diff --git a/.env.example b/.env.example index e1d402c..3ec73f0 100644 --- a/.env.example +++ b/.env.example @@ -13,7 +13,7 @@ # NODE_URL="http://127.0.0.1:2000/" # NODE_UVICORN_KWARGS={"limit_concurrency":10} # NODE_ENABLE_RATE_LIMITING=true -# NODE_RATE_LIMIT_REQUESTS=100 +# NODE_RATE_LIMIT_REQUESTS=500 # NODE_RATE_LIMIT_WINDOW=60 # NODE_RATE_LIMIT_SHORT_REQUESTS=50 # NODE_RATE_LIMIT_SHORT_WINDOW=1 diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml index 2a7a3d1..7d8a2b5 100644 --- a/.pre-commit-config.yaml +++ b/.pre-commit-config.yaml @@ -17,7 +17,7 @@ repos: - id: nbstripout - repo: https://github.com/astral-sh/ruff-pre-commit # Ruff version. - rev: v0.15.4 + rev: v0.15.14 hooks: # Run the linter. - id: ruff diff --git a/Dockerfile b/Dockerfile index 90d1114..e713adc 100644 --- a/Dockerfile +++ b/Dockerfile @@ -1,4 +1,4 @@ -FROM ghcr.io/ad-sdl/madsci:latest +FROM ghcr.io/ad-sdl/madsci:v0.8.0 LABEL org.opencontainers.image.source=https://github.com/AD-SDL/pf400_module LABEL org.opencontainers.image.description="Drivers and REST API's for the PF400 plate handler robots" diff --git a/docs/Configuration.md b/docs/Configuration.md index 0ae8b32..1b1377c 100644 --- a/docs/Configuration.md +++ b/docs/Configuration.md @@ -8,26 +8,26 @@ Configuration for the pf400 node module. **Environment Prefix**: `NODE_` -| Name | Type | Default | Description | Example | -|------------------------------------|--------------------------|----------------------------|------------------------------------------------------------------------------------------------------------------------------------------------------------------------|----------------------------| -| `NODE_STATUS_UPDATE_INTERVAL` | `number` \| `NoneType` | `2.0` | The interval in seconds at which the node should update its status. | `2.0` | -| `NODE_STATE_UPDATE_INTERVAL` | `number` \| `NoneType` | `2.0` | The interval in seconds at which the node should update its state. | `2.0` | -| `NODE_NAME` \| `NODE_NAME` | `string` \| `NoneType` | `null` | Name for this node. If not set, defaults to the class name. | `null` | -| `NODE_ID` \| `NODE_ID` | `string` \| `NoneType` | `null` | Unique ID for this node. If not set, a new ULID is generated. | `null` | -| `NODE_TYPE` \| `NODE_TYPE` | `NodeType` \| `NoneType` | `null` | The type of thing this node provides an interface for. | `null` | -| `NODE_MODULE_NAME` | `string` \| `NoneType` | `null` | Name of the node module implementation. | `null` | -| `NODE_MODULE_VERSION` | `string` \| `NoneType` | `null` | Version of the node module implementation. | `null` | -| `NODE_ENABLE_REGISTRY_RESOLUTION` | `boolean` | `true` | When true, resolve node_id from the ID Registry at startup for stable identity across restarts. | `true` | -| `NODE_LAB_URL` | `AnyUrl` \| `NoneType` | `null` | Lab Manager URL for distributed registry coordination. | `null` | -| `NODE_REGISTRY_LOCK_TIMEOUT` | `number` | `60.0` | Seconds to retry registry lock acquisition on contention at startup. Should be at least 2x the lock TTL (30s) to survive ungraceful container restarts. | `60.0` | -| `NODE_URL` \| `NODE_URL` | `AnyUrl` | `"http://127.0.0.1:2000/"` | The URL used to communicate with the node. This is the base URL for the REST API. | `"http://127.0.0.1:2000/"` | -| `NODE_UVICORN_KWARGS` | `object` | `{"limit_concurrency":10}` | Configuration for the Uvicorn server that runs the REST API. By default, sets limit_concurrency=10 to protect against connection exhaustion attacks. | `{"limit_concurrency":10}` | -| `NODE_ENABLE_RATE_LIMITING` | `boolean` | `true` | Enable rate limiting middleware for the REST API. | `true` | -| `NODE_RATE_LIMIT_REQUESTS` | `integer` | `100` | Maximum number of requests allowed per long time window (only used if enable_rate_limiting is True). | `100` | -| `NODE_RATE_LIMIT_WINDOW` | `integer` | `60` | Long time window in seconds for rate limiting (only used if enable_rate_limiting