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d8290eb | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 | #!/usr/bin/env python3
"""Issue manual L1/R1/status/quit commands to one live MuJoCo session."""
from __future__ import annotations
import argparse
import json
import os
from pathlib import Path
import sys
import time
ROOT = Path(__file__).resolve().parents[1]
if str(ROOT) not in sys.path:
sys.path.insert(0, str(ROOT))
from runtime.h2_shm_bridge import H2SharedMemoryBridge, SIMULATOR_IDENTITY # noqa: E402
from runtime.configuration import load_settings # noqa: E402
from runtime.motion_attestation import interface_hash # noqa: E402
from runtime.planner_protocol import ( # noqa: E402
BALL_SOURCE_MONOTONIC_INDEX,
ROBOT_SOURCE_MONOTONIC_INDEX,
source_age_s,
)
DEFAULT_LATEST = Path("/tmp/h2_live_sim_latest_run")
def _resolve_run_dir(raw: str | None) -> Path:
if raw:
path = Path(raw).expanduser().resolve()
else:
try:
path = Path(DEFAULT_LATEST.read_text(encoding="utf-8").strip()).resolve()
except FileNotFoundError as error:
raise RuntimeError("no live-sim run is registered") from error
metadata = path.stat()
if metadata.st_uid != os.getuid() or metadata.st_mode & 0o077:
raise RuntimeError("live-sim run directory must be owner-only")
return path
def _shm_name(run_dir: Path) -> str:
value = (run_dir / "sim_shm_name").read_text(encoding="utf-8").strip()
if not value.startswith("h2_pingpong_sim_") or "/" in value:
raise RuntimeError("run directory contains an invalid simulation SHM name")
return value
def _load_json(path: Path) -> dict[str, object]:
try:
value = json.loads(path.read_text(encoding="utf-8"))
except FileNotFoundError:
return {}
return value if isinstance(value, dict) else {}
def _settings_for_run(run_dir: Path):
try:
path = Path((run_dir / "config_path").read_text(encoding="utf-8").strip())
except FileNotFoundError:
path = ROOT / "config.yaml"
version_path = run_dir / "deployment_version"
version = version_path.read_text().strip() if version_path.is_file() else None
return load_settings(path, deployment_version=version)
def _touch_once(path: Path) -> None:
try:
descriptor = os.open(path, os.O_WRONLY | os.O_CREAT | os.O_EXCL, 0o600)
except FileExistsError:
return
try:
os.write(descriptor, f"{time.monotonic_ns()}\n".encode("ascii"))
os.fsync(descriptor)
finally:
os.close(descriptor)
def _read_state(run_dir: Path):
# This command is a separate process, not the process family that owns the
# simulation segment. Prevent multiprocessing.resource_tracker from
# unlinking the owner's still-live name when this short-lived reader exits.
bridge = H2SharedMemoryBridge(_shm_name(run_dir), independent_reader=True)
try:
identity = bridge.read_identity()
state = bridge.read_state()
finally:
bridge.close()
if identity.interface_hash != interface_hash(SIMULATOR_IDENTITY):
raise RuntimeError("H2BR is not owned by the MuJoCo simulator")
return identity, state
def _print_status(run_dir: Path) -> int:
identity, state = _read_state(run_dir)
runner = _load_json(run_dir / "runner_status.json")
plant = _load_json(run_dir / "bridge_status.json")
now_ns = time.monotonic_ns()
state_age = (now_ns - int(state.state_stamp_ns)) * 1.0e-9
planner_age = (now_ns - int(state.tt_stamp_ns)) * 1.0e-9
now_s = time.monotonic()
robot_age = source_age_s(now_s, state.tt_data[ROBOT_SOURCE_MONOTONIC_INDEX])
ball_age = source_age_s(now_s, state.tt_data[BALL_SOURCE_MONOTONIC_INDEX])
print(
f"phase={runner.get('phase', 'BOOT')} shm={_shm_name(run_dir)} "
f"owner_flags=0x{identity.owner_flags:02x} "
f"state_age={state_age:.4f}s planner_age={planner_age:.4f}s "
f"robot_source_age={robot_age:.4f}s ball_source_age={ball_age:.4f}s "
