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+/arcor2_arserver-1.0.0.tar.gz
diff --git a/python-arcor2-arserver.spec b/python-arcor2-arserver.spec
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+%global _empty_manifest_terminate_build 0
+Name:		python-arcor2-arserver
+Version:	1.0.0
+Release:	1
+Summary:	ARCOR2 ARServer
+License:	LGPL
+URL:		https://pypi.org/project/arcor2-arserver/
+Source0:	https://mirrors.nju.edu.cn/pypi/web/packages/fc/1c/2eaa46ed068b995d15972848ef1d1b9bbf64c1f879537ccb4255bbbe5b88/arcor2_arserver-1.0.0.tar.gz
+BuildArch:	noarch
+
+Requires:	python3-aiofiles
+Requires:	python3-aiologger
+Requires:	python3-aiorun
+Requires:	python3-apispec-webframeworks
+Requires:	python3-apispec[yaml]
+Requires:	python3-arcor2-arserver-data
+Requires:	python3-arcor2-build-data
+Requires:	python3-arcor2-calibration-data
+Requires:	python3-arcor2-execution-data
+Requires:	python3-arcor2-runtime
+Requires:	python3-arcor2
+Requires:	python3-dataclasses-jsonschema[apispec,fast-dateparsing,fast-uuid,fast-validation]
+Requires:	python3-lru-dict
+Requires:	python3-numpy-quaternion[numba,scipy]
+Requires:	python3-numpy
+Requires:	python3-pyhumps
+Requires:	python3-typing-inspect
+Requires:	python3-websockets
+
+%description
+# arcor2_arserver
+
+## Environment variables
+
+- `ARCOR2_ARSERVER_PORT=6789` - by default, the service will listen on port 6789.
+- `ARCOR2_STREAMING_PERIOD=0.1` - controls the period of streaming a robot's EEF poses and joints. 
+
+### Caching
+
+- `ARCOR2_ARSERVER_CACHE_TIMEOUT=1.0` - by default, ARServer checks for changes in scenes, projects or ObjectTypes max. once per second.
+- `ARCOR2_ARSERVER_CACHE_SCENES=32` - by default, ARServer keeps 32 last used scenes in its cache.
+- `ARCOR2_ARSERVER_CACHE_PROJECTS=64` - by default, ARServer keeps 64 last used projects in its cache.
+- `ARCOR2_ARSERVER_CACHE_OBJECT_TYPES=32` - by default, ARServer keeps 64 last used ObjectTypes in its cache.
+
+### Resources locking
+
+- `ARCOR2_ARSERVER_LOCK_TIMEOUT=300` - if a user do not log again within this timeout (in seconds), their locks are discarded.
+  - Can be used to workaround 'Locking failed' issues - if set to some low value, it is sufficient to log out and after the locks got discarded, log in again.
+- `ARCOR2_ARSERVER_LOCK_RETRIES=13` - number of retries when trying to acquire the global lock.
+- `ARCOR2_ARSERVER_LOCK_RETRY_WAIT=0.15` - controls how long to wait between attempts to get the global lock. 
+
+### Debugging
+
+- `ARCOR2_MAX_RPC_DURATION=0.1` - by default, a warning is emitted when any RPC call takes longer than 0.1 second.
+- `ARCOR2_ARSERVER_DEBUG=1` - switches logger to the `DEBUG` level. 
+- `ARCOR2_ARSERVER_ASYNCIO_DEBUG=1` - turns on `asyncio` debug output (helpful to debug problems related to concurrency). 
+- `ARCOR2_REST_DEBUG=1` - may be used to debug problems related to communication with the Project, Scene Build and Calibration services.
+# Changelog
+
+The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/),
+
+## [1.0.0] - 2023-02-14
+
+### Changed
+
+- Dependency on arcor2 1.0.0.
+- Compatibility with the newest version of the Project service.
+- ARServer now also talks to Asset service (checks whether mesh/URDF exists).
+
+## [0.27.0] - 2022-12-12
+
+### Changed
+
+- Dependency on `arcor2~=0.26.0`.
+
+## [0.26.0] - 2022-10-28
+
+### Changed
+
+- Switched to Python 3.10, updated dependencies.
+
+## [0.25.0] - 2022-08-17
+
+### Changed
+
+- Adaptation to changes in API of the Build service.
+- Updated scene client (changed API).
+
+## [0.24.0] - 2022-04-25
+
+### Added
+
+- New RPCs `GetScene` and `GetProject`.
+
+## [0.23.0] - 2022-01-25
+
+### Changed
+
+- Breaking change of WebSockets API (`ActionStateBefore` event).
