diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml index c1dd66c..39703ba 100644 --- a/.github/workflows/ci.yml +++ b/.github/workflows/ci.yml @@ -44,6 +44,7 @@ jobs: - name: Test run: pytest --cov=app --cov-report=term-missing -v env: + TEST_DATABASE_URL: postgresql+asyncpg://test:test@localhost:5432/test_db POSTGRES_HOST: localhost POSTGRES_PORT: 5432 POSTGRES_USER: test @@ -51,4 +52,6 @@ jobs: POSTGRES_DB: test_db REDIS_HOST: localhost REDIS_PORT: 6379 + TEST_REDIS_HOST: localhost + TEST_REDIS_PORT: 6379 ADMIN_KEY: ci-admin-key diff --git a/README.md b/README.md index df4d05c..f65b24b 100644 --- a/README.md +++ b/README.md @@ -1,5 +1,7 @@ # RoboSense API +**배포 주소**: http://3.39.87.132 + ## 부제 ``` High-Performance Sensor Data Processing API for Robotics @@ -96,9 +98,12 @@ RobosenseAPI/ │ ├── main.py # FastAPI 앱 (랜딩페이지 서빙 포함) │ ├── database.py # DB 연결 및 세션 관리 │ ├── redis_client.py # Redis 클라이언트 -│ ├── context.py # 컨텍스트 관리 -│ ├── middleware.py # 미들웨어 -│ ├── logging_config.py # 로깅 설정 +│ ├── auth.py # API Key 생성 및 검증 +│ ├── context.py # ContextVar 기반 request_id 관리 +│ ├── exceptions.py # 커스텀 예외 클래스 +│ ├── metrics.py # 요청 지표 수집 +│ ├── middleware.py # Request ID 주입, 응답시간 측정 +│ ├── logging_config.py # request_id 로그 필터 │ ├── models/ │ │ ├── __init__.py │ │ ├── db_models.py # SQLAlchemy ORM 모델 @@ -107,9 +112,11 @@ RobosenseAPI/ │ │ └── enum.py # Enum 타입 정의 │ ├── routes/ │ │ ├── __init__.py -│ │ ├── sensor_routes.py # 센서 데이터 API +│ │ ├── sensor_routes.py # 센서 데이터 API + 배치 워커 │ │ ├── robot_routes.py # 로봇 관리 API -│ │ └── stats_routes.py # 통계 API +│ │ ├── stats_routes.py # 통계 API +│ │ ├── admin_routes.py # API Key 발급/폐기 (관리자 전용) +│ │ └── demo_routes.py # 랜딩페이지 공개 조회 (인증 불필요) │ └── utils/ │ └── retry.py # 재시도 유틸리티 ├── cpp_modules/ # C++ 연산 모듈 diff --git a/app/routes/admin_routes.py b/app/routes/admin_routes.py index 31c4878..dc831c3 100644 --- a/app/routes/admin_routes.py +++ b/app/routes/admin_routes.py @@ -1,6 +1,8 @@ from fastapi import APIRouter, Depends, status +from pydantic import BaseModel from sqlalchemy import select from sqlalchemy.ext.asyncio import AsyncSession +from typing import Optional from app.database import get_db from app.models.db_models import ApiKey @@ -9,14 +11,18 @@ router = APIRouter(prefix="/admin", tags=["관리"]) +class ApiKeyCreate(BaseModel): + robot_id: Optional[int] = None + + @router.post("/api-keys", status_code=status.HTTP_201_CREATED) async def issue_api_key( - body: dict = None, + body: ApiKeyCreate = ApiKeyCreate(), admin_key: str = Depends(verify_admin_key), db: AsyncSession = Depends(get_db), ): """API Key 발급. 