build: package ClumsyPilot with OSQP
This commit is contained in:
梁薄云
@@ -38,4 +38,15 @@
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</Reference>
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</ItemGroup>
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<ItemGroup>
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<None Update="ThirdParty\OSQP\win-x64\osqp.dll"
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Link="osqp.dll" CopyToOutputDirectory="PreserveNewest" />
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<None Update="ThirdParty\OSQP\LICENSE"
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Link="licenses\OSQP-LICENSE.txt" CopyToOutputDirectory="PreserveNewest" />
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<None Update="ThirdParty\OSQP\NOTICE"
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Link="licenses\OSQP-NOTICE.txt" CopyToOutputDirectory="PreserveNewest" />
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<None Update="ThirdParty\OSQP\VERSION"
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Link="licenses\OSQP-VERSION.txt" CopyToOutputDirectory="PreserveNewest" />
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</ItemGroup>
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</Project>
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@@ -0,0 +1,122 @@
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[CmdletBinding()]
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param(
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[Parameter(Mandatory = $true)]
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[string]$ManagedDll,
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[Parameter(Mandatory = $true)]
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[string]$OutputDirectory
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)
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$ErrorActionPreference = 'Stop'
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function Get-PeMachine {
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param([Parameter(Mandatory = $true)][string]$Path)
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[byte[]]$bytes = [System.IO.File]::ReadAllBytes($Path)
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if ($bytes.Length -le 0x40 -or $bytes[0] -ne 0x4d -or $bytes[1] -ne 0x5a) {
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throw "Native runtime is not a PE file: $Path"
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}
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[int]$peOffset = [System.BitConverter]::ToInt32($bytes, 0x3c)
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if ($peOffset -lt 0 -or $peOffset + 6 -gt $bytes.Length -or $bytes[$peOffset] -ne 0x50 -or $bytes[$peOffset + 1] -ne 0x45) {
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throw "Native runtime has an invalid PE header: $Path"
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}
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return [System.BitConverter]::ToUInt16($bytes, $peOffset + 4)
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}
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function Test-SamePath {
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param([string]$Left, [string]$Right)
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return [string]::Equals($Left.TrimEnd([System.IO.Path]::DirectorySeparatorChar, [System.IO.Path]::AltDirectorySeparatorChar),
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$Right.TrimEnd([System.IO.Path]::DirectorySeparatorChar, [System.IO.Path]::AltDirectorySeparatorChar),
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[System.StringComparison]::OrdinalIgnoreCase)
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}
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$managedDllPath = [System.IO.Path]::GetFullPath($ManagedDll)
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$outputDirectoryPath = [System.IO.Path]::GetFullPath($OutputDirectory)
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$driveRoot = [System.IO.Path]::GetPathRoot($outputDirectoryPath)
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$workspaceRoot = [System.IO.Path]::GetFullPath((Join-Path $PSScriptRoot '..\..'))
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if (Test-SamePath $outputDirectoryPath $driveRoot) {
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throw 'Refusing to publish into a drive root.'
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}
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if (Test-SamePath $outputDirectoryPath $workspaceRoot) {
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throw 'Refusing to publish into the workspace root.'
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}
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if (-not [System.IO.File]::Exists($managedDllPath)) {
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throw "Managed DLL does not exist: $managedDllPath"
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}
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if (-not [System.Environment]::Is64BitProcess) {
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throw 'Refusing to publish from a non-x64 PowerShell host.'
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}
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$clumsyPilotRoot = [System.IO.Path]::GetFullPath((Join-Path $PSScriptRoot '..'))
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$osqpRoot = Join-Path $clumsyPilotRoot 'ThirdParty\OSQP'
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$nativeDll = Join-Path $osqpRoot 'win-x64\osqp.dll'
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$hashManifest = Join-Path $osqpRoot 'SHA256SUMS'
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$license = Join-Path $osqpRoot 'LICENSE'
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$notice = Join-Path $osqpRoot 'NOTICE'
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$version = Join-Path $osqpRoot 'VERSION'
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$requiredFiles = @($nativeDll, $hashManifest, $license, $notice, $version)
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foreach ($requiredFile in $requiredFiles) {
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if (-not [System.IO.File]::Exists($requiredFile)) {
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throw "Required OSQP package file does not exist: $requiredFile"
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}
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}
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if ((Get-PeMachine $nativeDll) -ne 0x8664) {
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throw 'Refusing to publish a non-x64 OSQP runtime.'