+- Switched to Python 3.9, updated dependencies.
+
+## [0.22.1] - 2021-10-26
+
+### Changed
+
+- Added HTTP upload server for logs from AREditor
+  - Logs are uploaded to /root/logs (could be changed using ARCOR2_AREDITOR_LOGS_FOLDER env variable)
+
+## [0.22.0] - 2021-10-25
+
+### Changed
+
+- When getting pose/joints from a robot fails, continue trying instead of giving up.
+- Handle `KinematicsException` to deliver a more precise error message.
+- Updating object models.
+  - New RPC `UpdateObjectModel`.
+  - Ability to lock individual ObjectTypes.
+  - Various improvements regarding locking.
+- Proper handling of scene/project problems.
+  - Any problem makes scene/project invalid, and then it can't be opened.  
+  - Scene/project problems are now checked when:
+    - Scene/project is listed.
+    - Opening a scene/project is requested.
+  - Found problems are cached for better performance.
+  - ObjectTypes are checked for changes during each listing of scenes/projects.
+- Deleting ObjectTypes reworked.
+  - `DeleteObjectType` replaced with `DeleteObjectTypes`.
+  - The new RPC takes list of ObjectType IDs.
+  - Empty list means all ObjectTypes.
+  - It returns list of id/error for types that could not be removed.
+  - This is especially useful for usage with `dry_run`.
+- Updated environment variables, please see README.
+- Improved logging to debug 'Locking failed'.
+- Support for virtual collision objects.
+  - `AddVirtualCollisionObjectToScene` RPC creates a new OT and adds its instance to a scene.
+  - In the simplest case, each collision object will have its own ObjectType.
+  - But it is also possible to add more instances as with other types.
+  - When the last instance of VCO is removed, ARServer also removes the ObjectType automatically.
+- Ignoring `hidden` actions (a new flag in `ActionMetadata`).
+- New RPC `ObjectTypeUsage` returning scene ids where the ObjectType is used.
+- Support for debugging - relaying related RPCs to the Execution Service.
+- Better handling of exceptions in asyncio tasks.
+  - More useful traceback is printed out.
+  - In development mode, an unhandled exception leads to shutdown of a service.
+  - In production mode, traceback is printed out and the service tries to continue.
+
+### Fixed
+
+- Ban HT mode changes while moving.
+- Arguments for getting robot joints (only affected multi-arm robots).
+- Handle locking exceptions on scene start/stop.
+- Copying of action points.
+  - Fixed locking within `CopyActionPoint`.
+  - Fixed update of orientation IDs.
+- Added locking to Project client to make the cache caching properly.
+- `modified`  was missing for disabled object.
+  - This happened when it was not possible to get object's base.
+- Copy AP - update of orientation ID in actions.
+- Removed 'delayed' unlocking of resources which caused race conditions in some cases and made the crashes hard to debug.
+- HT mode for single arm robots was broken.
+
+
+## [0.21.0] - 2021-08-05
+
+### Changed
+
+- Locks are not automatically released when aiming is done or cancelled.
+- Linear movements are used by default for stepping and table alignment.
+- Joints stream (`RobotJoints` event) now contains also gripper joints when available (depends on the particular ObjectType).
+
+### Fixed
+
+- Getting action results (the result was always `False`).
+- `ctx_read_lock` made some RPCs impossible to success.
+- Object parameters checking.
+  - Values and types of object parameters were not checked at all.
+  - For now, only basic types are supported.
+
+## [0.20.0] - 2021-07-29
+
+### Changed
+
+- Support for multi arm robots.
+  - Dealing with `arm_id` parameter in RPCs.
+  - Streaming EEF poses for all arms.
+- Allow to reposition scene objects while online.
+  - It was allowed to reposition objects using robot,
+  - ...but disallowed to do it manually.
+  - This was inconsistent and unnecessarily restrictive.
+  - Now objects (except robots) can be repositioned anytime.
+- When creating a new project, common parameters are added automatically.
+  - At the moment those are `scene_id` and `project_id`.
+  - A user could use or remove them.
+- Collisions are not removed after stopping the scene.
+- ObjectType change detection is now based on `modified` instead of comparing source codes.
+- ARServer Project service client now stores cached scenes/projects.
+- Object aiming reworked.
+  - RPCs were renamed and all of them now have `dry_run`.
+  - There is a new method to cancel the process.
+  - One user can be aiming one object at the moment.
+  - Both the object and the selected robot have to be write-locked.
+  - Improved logging.
+  - Test was added.