평문 키는 이 응답에서만 확인 가능.""" - robot_id = body.get("robot_id") if body else None + robot_id = body.robot_id plain_key, salt, key_hash = generate_api_key() api_key = ApiKey(key_hash=key_hash, salt=salt, robot_id=robot_id) diff --git a/app/routes/sensor_routes.py b/app/routes/sensor_routes.py index f8152a1..6d1bc0a 100644 --- a/app/routes/sensor_routes.py +++ b/app/routes/sensor_routes.py @@ -9,7 +9,6 @@ from app.auth import verify_api_key from app.exceptions import SensorNotFoundError import logging -import time import asyncio import json import math @@ -19,14 +18,12 @@ router = APIRouter() logger = logging.getLogger(__name__) -last_invalidation = {} sensor_queue = asyncio.Queue() @router.post('/api/sensors', status_code=status.HTTP_201_CREATED) async def collect_sensor_data(data: SensorDataCreate, _key=Depends(verify_api_key)): redis = get_redis() - now = time.time() sensors_to_add = [ SensorData( @@ -52,13 +49,13 @@ async def collect_sensor_data(data: SensorDataCreate, _key=Depends(verify_api_ke await redis.ltrim(key, 0, 4) await redis.expire(key, 10) - if now - last_invalidation.get(data.robot_id, 0) > 10: + # 무효화 스로틀은 Redis로 공유. 프로세스 로컬 dict는 replica마다 따로 놀아 + # "10초에 1번"이 프로세스 수만큼 중복 무효화됨. SETNX로 윈도우를 선점한 1개만 삭제. + if await redis.set(f"invalidate:robot:{data.robot_id}:detail", "1", nx=True, ex=10): await redis.delete(f"robot:{data.robot_id}:detail") - last_invalidation[data.robot_id] = now - if now - last_invalidation.get('stats', 0) > 60: + if await redis.set("invalidate:stats", "1", nx=True, ex=60): await redis.delete("stats:recent") - last_invalidation['stats'] = now return { "status": "success", @@ -79,6 +76,12 @@ async def check_filter_data( _key=Depends(verify_api_key)): query = select(SensorData).order_by(SensorData.id.desc()) + # tz 없는 입력은 UTC로 간주 — TIMESTAMPTZ 컬럼과 비교 시 타임존 어긋남 방지 + if start_time and start_time.tzinfo is None: + start_time = start_time.replace(tzinfo=timezone.utc) + if end_time and end_time.tzinfo is None: + end_time = end_time.replace(tzinfo=timezone.utc) + if robot_id: query = query.where(SensorData.robot_id == robot_id) if sensor_type: diff --git a/index.html b/index.html index 8d36c6b..c78a522 100644 --- a/index.html +++ b/index.html @@ -292,13 +292,13 @@
Registered Robots
function checkServer(){var d=document.getElementById('statusDot'),t=document.getElementById('statusText');fetch(B+'/health_check').then(function(r){if(r.ok){d.className='status-dot online';t.textContent='Server Online';}else{d.className='status-dot offline';t.textContent='Unhealthy';}}).catch(function(){d.className='status-dot offline';t.textContent='Server Offline';});} checkServer(); function toggle(h){var b=h.nextElementSibling,t=h.querySelector('.endpoint-toggle');b.classList.toggle('open');t.style.transform=b.classList.contains('open')?'rotate(180deg)':'';} -function showResp(id,s,d,m){var b=document.getElementById(id),ok=s>=200&&s<300;b.className='response-box visible';b.innerHTML='
'+s+''+(ok?'Success':'Error')+''+m+'ms
