forked from Dan4ick/Lidar_Muxa
119 lines
4.1 KiB
Bash
Executable file
119 lines
4.1 KiB
Bash
Executable file
#!/usr/bin/env bash
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set -e
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# ==============================================================================
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# FlyGuard: Bionic Obstacle Detection Core (LCT-2026, Case 05)
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# Hesai Pandar128 LiDAR (128 beams, 10 Hz / 100ms)
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# Universal Entrypoint: NVIDIA GPU Acceleration (CUDA 12.x) with CPU Fallback
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# ==============================================================================
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print_banner() {
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echo "============================================================================"
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echo " FlyGuard · Блиц-обнаружение препятствий в тоннеле метро (Кейс 05, ЛЦТ-2026)"
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echo " Hesai Pandar128 (128 лучей, 10 Гц / 100 мс) · NVIDIA CUDA 12 / CPU Fallback"
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echo "============================================================================"
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}
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print_device_info() {
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python3 -c "
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try:
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import flyguard.device as dev
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info = dev.get_device_info()
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if info['cuda_available']:
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print(f'==> [HARDWARE] NVIDIA GPU: {info[\"device_name\"]} (Compute {info[\"compute_capability\"]}, {info[\"total_memory_gb\"]} GB VRAM)')
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print(f'==> [ACCELERATION] CUDA 12: АКТИВНО (PyTorch {info[\"torch_version\"]})')
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else:
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print('==> [HARDWARE] CPU Mode: CUDA недоступна или не передана в контейнер.')
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print('==> [FALLBACK] Активирован автоматический Graceful Fallback на CPU.')
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except Exception as e:
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print(f'==> Проверка окружения: {e}')
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"
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}
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CMD="${1:-default}"
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case "$CMD" in
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default|run)
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print_banner
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print_device_info
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DATA_DIR="${FLYGUARD_DATA:-/data}"
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FOUND_BAG=$(find "$DATA_DIR" -name '*.db3' 2>/dev/null | head -n 1 || true)
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if [ -d "$DATA_DIR" ] && [ -n "$FOUND_BAG" ]; then
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echo "==> Обнаружены бэги лидара в $DATA_DIR. Запуск конвейера FlyGuard по всем записям..."
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exec python3 tools/run_pipeline.py --all \
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--memory artifacts/mushroom_body.npz \
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--readout artifacts/mbon_readout.npz \
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--device auto \
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--verbose
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else
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echo "==> В $DATA_DIR не найдены файлы .db3 (датасет не смонтирован через -v /путь/к/data:/data)."
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echo "==> Выполняется системный прогон верификационных тестов и роутинга..."
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exec python3 tests/run_tests.py
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fi
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;;
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pipeline|run-pipeline)
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shift
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print_banner
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print_device_info
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exec python3 tools/run_pipeline.py \
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--memory artifacts/mushroom_body.npz \
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--readout artifacts/mbon_readout.npz \
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--device auto "$@"
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;;
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benchmark|make-benchmark)
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shift
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print_banner
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print_device_info
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exec python3 tools/make_benchmark.py \
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--memory artifacts/mushroom_body.npz \
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--mbon-dir artifacts/mbon_folds \
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--device auto "$@"
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;;
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evaluate)
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shift
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print_banner
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print_device_info
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exec python3 tools/evaluate.py \
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--mbon-dir artifacts/mbon_folds \
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--device auto "$@"
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;;
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train-mbon)
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shift
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print_banner
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print_device_info
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exec python3 tools/train_mbon.py \
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--device auto "$@"
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;;
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train-track)
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shift
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print_banner
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print_device_info
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exec python3 tools/train_track.py \
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--device auto "$@"
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;;
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test|tests|run-tests)
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shift
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print_banner
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print_device_info
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exec python3 tests/run_tests.py "$@"
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;;
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pytest)
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shift
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exec pytest tests "$@"
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;;
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info|device|gpu|gpu-info)
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print_banner
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python3 -c "
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import json
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import flyguard.device as dev
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print(json.dumps(dev.get_device_info(), indent=2, ensure_ascii=False))
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"
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;;
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bash|sh)
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shift
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exec /bin/bash "$@"
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;;
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*)
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exec "$@"
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;;
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esac
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