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}
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$manifestTokens = @((Get-Content -Raw -LiteralPath $hashManifest) -split '\s+' | Where-Object { $_.Length -gt 0 })
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if ($manifestTokens.Length -lt 2 -or $manifestTokens[1] -ne 'win-x64/osqp.dll') {
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throw 'SHA256SUMS does not describe the pinned win-x64 OSQP runtime.'
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}
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$expectedHash = $manifestTokens[0].ToLowerInvariant()
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$actualHash = (Get-FileHash -Algorithm SHA256 -LiteralPath $nativeDll).Hash.ToLowerInvariant()
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if ($actualHash -ne $expectedHash) {
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throw 'OSQP runtime SHA-256 does not match SHA256SUMS.'
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}
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[System.IO.Directory]::CreateDirectory($outputDirectoryPath) | Out-Null
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$pluginsDirectory = Join-Path $outputDirectoryPath 'plugins'
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$nonce = [System.Guid]::NewGuid().ToString('N')
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$stagingDirectory = Join-Path $outputDirectoryPath ('.plugins-staging-' + $nonce)
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$backupDirectory = Join-Path $outputDirectoryPath ('.plugins-backup-' + $nonce)
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$movedExistingPlugins = $false
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try {
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[System.IO.Directory]::CreateDirectory((Join-Path $stagingDirectory 'licenses')) | Out-Null
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[System.IO.File]::Copy($managedDllPath, (Join-Path $stagingDirectory 'ClumsyPilot.dll'), $false)
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[System.IO.File]::Copy($nativeDll, (Join-Path $stagingDirectory 'osqp.dll'), $false)
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[System.IO.File]::Copy($license, (Join-Path $stagingDirectory 'licenses\OSQP-LICENSE.txt'), $false)
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[System.IO.File]::Copy($notice, (Join-Path $stagingDirectory 'licenses\OSQP-NOTICE.txt'), $false)
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[System.IO.File]::Copy($version, (Join-Path $stagingDirectory 'licenses\OSQP-VERSION.txt'), $false)
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if ([System.IO.Directory]::Exists($pluginsDirectory)) {
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[System.IO.Directory]::Move($pluginsDirectory, $backupDirectory)
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$movedExistingPlugins = $true
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}
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[System.IO.Directory]::Move($stagingDirectory, $pluginsDirectory)
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if ($movedExistingPlugins -and [System.IO.Directory]::Exists($backupDirectory)) {
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[System.IO.Directory]::Delete($backupDirectory, $true)
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}
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}
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catch {
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if (-not [System.IO.Directory]::Exists($pluginsDirectory) -and $movedExistingPlugins -and
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[System.IO.Directory]::Exists($backupDirectory)) {
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[System.IO.Directory]::Move($backupDirectory, $pluginsDirectory)
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}
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throw
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}
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finally {
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if ([System.IO.Directory]::Exists($stagingDirectory)) {
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[System.IO.Directory]::Delete($stagingDirectory, $true)
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}
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if ([System.IO.Directory]::Exists($backupDirectory) -and [System.IO.Directory]::Exists($pluginsDirectory)) {
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[System.IO.Directory]::Delete($backupDirectory, $true)
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}
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}
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@@ -0,0 +1,146 @@
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using System;
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using System.Collections.Generic;
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using System.Diagnostics;
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using System.IO;
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using System.Reflection;
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using System.Security.Cryptography;
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namespace EMPlannerVerificationHost;
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internal static class PluginPackagingChecks
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{
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public static void Run()
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{
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string repositoryRoot = Directory.GetCurrentDirectory();
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string scriptPath = Path.Combine(repositoryRoot, "ClumsyPilot", "scripts", "Publish-ClumsyPilotPlugin.ps1");
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Verification.True(File.Exists(scriptPath), "plugin publish script exists");
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string managedDll = Path.Combine(AppContext.BaseDirectory, "ClumsyPilot.dll");
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Verification.True(File.Exists(managedDll), "verification host has managed ClumsyPilot.dll");
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VerifyBuildOutputMetadata();
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string packageRoot = Path.Combine(Path.GetTempPath(), "em-planner-plugin-package-" + Guid.NewGuid().ToString("N"));