'+(typeof d==='string'?d:JSON.stringify(d,null,2))+'
';} +function showResp(id,s,d,m){var b=document.getElementById(id),ok=s>=200&&s<300;b.className='response-box visible';b.innerHTML='
'+(ok?'Success':'Error')+'
';b.querySelector('.status-code').textContent=s;b.querySelector('.response-time').textContent=m+'ms';b.querySelector('.response-body-output').textContent=(typeof d==='string'?d:JSON.stringify(d,null,2));} function showLoad(id){var b=document.getElementById(id);b.className='response-box visible';b.innerHTML='
Sending...
';} -function showErr(id,m){var b=document.getElementById(id);b.className='response-box visible';b.innerHTML='
Error
'+m+'
';} +function showErr(id,m){var b=document.getElementById(id);b.className='response-box visible';b.innerHTML='
Error
';b.querySelector('.response-body-output').textContent=m;} function api(method,path,body){var s=performance.now(),o={method:method,headers:{'Content-Type':'application/json'}};if(body)o.body=JSON.stringify(body);return fetch(B+path,o).then(function(r){var m=Math.round(performance.now()-s);return r.json().then(function(d){return{status:r.status,data:d,ms:m};}).catch(function(){return r.text().then(function(t){return{status:r.status,data:t,ms:m};});});});} function unlock(){['lock-post-sensor','lock-get-sensor','lock-filter-sensor','lock-stats'].forEach(function(id){document.getElementById(id).classList.add('unlocked');});} function lock(){['lock-post-sensor','lock-get-sensor','lock-filter-sensor','lock-stats'].forEach(function(id){document.getElementById(id).classList.remove('unlocked');});} -function updateRL(){var el=document.getElementById('registeredRobots');if(!R.length){el.innerHTML='아직 등록된 로봇이 없습니다.';return;}el.innerHTML=R.map(function(r){return'
#'+r.id+''+r.name+'
';}).join('');} +function updateRL(){var el=document.getElementById('registeredRobots');if(!R.length){el.innerHTML='아직 등록된 로봇이 없습니다.';return;}el.innerHTML='';R.forEach(function(r){var chip=document.createElement('div');chip.className='robot-chip';var idSpan=document.createElement('span');idSpan.className='chip-id';idSpan.textContent='#'+r.id;var nameSpan=document.createElement('span');nameSpan.className='chip-name';nameSpan.textContent=r.name;chip.appendChild(idSpan);chip.appendChild(nameSpan);el.appendChild(chip);});} var MODELS=['Warehouse-Bot-v2','Patrol-Bot-X1','Cargo-Mover-3K','Scout-Mini','HeavyLift-900','SpeedRunner-S','Inspector-Pro','CleanBot-Z','Picker-Alpha','Navigator-V5']; var autoTimer=null,autoSentN=0,autoErrN=0,autoTotalMs=0; diff --git a/landingpage.html b/landingpage.html deleted file mode 100644 index 16004bd..0000000 --- a/landingpage.html +++ /dev/null @@ -1,782 +0,0 @@ - - - - - -RoboSense API — Landing Page - - - - - -
-
- ● High-Performance Sensor Data API -
-