+- Server no longer downloads URDF packages.
+  - `ARCOR2_DATA_PATH` environment variable is no longer used.
+  - Clients will get URDFs through reverse proxy from Project service.
+- `NewObjectType` no longer assumes that mesh already exists.
+  - A file associated to mesh must exist in advance.
+  
+  
+### Fixed
+- All calls to the Scene service are guarded against exceptions.
+- Renaming of project parameters fixed.
+  - It was possible to use already taken name.
+
+## [0.19.0] - 2021-06-22
+
+- Update to API version 0.15.0.
+
+## [0.18.0] - 2021-06-11
+
+### Changed
+
+- Updated to work with Project service 0.8.0.
+- Allow fast re-login after connection was broken.
+- Added locking to const-related RPCs.
+- Log calibration-related errors.
+
+### Fixed
+
+- Handle invalid ObjectType settings annotation.
+
+## [0.17.0] - 2021-05-21
+
+### Changed
+
+- Return value of `GetCameraPose` RPC updated.
+- Objects initialization order.
+  - Object initialization order can be set using class-level `INIT_PRIORITY` variable.
+  - The higher priority, the sooner are objects of that type initialized.
+  - Initialization happens in parallel (for objects of the same priority).
+- `SetEefPerpendicularToWorld` now calls IK in parallel.
+  - This provides almost 100% speed-up even when the robot service proceeds requests one by one.
+- Added locking of internal resources.
+  - Created a lock module that allows to read/write lock existing or special objects. The module contains:
+    - lock object with all necessary methods;
+    - structures for keeping data about locked objects;
+    - locking-related exceptions;
+    - queue and task for notifying UI about lock data;
+    - methods for auto-unlocking after timeout when user logouts.
+  - Base tests of locking structure.
+  - RPCs for (un)locking object, registering user name.
+  - Events for (un)locking object.
+  - Created a class for maintaining connected UIs.
+  - Project methods to get object by ID, object parent and object children.
+  
+  - All RPCs that requires some kind of locking are now lock-guarded.
+  - Updated existing tests to work with newly implemented locking.
+  - Global variables `SCENE`, `PROJECT` and `INTERFACES` moved to new classes.
+- Rewritten cache for the Project service.
+  - The cache is now always on (provides a significant speed-up).
+  - External updates to the Project service are recognized properly.
+- New RPC `AddApUsingRobot`.
+- Support for multiple inheritance.
+    - ObjectTypes can now use mixins.
+    - It should be used like `class NewObjectType(MixinA, MixinB, Generic)`.
+    - E.g. the last ancestor should be something derived from `Generic`.
+- `SetEefPerpendicularToWorld` faster as it calls IK in parallel. 
+
+### Fixed
+
+- `SceneState` event was not sent to a newly connected UIs.
+- Results of actions are now forgotten when going offline.
+- Fixed support for `link` parameter type.
+
+## [0.16.0] - 2021-04-20
+
+### Fixed
+- Action can't use its own result as a parameter (link parameter type).
+
+### Changed
+- Dependency on arcor2 0.15.0 with updated REST client.
+- Action parameter value is now always JSON.
+  - It used to be a string for link/constant special types.
+
+
+## [0.15.1] - 2021-04-19
+
+### Fixed
+- Dependency on bugfix release of arcor2.
+
+## [0.15.0] - 2021-03-30
+
+### Changed
+- New RPC `SetEefPerpendicularToWorld`.
+- New RPC `StepRobotEef`.
+
+### Fixed
+- `CopyActionPoint` RPC: update action parameters to use copied orientations.
+- Scene now goes offline before execution and to the original state after it.
+- Scene-related messages adapted to a new terminology.
+
+## [0.14.0] - 2021-03-15
+
+### Changed
+- Improved logging for debugging robot features.
+- Suffix is added to copied AP/action instead of prefix.
+
+### Fixed
+- Names for orientations/joints were not checked as valid identifiers.
+- Action names were checked, but should not be.
+
+## [0.13.0] - 2021-03-03
+
+### Changed
+
+-  API to copy action point (including orientations, joints, child APs).
+- Robot-related API (MoveToPose, MoveToJoints, MoveToActionPoint) updated in order to contain `safe` parameter.
+- API to enable/disable robot hand teaching mode.  
+- Concrete and helpful error messages when a name entered by the user is refused.
+
+### Fixed
+- Only `BareActionPoint` was sent on parent change.
+
+## [0.12.0] - 2021-02-08
+
+### Changed
+- Improved scene-related messages.
+  - Error messages now contain the name of the object which caused the error.