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Directory.CreateDirectory(packageRoot);
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try
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{
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Publish(scriptPath, managedDll, packageRoot);
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VerifyPackage(repositoryRoot, packageRoot);
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Publish(scriptPath, managedDll, packageRoot);
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VerifyPackage(repositoryRoot, packageRoot);
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AssertNoStaleSiblingDirectories(packageRoot);
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}
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finally
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{
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if (Directory.Exists(packageRoot))
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Directory.Delete(packageRoot, true);
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}
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}
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private static void Publish(string scriptPath, string managedDll, string packageRoot)
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{
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var startInfo = new ProcessStartInfo
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{
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FileName = "powershell.exe",
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WorkingDirectory = Directory.GetCurrentDirectory(),
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UseShellExecute = false,
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CreateNoWindow = true,
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RedirectStandardOutput = true,
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RedirectStandardError = true,
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};
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startInfo.ArgumentList.Add("-NoProfile");
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startInfo.ArgumentList.Add("-ExecutionPolicy");
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startInfo.ArgumentList.Add("Bypass");
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startInfo.ArgumentList.Add("-File");
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startInfo.ArgumentList.Add(scriptPath);
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startInfo.ArgumentList.Add("-ManagedDll");
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startInfo.ArgumentList.Add(managedDll);
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startInfo.ArgumentList.Add("-OutputDirectory");
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startInfo.ArgumentList.Add(packageRoot);
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using (var process = new Process { StartInfo = startInfo })
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{
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process.Start();
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string standardOutput = process.StandardOutput.ReadToEnd();
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string standardError = process.StandardError.ReadToEnd();
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process.WaitForExit();
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if (process.ExitCode != 0)
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{
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throw new InvalidOperationException("plugin publish exited " + process.ExitCode + ": " +
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standardOutput + standardError);
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}
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}
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}
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private static void VerifyPackage(string repositoryRoot, string packageRoot)
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{
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string pluginsDirectory = Path.Combine(packageRoot, "plugins");
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Verification.True(Directory.Exists(pluginsDirectory), "plugins directory exists");
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var relativeFiles = new List<string>();
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string[] files = Directory.GetFiles(pluginsDirectory, "*", SearchOption.AllDirectories);
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for (int index = 0; index < files.Length; index++)
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relativeFiles.Add(Path.GetRelativePath(packageRoot, files[index]).Replace('\\', '/'));
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relativeFiles.Sort(StringComparer.Ordinal);
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Verification.Equal("plugins/ClumsyPilot.dll|plugins/licenses/OSQP-LICENSE.txt|plugins/licenses/OSQP-NOTICE.txt|" +
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"plugins/licenses/OSQP-VERSION.txt|plugins/osqp.dll", string.Join("|", relativeFiles),
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"plugin tree contains exactly the managed DLL, native DLL, and OSQP license files");
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string managedPlugin = Path.Combine(pluginsDirectory, "ClumsyPilot.dll");
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AssemblyName managedAssembly = AssemblyName.GetAssemblyName(managedPlugin);
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Verification.True(!string.IsNullOrWhiteSpace(managedAssembly.Name), "packaged ClumsyPilot.dll is managed");
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string nativePlugin = Path.Combine(pluginsDirectory, "osqp.dll");
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Verification.Equal((ushort)0x8664, ReadPeMachine(nativePlugin), "packaged OSQP binary is x64");
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Verification.Equal(ReadExpectedOsqpHash(repositoryRoot), GetSha256(nativePlugin),
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"packaged OSQP hash matches SHA256SUMS");
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}
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private static void AssertNoStaleSiblingDirectories(string packageRoot)
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{
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string parentDirectory = Path.GetDirectoryName(packageRoot) ??