is True). | `60` | -| `NODE_RATE_LIMIT_SHORT_REQUESTS` | `integer` \| `NoneType` | `50` | Maximum number of requests allowed per short time window for burst protection (only used if enable_rate_limiting is True). If None, short window limiting is disabled. | `50` | -| `NODE_RATE_LIMIT_SHORT_WINDOW` | `integer` \| `NoneType` | `1` | Short time window for burst protection in seconds (only used if enable_rate_limiting is True). If None, short window limiting is disabled. | `1` | -| `NODE_RATE_LIMIT_CLEANUP_INTERVAL` | `integer` | `300` | Interval in seconds between cleanup operations to prevent memory leaks (only used if enable_rate_limiting is True). | `300` | -| `NODE_PF400_IP` | `string` \| `NoneType` | `null` | | `null` | -| `NODE_PF400_PORT` | `integer` | `10100` | | `10100` | -| `NODE_PF400_STATUS_PORT` | `integer` | `10000` | | `10000` | +| Name | Type | Default | Description | Example | +|------------------------------------|----------------------|----------------------------|------------------------------------------------------------------------------------------------------------------------------------------------------------------------|----------------------------| +| `NODE_STATUS_UPDATE_INTERVAL` | `number` \| `null` | `2.0` | The interval in seconds at which the node should update its status. | `2.0` | +| `NODE_STATE_UPDATE_INTERVAL` | `number` \| `null` | `2.0` | The interval in seconds at which the node should update its state. | `2.0` | +| `NODE_NAME` | `string` \| `null` | `null` | Name for this node. If not set, defaults to the class name. | `null` | +| `NODE_ID` | `string` \| `null` | `null` | Unique ID for this node. If not set, a new ULID is generated. | `null` | +| `NODE_TYPE` | `NodeType` \| `null` | `null` | The type of thing this node provides an interface for. | `null` | +| `NODE_MODULE_NAME` | `string` \| `null` | `null` | Name of the node module implementation. | `null` | +| `NODE_MODULE_VERSION` | `string` \| `null` | `null` | Version of the node module implementation. | `null` | +| `NODE_ENABLE_REGISTRY_RESOLUTION` | `boolean` | `true` | When true, resolve node_id from the ID Registry at startup for stable identity across restarts. | `true` | +| `NODE_LAB_URL` | `AnyUrl` \| `null` | `null` | Lab Manager URL for distributed registry coordination. | `null` | +| `NODE_REGISTRY_LOCK_TIMEOUT` | `number` | `60.0` | Seconds to retry registry lock acquisition on contention at startup. Should be at least 2x the lock TTL (30s) to survive ungraceful container restarts. | `60.0` | +| `NODE_URL` | `AnyUrl` | `"http://127.0.0.1:2000/"` | The URL used to communicate with the node. This is the base URL for the REST API. | `"http://127.0.0.1:2000/"` | +| `NODE_UVICORN_KWARGS` | `object` | `{"limit_concurrency":10}` | Configuration for the Uvicorn server that runs the REST API. By default, sets limit_concurrency=10 to protect against connection exhaustion attacks. | `{"limit_concurrency":10}` | +| `NODE_ENABLE_RATE_LIMITING` | `boolean` | `true` | Enable rate limiting middleware for the REST API. | `true` | +| `NODE_RATE_LIMIT_REQUESTS` | `integer` | `500` | | `500` | +| `NODE_RATE_LIMIT_WINDOW` | `integer` | `60` | Long time window in seconds for rate limiting (only used if enable_rate_limiting is True). | `60` | +| `NODE_RATE_LIMIT_SHORT_REQUESTS` | `integer` \| `null` | `50` | Maximum number of requests allowed per short time window for burst protection (only used if enable_rate_limiting is True). If None, short window limiting is disabled. | `50` | +| `NODE_RATE_LIMIT_SHORT_WINDOW` | `integer` \| `null` | `1` | Short time window for burst protection in seconds (only used if enable_rate_limiting is True). If None, short window limiting is disabled. | `1` | +| `NODE_RATE_LIMIT_CLEANUP_INTERVAL` | `integer` | `300` | Interval in seconds between cleanup operations to prevent memory leaks (only used if enable_rate_limiting is