f"start={int(state.start_requested)} stop={int(state.stop_requested)} "
f"fault={int(state.emergency_stop)}"
)
print(
f"policy_ticks={runner.get('policy_ticks', 0)} "
f"active_ticks={runner.get('active_reference_policy_ticks', 0)} "
f"accepted_id={runner.get('accepted_command_id', 0)} "
f"reference_id={runner.get('reference_command_id', 0)} "
f"root_z={plant.get('pelvis_pos', [None, None, None])[2]} "
f"max_tilt={plant.get('max_tilt_rad')} "
f"max_dq={plant.get('max_abs_joint_velocity_rad_s')} "
f"max_torque_util={plant.get('max_torque_utilization')}"
)
print(
f"hybrid_ball_mode={plant.get('hybrid_ball_mode', 'WAIT_INPUT')} "
f"phase={plant.get('hybrid_ball_phase', 'UNKNOWN')} "
f"velocity_source={plant.get('hybrid_ball_velocity_source', 'none')} "
f"contacts={plant.get('hybrid_ball_contact_count', 0)} "
f"sim_steps={plant.get('hybrid_ball_simulated_steps', 0)} "
f"source_age={plant.get('hybrid_ball_source_age_s')}"
)
if runner.get("stop_reason"):
print(f"stop_reason={runner['stop_reason']}")
return 0
def _require_frozen_and_fresh(run_dir: Path, state) -> None:
runner = _load_json(run_dir / "runner_status.json")
if runner.get("phase") != "FROZEN_WAIT":
raise RuntimeError(
f"L1 rejected: runner phase is {runner.get('phase', 'BOOT')}, expected FROZEN_WAIT"
)
if not (run_dir / "frozen.ready").exists():
raise RuntimeError("L1 rejected: runner has not reached FROZEN_WAIT")
if state.stop_requested or state.emergency_stop:
raise RuntimeError("L1 rejected: R1/fault is permanently latched")
if not state.state_ready or not state.tt_ready:
raise RuntimeError("L1 rejected: simulated LowState/planner is not ready")
settings = _settings_for_run(run_dir)
now_ns = time.monotonic_ns()
state_age = (
float("inf")
if int(state.state_stamp_ns) <= 0
else (now_ns - int(state.state_stamp_ns)) * 1.0e-9
)
planner_age = (
float("inf")
if int(state.tt_stamp_ns) <= 0
else (now_ns - int(state.tt_stamp_ns)) * 1.0e-9
)
now_s = time.monotonic()
robot_age = source_age_s(
now_s, state.tt_data[ROBOT_SOURCE_MONOTONIC_INDEX]
)
limits = (
("state", state_age, settings.max_control_gap_s),
("planner receipt", planner_age, 0.10),
("robot source", robot_age, settings.robot_mocap_timeout_s),
)
for label, age, limit in limits:
if age < -0.01 or age > limit:
raise RuntimeError(
f"L1 rejected: {label} age {age:.4f}s exceeds {limit:.4f}s"
)
def main(argv: list[str] | None = None) -> int:
parser = argparse.ArgumentParser(description=__doc__)
parser.add_argument(
"command", choices=("status", "check-frozen", "l1", "r1", "quit")
)
parser.add_argument("--run-dir", default=None)
args = parser.parse_args(argv)
try:
run_dir = _resolve_run_dir(args.run_dir)
if args.command == "status":
return _print_status(run_dir)
_, state = _read_state(run_dir)
if args.command in ("check-frozen", "l1"):
_require_frozen_and_fresh(run_dir, state)
if args.command == "check-frozen":
_print_status(run_dir)
print("[PASS] FROZEN_WAIT state/planner/simulated robot are fresh; ball visibility is not required")
return 0
_touch_once(run_dir / "control.l1")
print("[SIM L1] requested; policy will start on the next runner cycle")
return 0
if args.command == "r1":
_touch_once(run_dir / "control.r1")
print("[SIM R1] permanently latched; use status, then quit for cleanup")
return 0
if not (run_dir / "control.r1").exists() and not (
state.stop_requested or state.emergency_stop
):
raise RuntimeError("quit rejected: issue r1 first")
_touch_once(run_dir / "control.quit")
print("[SIM QUIT] requested after R1; waiting for safe teardown")
return 0
except (OSError, RuntimeError, ValueError) as error:
print(f"[FAIL] {error}", file=sys.stderr)
return 1
if __name__ == "__main__":
raise SystemExit(main())
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