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throw new InvalidOperationException("temporary package root has no parent directory");
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string prefix = Path.GetFileName(packageRoot);
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string[] matchingDirectories = Directory.GetDirectories(parentDirectory, prefix + "*");
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Verification.Equal(1, matchingDirectories.Length, "publish leaves no stale sibling staging directory");
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Verification.Equal(packageRoot, matchingDirectories[0], "publish keeps only the requested temporary test root");
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}
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private static ushort ReadPeMachine(string path)
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{
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byte[] bytes = File.ReadAllBytes(path);
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Verification.True(bytes.Length > 0x40 && bytes[0] == 'M' && bytes[1] == 'Z', "OSQP has DOS header");
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int peOffset = BitConverter.ToInt32(bytes, 0x3c);
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Verification.True(peOffset >= 0 && peOffset + 6 <= bytes.Length && bytes[peOffset] == 'P' &&
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bytes[peOffset + 1] == 'E', "OSQP has PE header");
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return BitConverter.ToUInt16(bytes, peOffset + 4);
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}
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private static string ReadExpectedOsqpHash(string repositoryRoot)
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{
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string manifestPath = Path.Combine(repositoryRoot, "ClumsyPilot", "ThirdParty", "OSQP", "SHA256SUMS");
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string[] tokens = File.ReadAllText(manifestPath).Split((char[]?)null, StringSplitOptions.RemoveEmptyEntries);
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Verification.True(tokens.Length >= 2 && string.Equals(tokens[1], "win-x64/osqp.dll", StringComparison.Ordinal),
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"OSQP hash manifest describes the pinned x64 runtime");
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return tokens[0].ToLowerInvariant();
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}
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private static string GetSha256(string path)
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{
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return Convert.ToHexString(SHA256.HashData(File.ReadAllBytes(path))).ToLowerInvariant();
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}
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private static void VerifyBuildOutputMetadata()
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{
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string outputDirectory = AppContext.BaseDirectory;
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Verification.True(File.Exists(Path.Combine(outputDirectory, "osqp.dll")),
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"build output contains the pinned OSQP runtime");
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Verification.True(File.Exists(Path.Combine(outputDirectory, "licenses", "OSQP-LICENSE.txt")),
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"build output contains the OSQP license");
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Verification.True(File.Exists(Path.Combine(outputDirectory, "licenses", "OSQP-NOTICE.txt")),
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"build output contains the OSQP notice");
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Verification.True(File.Exists(Path.Combine(outputDirectory, "licenses", "OSQP-VERSION.txt")),
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"build output contains the OSQP version");
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}
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}
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@@ -13,7 +13,7 @@ internal static class Program
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args[0] != "longitudinal-model" && args[0] != "longitudinal-integration" &&
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args[0] != "longitudinal-real-osqp-probe" && args[0] != "trajectory" &&
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args[0] != "em-planning-service" && args[0] != "em-core-all" && args[0] != "coordinator" &&
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args[0] != "executor"))
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args[0] != "executor" && args[0] != "plugin-package"))
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{
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Console.Error.WriteLine("Usage: EMPlannerVerificationHost foundation|segmentation|frenet|corridor|optimization|osqp|osqp-loader|all-foundation|lateral-model|lateral-integration|lateral-real-osqp|lateral-all|longitudinal-model|longitudinal-integration");
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return 2;
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@@ -119,6 +119,11 @@ internal static class Program
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ExecutorChecks.Run();
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Console.WriteLine("PASS executor");
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}
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if (args[0] == "plugin-package")
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{
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PluginPackagingChecks.Run();
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Console.WriteLine("PASS plugin-package");
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}
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return 0;
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}
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catch (Exception exception)
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