File size: 2,202 Bytes
00c55c8 | 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 | #!/usr/bin/env bash
set -Eeuo pipefail
ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/.." && pwd)"
if [ -n "${OPENPI_PYTHON:-}" ]; then
PY="$OPENPI_PYTHON"
elif [ -x "$ROOT/.venv/bin/python" ]; then
PY="$ROOT/.venv/bin/python"
else
PY="$(command -v python3 || true)"
fi
if [ -z "$PY" ] || [ ! -x "$PY" ]; then
echo "ERROR: no usable Python interpreter found"
exit 1
fi
PORT="${LOOPBACK_PORT:-18080}"
GPU="${LOOPBACK_GPU:-0}"
LOG="${LOOPBACK_LOG:-/tmp/streampi_piperx_loopback.log}"
MAX_LATENCY="${LOOPBACK_MAX_LATENCY_SECONDS:-2.0}"
if ss -ltn 2>/dev/null | grep -q ":${PORT} "; then
echo "ERROR: port $PORT is already occupied"
exit 1
fi
rm -f "$LOG"
cleanup() {
if [ -n "${SERVER_PID:-}" ] &&
kill -0 "$SERVER_PID" 2>/dev/null; then
kill "$SERVER_PID" 2>/dev/null || true
wait "$SERVER_PID" 2>/dev/null || true
fi
}
trap cleanup EXIT INT TERM
POLICY_HOST=127.0.0.1 \
POLICY_PORT="$PORT" \
POLICY_GPU="$GPU" \
OPENPI_PYTHON="$PY" \
"$ROOT/scripts/start_policy_server.sh" \
>"$LOG" 2>&1 &
SERVER_PID=$!
echo "SERVER_PID=$SERVER_PID"
echo "SERVER_LOG=$LOG"
READY=0
for attempt in $(seq 1 300); do
if ! kill -0 "$SERVER_PID" 2>/dev/null; then
echo "ERROR: server exited during startup"
tail -160 "$LOG"
exit 1
fi
if ss -ltn 2>/dev/null | grep -q ":${PORT} "; then
READY=1
break
fi
if [ $((attempt % 5)) -eq 0 ]; then
echo "[waiting] elapsed=$((attempt * 2))s"
tail -5 "$LOG" || true
fi
sleep 2
done
if [ "$READY" -ne 1 ]; then
echo "ERROR: server startup timeout"
tail -200 "$LOG"
exit 1
fi
echo "SERVER_READY"
POLICY_HOST=127.0.0.1 \
POLICY_PORT="$PORT" \
OPENPI_CLIENT_PYTHON="$PY" \
WARMUP_STEPS=3 \
"$ROOT/scripts/warmup_policy.sh"
echo
echo "===== POST-WARMUP VALIDATION ====="
export PYTHONDONTWRITEBYTECODE=1
export PYTHONPATH="$ROOT:$ROOT/packages/openpi-client/src"
"$PY" "$ROOT/deployment/smoke_client.py" \
--host 127.0.0.1 \
--port "$PORT" \
--steps 4 \
--reset-check \
--max-latency-seconds "$MAX_LATENCY"
echo
echo "===== SERVER LOG TAIL ====="
tail -100 "$LOG"
echo "LOOPBACK_TEST_OK"
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