True). | `300` | +| `NODE_PF400_IP` | `string` \| `null` | `null` | | `null` | +| `NODE_PF400_PORT` | `integer` | `10100` | | `10100` | +| `NODE_PF400_STATUS_PORT` | `integer` | `10000` | | `10000` | diff --git a/pdm.lock b/pdm.lock index f8577dd..fecdedd 100644 --- a/pdm.lock +++ b/pdm.lock @@ -5,18 +5,18 @@ groups = ["default", "dev"] strategy = [] lock_version = "4.5.0" -content_hash = "sha256:27982f65982f80f0c56310d580de55bd6ffd42f27c42e41004e1e38a4cb0ce7f" +content_hash = "sha256:96a6046cb2e0d9a80f5c84c18ee037e5503303c61bbf264c98a42f04d65cdef7" [[metadata.targets]] requires_python = ">=3.10,<3.13" [[package]] name = "aenum" -version = "3.1.16" +version = "3.1.17" summary = "" files = [ - {file = "aenum-3.1.16-py3-none-any.whl", hash = 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a/src/pf400_rest_node.py b/src/pf400_rest_node.py index 8f24682..b41c231 100644 --- a/src/pf400_rest_node.py +++ b/src/pf400_rest_node.py @@ -3,7 +3,6 @@ from typing import Annotated, Optional -from madsci.common.ownership import get_current_ownership_info from madsci.common.types.action_types import ActionFailed from madsci.common.types.location_types import LocationArgument from madsci.common.types.node_types import RestNodeConfig @@ -23,6 +22,8 @@ class PF400NodeConfig(RestNodeConfig): """Port to connect to the PF400 robot, default is 10100""" pf400_status_port: int = 10000 """Port to connect to the PF400 status server, default is 10000""" + rate_limit_requests: int = 500 + """Rate limit for requests to the PF400 robot, default is 100 ms""" class PF400Node(RestNode): @@ -55,7 +56,7 @@ def startup_handler(self) -> None: description="Template for PF400 robot gripper slot. Used to track what the robot is currently holding.", required_overrides=["resource_name"], tags=["pf400", "gripper", "slot"], - created_by=get_current_ownership_info().node_id, + created_by=self.node_info.node_id, version="1.0.0", ) @@ -85,7 +86,7 @@ def startup_handler(self) -> None: description="Template for temporary lid storage slot. Used when removing/replacing lids from plates.", required_overrides=["resource_name"], tags=["pf400", "lid", "slot", "temporary"], - created_by=get_current_ownership_info().node_id, + created_by=self.node_info.node_id, version="1.0.0", ) @@ -107,7 +108,7 @@ def startup_handler(self) -> None: description="Template for plate lids. Used to track lids during lid operations.", required_overrides=["resource_name"], tags=["lid", "plate", "asset"], - created_by=get_current_ownership_info().node_id, + created_by=self.node_info.node_id, version="1.0.0", ) @@ -641,7 +642,7 @@ def replace_lid( # noqa: C901 source: Annotated[LocationArgument, "Location to pick a plate from"], target: Annotated[LocationArgument, "Location to place a plate to"], ) -> Optional[ActionFailed]: - """A doc string, but not the actual description of the action.""" + """Replace a lid on the plate at the target location.""" grab_height_offset = None resource_lid_height = None try: @@ -649,7 +650,9 @@ def replace_lid( # noqa: C901 source_resource = self.resource_client.get_resource(source.resource_id) if source_resource.quantity == 0: return ActionFailed( - "Resource manager: Lid does not exist at source! Resource_id:{source.resource_id}." + errors=[ + f"Resource manager: Lid does not exist at source! Resource_id:{source.resource_id}." + ] ) if source_resource.children: lid_resource_child = source_resource.children[-1] @@ -665,10 +668,11 @@ def replace_lid( # noqa: C901 target_resource = self.resource_client.get_resource(target.resource_id) if target_resource.quantity == 0: return ActionFailed( - f"Resource manager: No plate on target! Resource_id:{target.resource_id}." + errors=[ + f"Resource manager: No plate on target! Resource_id:{target.resource_id}." + ] ) - # Create temporary lid slot from template lid_resource = self.resource_client.create_resource_from_template( template_name="pf400_lid_slot", resource_name="pf400_lid_slot",