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