatch.Stop()
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$completed = $true
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$freeBytesFinal = Assert-FreeSpace "post-publication"
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Write-Output ("RESULT_ROOT={0}" -f $finalRoot)
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Write-Output ("RESULT_ID={0}" -f $result.result_id)
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Write-Output ("PREPARATION_SECONDS={0}" -f $extractWatch.Elapsed.TotalSeconds)
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Write-Output ("ORCHESTRATOR_WALL_SECONDS={0}" -f $totalWatch.Elapsed.TotalSeconds)
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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_REPLAY={0}" -f $freeBytesPostReplay)
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Write-Output ("DISK_FREE_BYTES_FINAL={0}" -f $freeBytesFinal)
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}
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finally {
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if (Test-Path -LiteralPath $workRoot) {
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Remove-Item -LiteralPath $workRoot -Recurse -Force
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}
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if (-not $completed -and (Test-Path -LiteralPath $publishRoot)) {
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Remove-Item -LiteralPath $publishRoot -Recurse -Force
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}
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if ($loadedByRun) {
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try {
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Invoke-WebRequest `
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-Uri "http://127.0.0.1:8000/v2/repository/models/yolox_s/unload" `
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-Method Post -ContentType "application/json" -Body "{}" `
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-UseBasicParsing -TimeoutSec 60 *> $null
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Write-Output "PHASE=e8-model-state-restored"
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}
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catch {
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Write-Warning "LAB E8 could not restore the prior unloaded YOLOX-S state"
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}
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}
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}
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