+- New `MarkersCorners` RPC for getting markers corners.
+- Support for `an` parameter (explicit parameters).
+- Improved check of action signature and annotation.
+- New WS API for execution state reporting.
+- Support for project constants.
+  - Only basic types are supported so far.
+
+### Fixed
+- Better handling of missing collision model.
+  - If server can't get collision model of the object, the object is disabled.
+  - Previously, this situation caused crash of the server.
+- `GetCameraPose` callback fixed (used to be `Calibration`).
+
+## [0.11.0] - 2020-12-14
+
+### Changed
+- Improved support for logic branching.
+  - So far, only boolean outputs are supported.
+- Improved handling of return values (uses the same function as the main script).
+- The internal database of ObjectTypes in updated each time before opening a scene or a project.
+  - Changes are notified using `ChangedObjectTypes` event (one event for added objects, one for updated and another one for deleted ones).
+- Support for camera/robot calibration.
+- Initial support for cameras (getting images, camera parameters).
+
+## [0.10.1] - 2020-10-30
+
+### Changed
+- RPC for IK/FK.
+
+## [0.10.0] - 2020-10-22
+
+### Changed
+- Updated due to a breaking change in `arcor2_execution_data`.
+
+## [0.9.1] - 2020-10-19
+
+### Changed
+- ARCOR2 dependency updated
+
+### Fixed
+- fixed check for existing override
+ 
+## [0.9.0] - 2020-10-16
+
+### Changed
+- WS API for updates of scene objects parameters and management of project-defined overrides.
+- Integration tests refactored into multiple modules that can run in parallel.
+- `UpdateObjectPose` and `UpdateActionPointPosition` now has dry_run.
+- Box/Cylinder/Sphere models now have some constraints on their dimensions.
+- 
+
+## [0.8.0] - 2020-09-24
+### Changed
+- The first release of the separated package.
+- RPC/Events refactored. 
+- ARServer script now has ```--openapi``` argument and is able to generate OpenAPI models for RPCs and events.
+- Detection of loops in: AP hierarchy, logic.
+- Caching client for Project service.
+- Proper handling of object inheritance.
+- ObjectTypes are stored in temporary module on disk.
+- Integration tests.
+
+
+%package -n python3-arcor2-arserver
+Summary:	ARCOR2 ARServer
+Provides:	python-arcor2-arserver
+BuildRequires:	python3-devel
+BuildRequires:	python3-setuptools
+BuildRequires:	python3-pip
+%description -n python3-arcor2-arserver
+# arcor2_arserver
+
+## Environment variables
+
+- `ARCOR2_ARSERVER_PORT=6789` - by default, the service will listen on port 6789.
+- `ARCOR2_STREAMING_PERIOD=0.1` - controls the period of streaming a robot's EEF poses and joints. 
+
+### Caching
+
+- `ARCOR2_ARSERVER_CACHE_TIMEOUT=1.0` - by default, ARServer checks for changes in scenes, projects or ObjectTypes max. once per second.
+- `ARCOR2_ARSERVER_CACHE_SCENES=32` - by default, ARServer keeps 32 last used scenes in its cache.
+- `ARCOR2_ARSERVER_CACHE_PROJECTS=64` - by default, ARServer keeps 64 last used projects in its cache.
+- `ARCOR2_ARSERVER_CACHE_OBJECT_TYPES=32` - by default, ARServer keeps 64 last used ObjectTypes in its cache.
+
+### Resources locking
+
+- `ARCOR2_ARSERVER_LOCK_TIMEOUT=300` - if a user do not log again within this timeout (in seconds), their locks are discarded.
+  - Can be used to workaround 'Locking failed' issues - if set to some low value, it is sufficient to log out and after the locks got discarded, log in again.
+- `ARCOR2_ARSERVER_LOCK_RETRIES=13` - number of retries when trying to acquire the global lock.
+- `ARCOR2_ARSERVER_LOCK_RETRY_WAIT=0.15` - controls how long to wait between attempts to get the global lock. 
+
+### Debugging
+
+- `ARCOR2_MAX_RPC_DURATION=0.1` - by default, a warning is emitted when any RPC call takes longer than 0.1 second.
+- `ARCOR2_ARSERVER_DEBUG=1` - switches logger to the `DEBUG` level. 
+- `ARCOR2_ARSERVER_ASYNCIO_DEBUG=1` - turns on `asyncio` debug output (helpful to debug problems related to concurrency). 
+- `ARCOR2_REST_DEBUG=1` - may be used to debug problems related to communication with the Project, Scene Build and Calibration services.
