add commits..

2026-08-12 14:46:57 +09:00
parent 324e644ef6
commit 38ab528d24
11 changed files with 450 additions and 31 deletions
@@ -0,0 +1,16 @@
+UPDATE "course_environment_profiles"
+SET "config" = replace(
+  replace(
+    replace(
+      "config"::text,
+      'nav2-slam:humble',
+      'future-nav2-gazebo:humble'
+    ),
+    'runtime-images/nav2/humble/latest/nav2-slam-humble.tar.zst',
+    'runtime-images/nav2/gazebo/latest/future-nav2-gazebo-humble.tar.zst'
+  ),
+  'nav2-slam-humble.tar.zst',
+  'future-nav2-gazebo-humble.tar.zst'
+)::jsonb
+WHERE "config"::text LIKE '%nav2-slam:humble%'
+   OR "config"::text LIKE '%nav2-slam-humble.tar.zst%';
@@ -0,0 +1,17 @@
+UPDATE "course_week_modules" AS module
+SET "prebuilt_artifacts" = (
+  SELECT jsonb_agg(
+    CASE
+      WHEN artifact->>'fileName' = 'lms-nav2-gazebo-simulator-build-install.tar.zst'
+        OR artifact->>'url' LIKE '%/lms-nav2-gazebo-simulator-build-install.tar.zst'
+      THEN jsonb_set(
+        artifact,
+        '{checksumSha256}',
+        to_jsonb('8432100a17d85047ab4ac79445d5eacf236ccc79a785db61d14270104af270b7'::text)
+      )
+      ELSE artifact
+    END
+  )
+  FROM jsonb_array_elements(module."prebuilt_artifacts") AS artifact
+)
+WHERE module."folder_name" = '[lms-nav2-gazebo-simulator]nav2-simulator_v1.0.0_ws';
@@ -0,0 +1,18 @@
+-- The NAV2 viewer expects the unified slam-ros-bridge API
+-- (/state, /ws/state and /ws/control). The older nav2-ros-bridge context
+-- does not expose those endpoints, so remove that override from every
+-- local NAV2 course environment profile.
+UPDATE "course_environment_profiles"
+SET
+  "config" = jsonb_set(
+    ("config"::jsonb #- '{bridge,buildContext}'),
+    '{bridge,image}',
+    '"slam-ros-bridge:latest"'::jsonb,
+    true
+  ),
+  "updated_at" = CURRENT_TIMESTAMP
+WHERE "platform_key" = 'NAV2'
+  AND (
+    "config"::jsonb #>> '{bridge,buildContext}' = 'resources/nav2-ros-bridge'
+    OR "config"::jsonb #>> '{bridge,image}' = 'nav2-ros-bridge'
+  );
@@ -0,0 +1,27 @@
+UPDATE "course_week_modules" AS module
+SET "prebuilt_artifacts" = (
+  SELECT jsonb_agg(
+    CASE
+      WHEN artifact->>'fileName' = 'lms-nav2-gazebo-planning-build-install.tar.zst'
+        OR artifact->>'url' LIKE '%/lms-nav2-gazebo-planning-build-install.tar.zst'
+      THEN jsonb_set(
+        artifact,
+        '{checksumSha256}',
+        to_jsonb('6087b12b35a4c2ea3073c6b9fad5e43175d7425c2f4a042fa654e8c42b2bf29d'::text)
+      )
+      WHEN artifact->>'fileName' = 'lms-nav2-gazebo-control-build-install.tar.zst'
+        OR artifact->>'url' LIKE '%/lms-nav2-gazebo-control-build-install.tar.zst'
+      THEN jsonb_set(
+        artifact,
+        '{checksumSha256}',
+        to_jsonb('ce8949b8a14f6d29b3924b82d4819923368fb67029f45cc50a07175afa659a7a'::text)
+      )
+      ELSE artifact
+    END
+  )
+  FROM jsonb_array_elements(module."prebuilt_artifacts") AS artifact
+)
+WHERE module."folder_name" IN (
+  '[lms-nav2-gazebo-planning]nav2-planning_v1.0.0_ws',
+  '[lms-nav2-gazebo-control]nav2-control_v1.0.0_ws'
+);
@@ -0,0 +1,20 @@
+UPDATE "course_week_modules" AS module
+SET "default_parameters" = CASE
+  WHEN EXISTS (
+    SELECT 1
+    FROM jsonb_array_elements(module."default_parameters") AS parameter
+    WHERE parameter #>> '{}' LIKE 'localization_mode:=%'
+  ) THEN (
+    SELECT jsonb_agg(
+      CASE
+        WHEN parameter #>> '{}' LIKE 'localization_mode:=%'
+          THEN to_jsonb('localization_mode:=amcl'::text)
+        ELSE parameter
+      END
+    )
+    FROM jsonb_array_elements(module."default_parameters") AS parameter
+  )
+  ELSE COALESCE(module."default_parameters", '[]'::jsonb)
+    || jsonb_build_array('localization_mode:=amcl')
+END
+WHERE module."folder_name" = '[lms-nav2-gazebo-localization]nav2-localization_v1.0.0_ws';
@@ -0,0 +1,7 @@
+-- The selected map determines SLAM/navigation and 2D/3D viewer mode.
+-- Environment profiles retain only runtime connection configuration.
+UPDATE "course_environment_profiles"
+SET
+  "config" = "config" #- '{viewer,mode}',
+  "updated_at" = CURRENT_TIMESTAMP
+WHERE "config" #> '{viewer,mode}' IS NOT NULL;
@@ -0,0 +1,39 @@
+-- SLAM/navigation is selected from the map. Keep one runtime configuration
+-- for the remote platform instead of separate visualization profiles.
+DELETE FROM "course_environment_profiles" legacy
+USING "course_environment_profiles" platform
+WHERE legacy."course_id" = platform."course_id"
+  AND legacy."week" = platform."week"
+  AND platform."platform_key" = 'PLATFORM'
+  AND legacy."platform_key" IN ('REAL_SLAM', 'REAL_SLAM_3D', 'REAL_NAVIGATION');
+
+WITH canonical AS (
+  SELECT id
+  FROM (
+    SELECT
+      id,
+      row_number() OVER (
+        PARTITION BY "course_id", "week"
+        ORDER BY CASE "platform_key"
+          WHEN 'REAL_SLAM' THEN 1
+          WHEN 'REAL_NAVIGATION' THEN 2
+          WHEN 'REAL_SLAM_3D' THEN 3
+        END
+      ) AS rank
+    FROM "course_environment_profiles"
+    WHERE "platform_key" IN ('REAL_SLAM', 'REAL_SLAM_3D', 'REAL_NAVIGATION')
+  ) ranked
+  WHERE rank = 1
+)
+UPDATE "course_environment_profiles" profile
+SET
+  "platform_key" = 'PLATFORM',
+  "profile_type" = 'PLATFORM',
+  "name" = '플랫폼',
+  "config" = jsonb_set(profile."config" #- '{viewer,mode}', '{type}', '"PLATFORM"'::jsonb, true),
+  "updated_at" = CURRENT_TIMESTAMP
+FROM canonical
+WHERE profile.id = canonical.id;
+
+DELETE FROM "course_environment_profiles"
+WHERE "platform_key" IN ('REAL_SLAM', 'REAL_SLAM_3D', 'REAL_NAVIGATION');