RoboSense API

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물류 창고 자율주행 로봇을 위한 고성능 센서 데이터 처리 API.
- 실시간 수집 · C++ 최적화 · Redis 캐싱 · 비동기 배치 처리

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- API 둘러보기 ↓ - GitHub ↗ -
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Architecture
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시스템 아키텍처
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Nginx 리버스 프록시 뒤에 다중 FastAPI 인스턴스가 비동기로 동작하며, Redis 캐싱과 PostgreSQL을 통해 높은 처리량과 낮은 지연 시간을 달성합니다.

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Robots센서 데이터 전송
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→
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Nginx로드 밸런서
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→
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FastAPI ×N비동기 처리
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→
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Redis캐시 / TTL
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→
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PostgreSQL영구 저장
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Tech Stack
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기술 스택
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FastAPI + Uvicorn

비동기 ASGI 서버, 타입 힌트 기반 자동 문서화

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PostgreSQL 16

asyncpg 드라이버, JSONB 센서 데이터, 복합 인덱스

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Redis 7

Cache-Aside 패턴, TTL 기반 자동 만료, 캐시 워밍

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C++ 17 + pybind11

센서 직렬화, 이동평균 필터링, null 비율 계산

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Nginx

리버스 프록시, 로드 밸런싱, GZip 압축

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Docker Compose

멀티 컨테이너 오케스트레이션, 환경 일관성

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AWS EC2

실제 배포 환경에서 TPS 부하 테스트

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Locust

점진적 부하 테스트 (100 → 5,000 동시 접속)

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Usage Flow
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API 사용 흐름
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모든 센서 데이터 및 통계 기능은 로봇 등록 후 사용할 수 있습니다.