+# Changelog
+
+The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/),
+
+## [1.0.0] - 2023-02-14
+
+### Changed
+
+- Dependency on arcor2 1.0.0.
+- Compatibility with the newest version of the Project service.
+- ARServer now also talks to Asset service (checks whether mesh/URDF exists).
+
+## [0.27.0] - 2022-12-12
+
+### Changed
+
+- Dependency on `arcor2~=0.26.0`.
+
+## [0.26.0] - 2022-10-28
+
+### Changed
+
+- Switched to Python 3.10, updated dependencies.
+
+## [0.25.0] - 2022-08-17
+
+### Changed
+
+- Adaptation to changes in API of the Build service.
+- Updated scene client (changed API).
+
+## [0.24.0] - 2022-04-25
+
+### Added
+
+- New RPCs `GetScene` and `GetProject`.
+
+## [0.23.0] - 2022-01-25
+
+### Changed
+
+- Breaking change of WebSockets API (`ActionStateBefore` event).
+- Switched to Python 3.9, updated dependencies.
+
+## [0.22.1] - 2021-10-26
+
+### Changed
+
+- Added HTTP upload server for logs from AREditor
+  - Logs are uploaded to /root/logs (could be changed using ARCOR2_AREDITOR_LOGS_FOLDER env variable)
+
+## [0.22.0] - 2021-10-25
+
+### Changed
+
+- When getting pose/joints from a robot fails, continue trying instead of giving up.
+- Handle `KinematicsException` to deliver a more precise error message.
+- Updating object models.
+  - New RPC `UpdateObjectModel`.
+  - Ability to lock individual ObjectTypes.
+  - Various improvements regarding locking.
+- Proper handling of scene/project problems.
+  - Any problem makes scene/project invalid, and then it can't be opened.  
+  - Scene/project problems are now checked when:
+    - Scene/project is listed.
+    - Opening a scene/project is requested.
+  - Found problems are cached for better performance.
+  - ObjectTypes are checked for changes during each listing of scenes/projects.
+- Deleting ObjectTypes reworked.
+  - `DeleteObjectType` replaced with `DeleteObjectTypes`.
+  - The new RPC takes list of ObjectType IDs.
+  - Empty list means all ObjectTypes.
+  - It returns list of id/error for types that could not be removed.
+  - This is especially useful for usage with `dry_run`.
+- Updated environment variables, please see README.
+- Improved logging to debug 'Locking failed'.
+- Support for virtual collision objects.
+  - `AddVirtualCollisionObjectToScene` RPC creates a new OT and adds its instance to a scene.
+  - In the simplest case, each collision object will have its own ObjectType.
+  - But it is also possible to add more instances as with other types.
+  - When the last instance of VCO is removed, ARServer also removes the ObjectType automatically.
+- Ignoring `hidden` actions (a new flag in `ActionMetadata`).
+- New RPC `ObjectTypeUsage` returning scene ids where the ObjectType is used.
+- Support for debugging - relaying related RPCs to the Execution Service.
+- Better handling of exceptions in asyncio tasks.
+  - More useful traceback is printed out.
+  - In development mode, an unhandled exception leads to shutdown of a service.
+  - In production mode, traceback is printed out and the service tries to continue.
+
+### Fixed
+
+- Ban HT mode changes while moving.
+- Arguments for getting robot joints (only affected multi-arm robots).
+- Handle locking exceptions on scene start/stop.
+- Copying of action points.
+  - Fixed locking within `CopyActionPoint`.
+  - Fixed update of orientation IDs.
+- Added locking to Project client to make the cache caching properly.
+- `modified`  was missing for disabled object.
+  - This happened when it was not possible to get object's base.
+- Copy AP - update of orientation ID in actions.
+- Removed 'delayed' unlocking of resources which caused race conditions in some cases and made the crashes hard to debug.
+- HT mode for single arm robots was broken.
+
+
+## [0.21.0] - 2021-08-05
+
+### Changed
+
+- Locks are not automatically released when aiming is done or cancelled.
+- Linear movements are used by default for stepping and table alignment.
+- Joints stream (`RobotJoints` event) now contains also gripper joints when available (depends on the particular ObjectType).
+
+### Fixed
+
+- Getting action results (the result was always `False`).
+- `ctx_read_lock` made some RPCs impossible to success.
+- Object parameters checking.
+  - Values and types of object parameters were not checked at all.
+  - For now, only basic types are supported.
+
+## [0.20.0] - 2021-07-29
+
+### Changed
+
+- Support for multi arm robots.
+  - Dealing with `arm_id` parameter in RPCs.
