Post Docking Callback Examples
The scripts in this folder allow you to upload files saved to the Data Acquisition Store during robot operation to various endpoints, with the target use case having the callback run when Spot docks at the end of an Autowalk mission.
Run the below to install the necessary dependencies:
python3 -m pip install -r requirements.txt
For AWS, you must have your config file saved at
~/.aws/config with format:
[default] aws_access_key_id=KEY aws_secret_access_key=KEY
If running on a CORE I/O, you will need access to the internet or your local network.
Run a Callback
Run the scripts by the following commands: AWS:
python3 -m daq_upload_docking_callback --destination aws --bucket-name YOUR_BUCKET --host-ip HOST_COMPUTER_IP SPOT_IP
Note: You can either use a config file at
~/.aws/config or use the
--aws-secret-key arguments to have this service create the file.
python3 -m daq_upload_docking_callback --destination gcp --key-filepath PATH_TO_KEY_JSON --bucket-name YOUR_BUCKET --host-ip HOST_COMPUTER_IP SPOT_IP
python3 -m daq_upload_docking_callback --destination local --destination-folder DESTINATION --host-ip HOST_COMPUTER_IP SPOT_IP
You can use the optional
--time-period argument to adjust how far back the callback should look for files. If not specified, the callback will look for files starting from when the callback was initialized. After running once, the start time will be reset.
Run a Callback using Docker
Please refer to this document for general instructions on how to run software applications on computation payloads as docker containers.
You can find general instructions on how to build and use the docker image here.
To build the Docker image, run:
sudo docker build -f Dockerfile -t docking_callback . sudo docker save docking_callback | pigz > docking_callback.tar.gz
To build the Docker image for an arm64 platform (e.g. CORE I/O), run:
# Prerequisites # Install the pigz and qemu packages sudo apt-get install qemu binfmt-support qemu-user-static pigz # This step will execute the registering scripts sudo docker run --rm --privileged multiarch/qemu-user-static --reset -p yes # Builds the image sudo docker build -f Dockerfile.arm64 -t docking_callback:arm64 . # Exports the image, uses pigz sudo docker save docking_callback:arm64 | pigz > docking_callback_arm64.tar.gz
Note: For the AWS callback, you must copy your config file as
config to this directory for
docker build to work. You will then uncomment
COPY ./config ~/.aws/config in Dockerfile. Alternatively, you can supply your keys by using the
This example also provides a script for building the callback service into a Spot Extension.
This script requires the same prerequisites as listed above for building a docker image for CORE I/O.
Additionally, this script requires that the current user be added to the
docker user group.
If this is not the case, the script needs to be run with root privileges.
The output file will be called aws_docking_callback_arm64.spx and can be uploaded to a CORE I/O.