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import http.server | |
import socketserver | |
import threading | |
import queue | |
import json | |
CALLBACK_SERVER_PORT = 5000 | |
CALLBACK_TIMEOUT = 10 # seconds | |
callback_queues = {} | |
queues_lock = threading.Lock() | |
def got_callback(path, data): | |
queues_lock.acquire() | |
if path not in callback_queues.keys(): | |
callback_queues[path] = queue.Queue(10) | |
queues_lock.release() | |
callback_queues[path].put(data, timeout=CALLBACK_TIMEOUT) | |
def wait_for_callback(path): | |
queues_lock.acquire() | |
if path not in callback_queues.keys(): | |
callback_queues[path] = queue.Queue(10) | |
queues_lock.release() | |
try: | |
return callback_queues[path].get(timeout=CALLBACK_TIMEOUT) | |
except queue.Empty: | |
raise Exception(f"Timed out waiting for callback at {path}") from None | |
class CallbackServer(http.server.BaseHTTPRequestHandler): | |
def __init__(self, *args, **kwargs): | |
self.protocol_version = "HTTP/1.1" | |
super(CallbackServer, self).__init__(*args, **kwargs) | |
def send_error(self, code, content): | |
self.send_response(code) | |
self.send_header('Content-Length', len(content)) | |
self.send_header('Connection', 'close') | |
self.end_headers() | |
def do_POST(self): | |
content_length = int(self.headers['Content-Length']) | |
post_data = self.rfile.read(content_length) | |
self.send_response(200) | |
self.send_header('Content-Length', 0) | |
self.send_header('Connection', 'close') | |
self.end_headers() | |
got_callback(self.path, post_data.decode('utf-8')) | |
def do_GET(self): | |
self.send_response(200) | |
self.send_header('Content-Length', 0) | |
self.send_header('Connection', 'close') | |
self.end_headers() | |
def _reduce_precision(data, ndigits=3): | |
queue = [data] | |
while(True): | |
c = queue.pop() | |
idxs = [] | |
if isinstance(c, dict): | |
idxs = c.keys() | |
elif isinstance(c, list): | |
idxs = range(0, len(c)) | |
for k in idxs: | |
if isinstance(c[k], dict) or isinstance(c[k], list): | |
queue.append(c[k]) | |
if isinstance(c[k], float): | |
c[k] = round(c[k], ndigits) | |
if len(queue) == 0: | |
break | |
def get_callback(request, endpoint=None, expected=None): | |
if isinstance(expected, dict): | |
body = json.loads(wait_for_callback(endpoint)) | |
_reduce_precision(body) | |
assert body == expected, f"Callback body {body} != {expected}" | |
elif isinstance(expected, list): | |
bodies = [] | |
for e in expected: | |
body = json.loads(wait_for_callback(endpoint)) | |
_reduce_precision(body) | |
bodies.append(body) | |
for e in expected: | |
assert e in bodies, f"Callback body {e} not found in {bodies}" | |
httpd = socketserver.ThreadingTCPServer(('', CALLBACK_SERVER_PORT), CallbackServer, bind_and_activate=False) | |
httpd.allow_reuse_address = True | |
httpd.server_bind() | |
httpd.server_activate() | |
callback_server_thread = threading.Thread(target=httpd.serve_forever) | |
callback_server_thread.daemon = True | |
callback_server_thread.start() |
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- name: trigger drilling feature detection | |
request: | |
url: "..." | |
method: POST | |
verify: false | |
json: | |
cam_feature_types: [0, 1, 2] | |
coordinate: &hole_coordinates [-19.345635117104933, -75.026257203182653, 53.57106023475771] | |
callback: "{callback_server}/hole_hafd" | |
response: | |
status_code: 200 | |
verify_response_with: | |
function: callback_server:get_callback | |
extra_kwargs: | |
endpoint: "/hole_hafd" | |
expected: | |
- cam_feature_type: 0 | |
job_id: "{job_id:s}" | |
successful: True | |
properties: | |
fpc_bottom_radiuses: [] | |
fpc_closed_cavity_max_radius: 3.980 | |
fpc_contour_radiuses: [4.0] | |
fpc_is_closed_cavity: True | |
fpc_total_depth: 12.370 | |
- cam_feature_type: 1 | |
job_id: "{job_id:s}" | |
successful: False | |
error_message: "No material to remove" | |
- cam_feature_type: 2 | |
job_id: "{job_id:s}" | |
successful: True | |
properties: | |
fpd_depth: 10.0 | |
fpd_hole_type: 1 | |
fpd_position: [-22.985, -76.681, 60.0] | |
fpd_radius: 4.0 |
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