Feat/add openarm #2449
Feat/add openarm #2449
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* adding first attempt at gcompensation to open arms * add teleop with gravity compensation script
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| ser.close() | ||
| return {"status": "success", "message": f"Port {port} is accessible"} | ||
| except PermissionError as e: | ||
| return {"status": "error", "message": f"Permission denied: {e}"} |
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AI 1 day ago
To address the information exposure, the code should avoid returning raw exception messages to users, especially those containing details from e or stack traces. Instead, a generic error message should be sent to the client, while detailed error logging (optionally including the exception message/stack trace) should occur server-side for diagnostics. The fix should target the exception handling blocks within the test_usb_port endpoint (lines 220-224), replacing exception details in API responses with generic messages, and logging the exceptions using a standard logging library (such as Python's built-in logging module). This change will require importing the logging library at the top of the file and initializing a logger, then updating exception handlers to use the logger instead of exposing details through API responses.
| @@ -15,6 +15,7 @@ | ||
| from pathlib import Path | ||
| from typing import Optional, Any | ||
| import threading | ||
| import logging | ||
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| import cv2 | ||
| import numpy as np | ||
| @@ -217,11 +218,14 @@ | ||
| ser.close() | ||
| return {"status": "success", "message": f"Port {port} is accessible"} | ||
| except PermissionError as e: | ||
| return {"status": "error", "message": f"Permission denied: {e}"} | ||
| logger.warning(f"[USB Test] PermissionError for port {port}: {e}") | ||
| return {"status": "error", "message": "Permission denied to access the port."} | ||
| except serial.SerialException as e: | ||
| return {"status": "error", "message": f"Serial error: {e}"} | ||
| logger.warning(f"[USB Test] SerialException for port {port}: {e}") | ||
| return {"status": "error", "message": "Serial communication error."} | ||
| except Exception as e: | ||
| return {"status": "error", "message": f"Error: {e}"} | ||
| logger.error(f"[USB Test] Unexpected error for port {port}: {e}", exc_info=True) | ||
| return {"status": "error", "message": "An unexpected error occurred while testing the port."} | ||
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| @app.get("/api/can/interfaces") |
| except PermissionError as e: | ||
| return {"status": "error", "message": f"Permission denied: {e}"} | ||
| except serial.SerialException as e: | ||
| return {"status": "error", "message": f"Serial error: {e}"} |
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| except serial.SerialException as e: | ||
| return {"status": "error", "message": f"Serial error: {e}"} | ||
| except Exception as e: | ||
| return {"status": "error", "message": f"Error: {e}"} |
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To fix the issue, we should ensure that the /api/usb/test/{port:path} endpoint does not reveal internal exception information to the client. Instead, we should:
- Log the full exception (optionally with stack trace) server-side.
- Return only a generic error message in the API response if an unexpected exception occurs.
Specific changes:
- Modify line 224 to log the exception details (using Python's standard
loggingmodule, which will require its import near the top) and return a generic error message (e.g.,"An internal error has occurred.") to the client. - Add the import for the
loggingmodule if it doesn't already exist in the snippet. - Optionally, configure logging at the start of the file so logs are properly captured.
All changes are to be made within examples/openarms_web_interface/web_record_server.py, specifically in the definition of the /api/usb/test/{port:path} endpoint and at the top of the file for imports/configuration.
| @@ -18,6 +18,7 @@ | ||
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| import cv2 | ||
| import numpy as np | ||
| import logging | ||
| from fastapi import FastAPI, HTTPException | ||
| from fastapi.middleware.cors import CORSMiddleware | ||
| from fastapi.responses import StreamingResponse | ||
| @@ -221,9 +222,9 @@ | ||
| except serial.SerialException as e: | ||
| return {"status": "error", "message": f"Serial error: {e}"} | ||
| except Exception as e: | ||
| return {"status": "error", "message": f"Error: {e}"} | ||
| logging.error(f"Unexpected error in test_usb_port({port}):", exc_info=True) | ||
| return {"status": "error", "message": "An internal error has occurred."} | ||
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| @app.get("/api/can/interfaces") | ||
| async def get_can_interfaces(): | ||
| """Get available CAN interfaces.""" |
Signed-off-by: Caroline Pascal <[email protected]>
Signed-off-by: Caroline Pascal <[email protected]>
Signed-off-by: Caroline Pascal <[email protected]>
* add visualize_dataset call from `lerobot_dataset_viz` in web record server * add delete button * fixes * remove viz * unused import
What this does
This PR adds the Damiao motorbus and open arms bimanual robot (follower) and leader