+  - Streaming EEF poses for all arms.
+- Allow to reposition scene objects while online.
+  - It was allowed to reposition objects using robot,
+  - ...but disallowed to do it manually.
+  - This was inconsistent and unnecessarily restrictive.
+  - Now objects (except robots) can be repositioned anytime.
+- When creating a new project, common parameters are added automatically.
+  - At the moment those are `scene_id` and `project_id`.
+  - A user could use or remove them.
+- Collisions are not removed after stopping the scene.
+- ObjectType change detection is now based on `modified` instead of comparing source codes.
+- ARServer Project service client now stores cached scenes/projects.
+- Object aiming reworked.
+  - RPCs were renamed and all of them now have `dry_run`.
+  - There is a new method to cancel the process.
+  - One user can be aiming one object at the moment.
+  - Both the object and the selected robot have to be write-locked.
+  - Improved logging.
+  - Test was added.
+- Server no longer downloads URDF packages.
+  - `ARCOR2_DATA_PATH` environment variable is no longer used.
+  - Clients will get URDFs through reverse proxy from Project service.
+- `NewObjectType` no longer assumes that mesh already exists.
+  - A file associated to mesh must exist in advance.
+  
+  
+### Fixed
+- All calls to the Scene service are guarded against exceptions.
+- Renaming of project parameters fixed.
+  - It was possible to use already taken name.
+
+## [0.19.0] - 2021-06-22
+
+- Update to API version 0.15.0.
+
+## [0.18.0] - 2021-06-11
+
+### Changed
+
+- Updated to work with Project service 0.8.0.
+- Allow fast re-login after connection was broken.
+- Added locking to const-related RPCs.
+- Log calibration-related errors.
+
+### Fixed
+
+- Handle invalid ObjectType settings annotation.
+
+## [0.17.0] - 2021-05-21
+
+### Changed
+
+- Return value of `GetCameraPose` RPC updated.
+- Objects initialization order.
+  - Object initialization order can be set using class-level `INIT_PRIORITY` variable.
+  - The higher priority, the sooner are objects of that type initialized.
+  - Initialization happens in parallel (for objects of the same priority).
+- `SetEefPerpendicularToWorld` now calls IK in parallel.
+  - This provides almost 100% speed-up even when the robot service proceeds requests one by one.
+- Added locking of internal resources.
+  - Created a lock module that allows to read/write lock existing or special objects. The module contains:
+    - lock object with all necessary methods;
+    - structures for keeping data about locked objects;
+    - locking-related exceptions;
+    - queue and task for notifying UI about lock data;
+    - methods for auto-unlocking after timeout when user logouts.
+  - Base tests of locking structure.
+  - RPCs for (un)locking object, registering user name.
+  - Events for (un)locking object.
+  - Created a class for maintaining connected UIs.
+  - Project methods to get object by ID, object parent and object children.
+  
+  - All RPCs that requires some kind of locking are now lock-guarded.
+  - Updated existing tests to work with newly implemented locking.
+  - Global variables `SCENE`, `PROJECT` and `INTERFACES` moved to new classes.
+- Rewritten cache for the Project service.
+  - The cache is now always on (provides a significant speed-up).
+  - External updates to the Project service are recognized properly.
+- New RPC `AddApUsingRobot`.
+- Support for multiple inheritance.
+    - ObjectTypes can now use mixins.
+    - It should be used like `class NewObjectType(MixinA, MixinB, Generic)`.
+    - E.g. the last ancestor should be something derived from `Generic`.
+- `SetEefPerpendicularToWorld` faster as it calls IK in parallel. 
+
+### Fixed
+
+- `SceneState` event was not sent to a newly connected UIs.
+- Results of actions are now forgotten when going offline.
+- Fixed support for `link` parameter type.
+
+## [0.16.0] - 2021-04-20
+
+### Fixed
+- Action can't use its own result as a parameter (link parameter type).
+
+### Changed
+- Dependency on arcor2 0.15.0 with updated REST client.
+- Action parameter value is now always JSON.
+  - It used to be a string for link/constant special types.
+
+
+## [0.15.1] - 2021-04-19
+
+### Fixed
+- Dependency on bugfix release of arcor2.
+
+## [0.15.0] - 2021-03-30
+
+### Changed
+- New RPC `SetEefPerpendicularToWorld`.
+- New RPC `StepRobotEef`.
+
+### Fixed
+- `CopyActionPoint` RPC: update action parameters to use copied orientations.
+- Scene now goes offline before execution and to the original state after it.
+- Scene-related messages adapted to a new terminology.