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⚠
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Step 1 필수 — 센서 데이터 수집, 필터링, 통계 등 모든 기능은 로봇 등록(POST /api/robots) 이후에만 사용할 수 있습니다.
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1
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로봇 등록

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POST /api/robots

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2
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센서 데이터 수집

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POST /api/sensors

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3
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조회 & 필터링

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GET /api/sensors/*

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4
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통계 확인

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GET /api/stats

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로봇 관리
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- POST - /api/robots - 로봇 등록 (최초 필수) - ▼ -
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Request Body
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FieldTypeNote
name 필수string로봇 이름 (중복 불가)
modelstring로봇 모델명
statusenumactive / inactive / maintenance
battery_levelint0 ~ 100
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Response 201
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{
-  "id": 1,
-  "name": "Robot-A",
-  "model": "Warehouse-Bot-v2",
-  "status": "active",
-  "battery_level": 100,
-  "last_seen": null,
-  "created_at": "2026-03-21T09:00:00"
-}
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- GET - /api/robots - 전체 로봇 목록 (상태 필터) - ▼ -
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Query Parameters
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ParamTypeNote
statusstringactive / inactive / maintenance
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Response 200
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[
-  { "id": 1, "name": "Robot-A", "status": "active", ... },
-  { "id": 2, "name": "Robot-B", "status": "inactive", ... }
-]
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- GET - /api/robots/{id} - 특정 로봇 + 최근 센서 데이터 - ▼ -
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Response 200
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{
-  "id": 1,
-  "name": "Robot-A",
-  "model": "Warehouse-Bot-v2",
-  "status": "active",
-  "battery_level": 85,
-  "recent_sensors": [
-    { "sensor_type": "IMU", "timestamp": "...", "raw_data": {...} },
-    { "sensor_type": "GPS", "timestamp": "...", "raw_data": null }
-  ]
-}
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- PUT - /api/robots/{id} - 로봇 상태 업데이트 - ▼ -
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Request Body
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FieldTypeNote
status 필수enumactive / inactive / maintenance
battery_level 필수int0 ~ 100
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센서 데이터
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- POST - /api/sensors - 센서 데이터 수집 (비동기 배치) - ▼ -
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Request Body
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FieldTypeNote
robot_id 필수int등록된 로봇 ID
timestamp 필수datetime측정 시각
sensors 필수array센서 배열 (IMU, GPS, LiDAR)
sensors[].dataobject | nullnull 허용 (신호 끊김)
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Request Example
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{
-  "robot_id": 1,
-  "timestamp": "2026-03-21T10:30:00",
-  "sensors": [
-    { "sensor_type": "IMU", "data": {"acceleration": {"x": 1.2, "y": -0.5, "z": 9.8}} },
-    { "sensor_type": "GPS", "data": null },
-    { "sensor_type": "LiDAR", "data": {"distance": 3.5, "angle": 45} }
-  ]
-}
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Response 201
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{ "status": "success", "robot_id": 1, "queued_count": 3 }
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- GET - /api/sensors - 센서 데이터 목록 (커서 페이징) - ▼ -
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Query Parameters
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ParamTypeNote
robot_idint로봇 필터
sensor_typestringIMU / GPS / LiDAR
cursor_idint페이징 커서
limitint기본 100
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Response 200
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{
-  "data": [ ... ],
-  "next_cursor": 450,
-  "has_more": true
-}
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- GET - /api/sensors/filtered - 이동평균 필터링 (C++ 처리) - ▼ -
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Query Parameters
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ParamTypeNote
robot_id 필수int로봇 ID
sensor_type 필수stringIMU / GPS / LiDAR
field 필수string예: acceleration.x
window_size 필수int이동평균 윈도우 크기
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Response 200
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{
-  "robot_id": 1,
-  "sensor_type": "IMU",
-  "field": "acceleration.x",
-  "original_data": [1.2, 1.3, 1.1, 1.4, 1.0],
-  "filtered_data": [1.2, 1.2, 1.27],
-  "window_size": 3
-}
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- GET - /api/sensors/{id} - 특정 센서 데이터 조회 - ▼ -
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Response 200
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{
-  "id": 42,
-  "robot_id": 1,
-  "sensor_type": "IMU",
-  "timestamp": "2026-03-21T10:30:00",
-  "raw_data": {"acceleration": {"x": 1.2, "y": -0.5, "z": 9.8}},
-  "created_at": "2026-03-21T10:30:01"
-}
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통계
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- GET - /api/stats - 종합 통계 (null 비율, 로봇 상태 요약) - ▼ -
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Query Parameters
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ParamTypeNote
start_timedatetime기본: 1시간 전
end_timedatetime기본: 현재
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Response 200
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{
-  "timestamp": "2026-03-21T10:30:00Z",
-  "time_range": { "start": "...", "end": "..." },
-  "null_rates": {
-    "IMU": 0.02,
-    "GPS": 0.15,
-    "LiDAR": 0.01
-  },
-  "robot_summary": {
-    "total_robots": 12,
-    "active": 10,
-    "inactive": 2,
-    "maintenance": 0,
-    "status_details": [
-      { "robot_id": 3, "status": "inactive", "last_seen": "..." }
-    ]
-  }
-}
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시스템
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- GET - /health_check - DB + Redis 상태 확인 - ▼ -
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Response 200 (healthy)
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{ "status": "healthy", "db": true, "redis": true }
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Response 503 (unhealthy)
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{ "status": "unhealthy", "db": false, "redis": true }
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Performance
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성능 최적화 포인트
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극한 조건에서의 성능 최적화를 목표로 설계되었습니다.

