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78 lines
3.7 KiB
Python
78 lines
3.7 KiB
Python
#!/usr/bin/env python3
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"""Read-only preflight for the pinned Experiment 6-10 reproduction track."""
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from __future__ import annotations
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import argparse
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import importlib.util
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import json
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import platform
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import subprocess
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from datetime import datetime, timezone
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from pathlib import Path
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COMMIT = "3d14695e40c9c68229c0aacffca6053c75cd3eb6"
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PINNED_BLOBS = {
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"docs/en/source/software/getting_started/XLeRobot_teleop.md": "3992358282ff54cfce8d90a525e784aedcf045f7",
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"software/examples/4_xlerobot_teleop_keyboard.py": "efbe076dfbda3c6280fa54f0eb5bca1a12518a0d",
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"software/examples/5_xlerobot_teleop_xbox.py": "de7bc17d570167e58b15e38c06c0fa23af74632a",
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"software/examples/7_xlerobot_teleop_joycon.py": "21a48258d22b1fc002f63555a2f3dc2950bdfb24",
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"software/examples/8_xlerobot_teleop_vr.py": "315bb81f13a37746de0f329e3ba11240a2230806",
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}
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def git(repo: Path, *args: str) -> str:
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return subprocess.run(["git", "-C", str(repo), *args], check=False, capture_output=True, text=True).stdout.strip()
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def main() -> int:
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parser = argparse.ArgumentParser(description=__doc__)
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parser.add_argument("--upstream", type=Path, required=True, help="local checkout of Vector-Wangel/XLeRobot")
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parser.add_argument("--serial-port", action="append", default=[], help="expected robot serial device; checked by path only")
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parser.add_argument("--safety-checklist-complete", action="store_true", help="operator attests calibration, clear workspace, observer, and E-stop")
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parser.add_argument("--output", type=Path)
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args = parser.parse_args()
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checks: list[dict[str, object]] = []
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def add(check_id: str, passed: bool, detail: str, required: bool = True) -> None:
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checks.append({"id": check_id, "passed": passed, "required_for_hardware_run": required, "detail": detail})
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head = git(args.upstream, "rev-parse", "HEAD")
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add("pinned_commit", head == COMMIT, f"expected {COMMIT}; found {head or 'not a git checkout'}")
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for path, blob in PINNED_BLOBS.items():
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found = git(args.upstream, "rev-parse", f"HEAD:{path}")
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add(f"blob:{path}", found == blob, f"expected {blob}; found {found or 'missing'}")
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for module in ("numpy", "pygame", "lerobot", "joyconrobotics"):
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found = importlib.util.find_spec(module) is not None
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add(f"python_module:{module}", found, "installed" if found else "not importable")
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add("serial_ports_supplied", bool(args.serial_port), "no serial ports supplied" if not args.serial_port else ", ".join(args.serial_port))
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for device in args.serial_port:
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add(f"device:{device}", Path(device).exists(), "path exists" if Path(device).exists() else "path missing")
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add("safety_checklist", args.safety_checklist_complete, "operator attestation present" if args.safety_checklist_complete else "not attested")
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blockers = [str(item["id"]) for item in checks if item["required_for_hardware_run"] and not item["passed"]]
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report = {
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"schema_version": "1.0",
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"experiment_id": "6-10",
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"kind": "non_actuating_preflight",
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"generated_at": datetime.now(timezone.utc).isoformat(),
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"host": platform.node() or "unknown",
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"upstream_path": str(args.upstream.resolve()),
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"status": "ready" if not blockers else "blocked",
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"checks": checks,
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"blockers": blockers,
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"actuation_attempted": False,
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}
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rendered = json.dumps(report, indent=2) + "\n"
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if args.output:
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args.output.parent.mkdir(parents=True, exist_ok=True)
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args.output.write_text(rendered, encoding="utf-8")
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print(f"wrote {args.output}")
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else:
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print(rendered, end="")
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return 0 if not blockers else 1
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if __name__ == "__main__":
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raise SystemExit(main())
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