+
+## [0.14.0] - 2021-03-15
+
+### Changed
+- Improved logging for debugging robot features.
+- Suffix is added to copied AP/action instead of prefix.
+
+### Fixed
+- Names for orientations/joints were not checked as valid identifiers.
+- Action names were checked, but should not be.
+
+## [0.13.0] - 2021-03-03
+
+### Changed
+
+-  API to copy action point (including orientations, joints, child APs).
+- Robot-related API (MoveToPose, MoveToJoints, MoveToActionPoint) updated in order to contain `safe` parameter.
+- API to enable/disable robot hand teaching mode.  
+- Concrete and helpful error messages when a name entered by the user is refused.
+
+### Fixed
+- Only `BareActionPoint` was sent on parent change.
+
+## [0.12.0] - 2021-02-08
+
+### Changed
+- Improved scene-related messages.
+  - Error messages now contain the name of the object which caused the error.
+- New `MarkersCorners` RPC for getting markers corners.
+- Support for `an` parameter (explicit parameters).
+- Improved check of action signature and annotation.
+- New WS API for execution state reporting.
+- Support for project constants.
+  - Only basic types are supported so far.
+
+### Fixed
+- Better handling of missing collision model.
+  - If server can't get collision model of the object, the object is disabled.
+  - Previously, this situation caused crash of the server.
+- `GetCameraPose` callback fixed (used to be `Calibration`).
+
+## [0.11.0] - 2020-12-14
+
+### Changed
+- Improved support for logic branching.
+  - So far, only boolean outputs are supported.
+- Improved handling of return values (uses the same function as the main script).
+- The internal database of ObjectTypes in updated each time before opening a scene or a project.
+  - Changes are notified using `ChangedObjectTypes` event (one event for added objects, one for updated and another one for deleted ones).
+- Support for camera/robot calibration.
+- Initial support for cameras (getting images, camera parameters).
+
+## [0.10.1] - 2020-10-30
+
+### Changed
+- RPC for IK/FK.
+
+## [0.10.0] - 2020-10-22
+
+### Changed
+- Updated due to a breaking change in `arcor2_execution_data`.
+
+## [0.9.1] - 2020-10-19
+
+### Changed
+- ARCOR2 dependency updated
+
+### Fixed
+- fixed check for existing override
+ 
+## [0.9.0] - 2020-10-16
+
+### Changed
+- WS API for updates of scene objects parameters and management of project-defined overrides.
+- Integration tests refactored into multiple modules that can run in parallel.
+- `UpdateObjectPose` and `UpdateActionPointPosition` now has dry_run.
+- Box/Cylinder/Sphere models now have some constraints on their dimensions.
+- 
+
+## [0.8.0] - 2020-09-24
+### Changed
+- The first release of the separated package.
+- RPC/Events refactored. 
+- ARServer script now has ```--openapi``` argument and is able to generate OpenAPI models for RPCs and events.
+- Detection of loops in: AP hierarchy, logic.
+- Caching client for Project service.
+- Proper handling of object inheritance.
+- ObjectTypes are stored in temporary module on disk.
+- Integration tests.
+
+
+%package help
+Summary:	Development documents and examples for arcor2-arserver
+Provides:	python3-arcor2-arserver-doc
+%description help
+# arcor2_arserver
+
+## Environment variables
+
+- `ARCOR2_ARSERVER_PORT=6789` - by default, the service will listen on port 6789.
+- `ARCOR2_STREAMING_PERIOD=0.1` - controls the period of streaming a robot's EEF poses and joints. 
+
+### Caching
+
+- `ARCOR2_ARSERVER_CACHE_TIMEOUT=1.0` - by default, ARServer checks for changes in scenes, projects or ObjectTypes max. once per second.
+- `ARCOR2_ARSERVER_CACHE_SCENES=32` - by default, ARServer keeps 32 last used scenes in its cache.
+- `ARCOR2_ARSERVER_CACHE_PROJECTS=64` - by default, ARServer keeps 64 last used projects in its cache.
+- `ARCOR2_ARSERVER_CACHE_OBJECT_TYPES=32` - by default, ARServer keeps 64 last used ObjectTypes in its cache.
+
+### Resources locking
+
+- `ARCOR2_ARSERVER_LOCK_TIMEOUT=300` - if a user do not log again within this timeout (in seconds), their locks are discarded.
+  - Can be used to workaround 'Locking failed' issues - if set to some low value, it is sufficient to log out and after the locks got discarded, log in again.
+- `ARCOR2_ARSERVER_LOCK_RETRIES=13` - number of retries when trying to acquire the global lock.
