Update to MADSci v0.8

.pre-commit-config.yaml

@@ -12,12 +12,12 @@ repos:
       - id: end-of-file-fixer
       - id: trailing-whitespace
   - repo: https://github.com/kynan/nbstripout
-    rev: 0.8.1
+    rev: 0.9.1
     hooks:
       - id: nbstripout
   - repo: https://github.com/astral-sh/ruff-pre-commit
     # Ruff version.
-    rev: v0.14.5
+    rev: v0.15.14
     hooks:
       # Run the linter.
       - id: ruff

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"
@@ -15,8 +15,8 @@ COPY ./README.md pf400_module/README.md
 COPY ./pyproject.toml pf400_module/pyproject.toml
 
 RUN --mount=type=cache,target=/root/.cache \
-    pip install -e ./pf400_module
+    uv pip install --python ${MADSCI_VENV}/bin/python -e ./pf400_module
 
-CMD ["python", "pf400_module/scripts/pf400_rest_node.py"]
+CMD ["python", "pf400_module/src/pf400_rest_node.py"]
 
 #########################################

pyproject.toml

@@ -9,12 +9,12 @@ authors = [
     {name = "Tobias Ginsburg", email = "tginsburg@anl.gov"},
 ]
 dependencies = [
-    "madsci-node-module~=0.5.0",
+    "madsci-node-module~=0.8.0",
     "pynput>=1.8.1",
-    "madsci-client~=0.5.0",
-    "madsci-common~=0.5.0",
+    "madsci-client~=0.8.0",
+    "madsci-common~=0.8.0",
 ]
-requires-python = ">=3.9.1,<3.13"
+requires-python = ">=3.10,<3.13"
 readme = "README.md"
 license = {text = "MIT"}
 

src/pf400_interface/pf400.py

@@ -724,9 +724,11 @@ def remove_lid(
         source_plate_rotation: str = "",
         target_plate_rotation: str = "",
         grab_offset: Optional[float] = None,
-        approach_height_offset: Optional[float] = None,
+        source_approach_height_offset: Optional[float] = None,
+        target_approach_height_offset: Optional[float] = None,
     ) -> None:
         """Remove the lid from the plate"""
+
         source.representation = copy.deepcopy(source.representation)
         source.representation[0] += lid_height
 
@@ -738,7 +740,8 @@ def remove_lid(
             source_plate_rotation=source_plate_rotation,
             target_plate_rotation=target_plate_rotation,
             grab_offset=grab_offset,
-            approach_height_offset=approach_height_offset,
+            source_approach_height_offset=source_approach_height_offset,
+            target_approach_height_offset=target_approach_height_offset,
         )
 
     def replace_lid(
@@ -751,7 +754,8 @@ def replace_lid(
         source_plate_rotation: str = "",
         target_plate_rotation: str = "",
         grab_offset: Optional[float] = None,
-        approach_height_offset: Optional[float] = None,
+        source_approach_height_offset: Optional[float] = None,
+        target_approach_height_offset: Optional[float] = None,
     ) -> None:
         """Replace the lid on the plate"""
         target.representation = copy.deepcopy(target.representation)
@@ -765,7 +769,8 @@ def replace_lid(
             source_plate_rotation=source_plate_rotation,
             target_plate_rotation=target_plate_rotation,
             grab_offset=grab_offset,
-            approach_height_offset=approach_height_offset,
+            source_approach_height_offset=source_approach_height_offset,
+            target_approach_height_offset=target_approach_height_offset,
         )
 
     def rotate_plate_on_deck(

src/pf400_interface/resource_helpers.py

@@ -0,0 +1,24 @@
+"""Helpers for resource management in the PF400 REST node."""
+
+from typing import Optional
+
+from madsci.common.types.action_types import ActionFailed
+from madsci.common.types.resource_types import Resource, Slot
+from pydantic import BaseModel
+
+
+class LidResult(BaseModel):
+    """Pydantic model for defining the response from pf400 REST node _get_lid_from_slot function."""
+
+    lid: Optional[Resource] = None
+    conforms: bool
+    error: Optional[ActionFailed] = None
+
+
+class LidSlotResult(BaseModel):
+    """Pydantic model for defining the response from pf400 REST node _get_lid_slot_from_target function."""
+
+    lid_slot: Optional[Resource] = None
+    target_resource: Optional[Slot] = None
+    conforms: bool
+    error: Optional[ActionFailed] = None