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Batch
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asyncio Queue + COPY 프로토콜
비동기 배치 커밋
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C++
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pybind11 연동
센서 직렬화 & 필터링
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Cache
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Redis Cache-Aside
TTL 10s ~ 60s 자동 갱신
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GZip
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응답 압축 미들웨어
1KB 이상 자동 압축
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- - - - - - - diff --git a/profiles/flame.svg b/profiles/flame.svg new file mode 100644 index 0000000..9d892bd --- /dev/null +++ b/profiles/flame.svg @@ -0,0 +1,491 @@ +py-spy record -o /app/profiles/flame.svg --pid 1 --duration 60 Reset ZoomSearch _deliver_cancellation (anyio/_backends/_asyncio.py:589) (6 samples, 0.10%)decode (json/decoder.py:337) (10 samples, 0.17%)raw_decode (json/decoder.py:353) (9 samples, 0.15%)_json_decoder (sqlalchemy/dialects/postgresql/asyncpg.py:1194) (14 samples, 0.24%)loads (json/__init__.py:346) (14 samples, 0.24%)batch_commit_worker (app/routes/sensor_routes.py:211) (13 samples, 0.22%)copy_records_to_table (asyncpg/connection.py:1127) (11 samples, 0.19%)encode (json/encoder.py:200) (10 samples, 0.17%)iterencode (json/encoder.py:258) (8 samples, 0.14%)batch_commit_worker (app/routes/sensor_routes.py:212) (20 samples, 0.34%)<listcomp> (app/routes/sensor_routes.py:212) (20 samples, 0.34%)sensor_to_tuple (app/routes/sensor_routes.py:184) (19 samples, 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create_sensor_data() : response = requests.post( f"{BASE_URL}/api/sensors", json=payload, + headers=HEADERS, timeout=5 ) diff --git a/test/conftest.py b/test/conftest.py index f5e4714..faee725 100644 --- a/test/conftest.py +++ b/test/conftest.py @@ -156,9 +156,22 @@ async def override_get_db(): app.dependency_overrides[get_db] = override_get_db # get_redis는 직접 호출이므로 모듈 변수 교체 - fake_redis = FakeRedis() + # TEST_REDIS_HOST 있으면 실제 Redis(CI), 없으면 FakeRedis(로컬 기본) + test_redis_host = os.getenv("TEST_REDIS_HOST") + if test_redis_host: + from redis.asyncio import Redis + test_redis = Redis( + host=test_redis_host, + port=int(os.getenv("TEST_REDIS_PORT", "6379")), + db=0, + decode_responses=True, + encoding="utf-8", + ) + await test_redis.flushdb() + else: + test_redis = FakeRedis() original_redis = redis_module.redis_client - redis_module.redis_client = fake_redis + redis_module.redis_client = test_redis # asyncpg_pool은 health_check에서 사용 — mock 주입 mock_pool = MagicMock() @@ -183,5 +196,8 @@ async def override_get_db(): # 정리 app.dependency_overrides.clear() + if test_redis_host: + await test_redis.flushdb() + await test_redis.aclose() redis_module.redis_client = original_redis db_module.asyncpg_pool = original_pool diff --git a/test/locustfile.py b/test/locustfile.py index 2d1a487..951608f 100644 --- a/test/locustfile.py +++ b/test/locustfile.py @@ -1,8 +1,11 @@ from locust import HttpUser, task, constant import random import time +import os from datetime import datetime +API_KEY = os.getenv("LOCUST_API_KEY", "8_pE3-Gxz788YhXeX7lZUKt9W4AH9wVe6LZFCuq-f10") + def generate_sensor_payload(robot_id, timestamp) : """페이로드 생성""" @@ -56,6 +59,7 @@ class User(HttpUser) : def on_start(self) : """시작 시 로봇 ID 할당""" + self.client.headers.update({"X-API-Key": API_KEY}) self.robot_id = random.randint(1, 10) @task(100) diff --git a/test/puttest.py b/test/puttest.py deleted file mode 100644 index c64416d..0000000 --- a/test/puttest.py +++ /dev/null @@ -1,20 +0,0 @@ -# test_put.py 만들어서 실행 -import requests - -# 1. 로봇 1번 현재 상태 확인 -response = requests.get("http://localhost/api/robots/1") -print("변경 전:", response.json()) - -# 2. PUT으로 상태 변경 -response = requests.put( - "http://localhost/api/robots/1", - json={ - "status": "maintenance", - "battery_level": 50 - } -) -print("PUT 응답:", response.status_code, response.text) - -# 3. 다시 확인 -response = requests.get("http://localhost/api/robots/1") -print("변경 후:", response.json()) \ No newline at end of file diff --git a/test/test_single_request.py b/test/test_single_request.py deleted file mode 100644 index e318efd..0000000 --- a/test/test_single_request.py +++ /dev/null @@ -1,48 +0,0 @@ -# 성능 확인용 - -import requests -import time - -url = "http://localhost:8000/api/sensors" - -data = { - "robot_id": 1, - "timestamp": "2024-01-04T10:30:00", - "sensors": [ - { - "sensor_type": "IMU", - "data": { - "acceleration": {"x": 1.2, "y": -0.5, "z": 9.8}, - "gyroscope": {"x": 0.1, "y": 0.2, "z": 0.3} - } - }, - { - "sensor_type": "GPS", - "data": { - "latitude": 37.5665, - "longitude": 126.9780 - } - }, - { - "sensor_type": "LiDAR", - "data": { - "distance": 3.5, - "angle": 45 - } - } - ] -} - -print("10번 연속 요청 시작...\n") - -times = [] -for i in range(10): - start = time.time() - response = requests.post(url, json=data) - elapsed = (time.time() - start) * 1000 - times.append(elapsed) - print(f"{i+1}번째 요청: {elapsed:.2f}ms (응답: {response.status_code})") - -print(f"\n평균: {sum(times) / len(times):.2f}ms") -print(f"최소: {min(times):.2f}ms") -print(f"최대: {max(times):.2f}ms") \ No newline at end of file