+- `ARCOR2_ARSERVER_LOCK_RETRY_WAIT=0.15` - controls how long to wait between attempts to get the global lock. 
+
+### Debugging
+
+- `ARCOR2_MAX_RPC_DURATION=0.1` - by default, a warning is emitted when any RPC call takes longer than 0.1 second.
+- `ARCOR2_ARSERVER_DEBUG=1` - switches logger to the `DEBUG` level. 
+- `ARCOR2_ARSERVER_ASYNCIO_DEBUG=1` - turns on `asyncio` debug output (helpful to debug problems related to concurrency). 
+- `ARCOR2_REST_DEBUG=1` - may be used to debug problems related to communication with the Project, Scene Build and Calibration services.
+# Changelog
+
+The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/),
+
+## [1.0.0] - 2023-02-14
+
+### Changed
+
+- Dependency on arcor2 1.0.0.
+- Compatibility with the newest version of the Project service.
+- ARServer now also talks to Asset service (checks whether mesh/URDF exists).
+
+## [0.27.0] - 2022-12-12
+
+### Changed
+
+- Dependency on `arcor2~=0.26.0`.
+
+## [0.26.0] - 2022-10-28
+
+### Changed
+
+- Switched to Python 3.10, updated dependencies.
+
+## [0.25.0] - 2022-08-17
+
+### Changed
+
+- Adaptation to changes in API of the Build service.
+- Updated scene client (changed API).
+
+## [0.24.0] - 2022-04-25
+
+### Added
+
+- New RPCs `GetScene` and `GetProject`.
+
+## [0.23.0] - 2022-01-25
+
+### Changed
+
+- Breaking change of WebSockets API (`ActionStateBefore` event).
+- Switched to Python 3.9, updated dependencies.
+
+## [0.22.1] - 2021-10-26
+
+### Changed
+
+- Added HTTP upload server for logs from AREditor
+  - Logs are uploaded to /root/logs (could be changed using ARCOR2_AREDITOR_LOGS_FOLDER env variable)
+
+## [0.22.0] - 2021-10-25
+
+### Changed
+
+- When getting pose/joints from a robot fails, continue trying instead of giving up.
+- Handle `KinematicsException` to deliver a more precise error message.
+- Updating object models.
+  - New RPC `UpdateObjectModel`.
+  - Ability to lock individual ObjectTypes.
+  - Various improvements regarding locking.
+- Proper handling of scene/project problems.
+  - Any problem makes scene/project invalid, and then it can't be opened.  
+  - Scene/project problems are now checked when:
+    - Scene/project is listed.
+    - Opening a scene/project is requested.
+  - Found problems are cached for better performance.
+  - ObjectTypes are checked for changes during each listing of scenes/projects.
+- Deleting ObjectTypes reworked.
+  - `DeleteObjectType` replaced with `DeleteObjectTypes`.
+  - The new RPC takes list of ObjectType IDs.
+  - Empty list means all ObjectTypes.
+  - It returns list of id/error for types that could not be removed.
+  - This is especially useful for usage with `dry_run`.
+- Updated environment variables, please see README.
+- Improved logging to debug 'Locking failed'.
+- Support for virtual collision objects.
+  - `AddVirtualCollisionObjectToScene` RPC creates a new OT and adds its instance to a scene.
+  - In the simplest case, each collision object will have its own ObjectType.
+  - But it is also possible to add more instances as with other types.
+  - When the last instance of VCO is removed, ARServer also removes the ObjectType automatically.
+- Ignoring `hidden` actions (a new flag in `ActionMetadata`).
+- New RPC `ObjectTypeUsage` returning scene ids where the ObjectType is used.
+- Support for debugging - relaying related RPCs to the Execution Service.
+- Better handling of exceptions in asyncio tasks.
+  - More useful traceback is printed out.
+  - In development mode, an unhandled exception leads to shutdown of a service.
+  - In production mode, traceback is printed out and the service tries to continue.
+
+### Fixed
+
+- Ban HT mode changes while moving.
+- Arguments for getting robot joints (only affected multi-arm robots).
+- Handle locking exceptions on scene start/stop.
+- Copying of action points.
+  - Fixed locking within `CopyActionPoint`.
+  - Fixed update of orientation IDs.
+- Added locking to Project client to make the cache caching properly.
+- `modified`  was missing for disabled object.
+  - This happened when it was not possible to get object's base.
+- Copy AP - update of orientation ID in actions.
+- Removed 'delayed' unlocking of resources which caused race conditions in some cases and made the crashes hard to debug.
+- HT mode for single arm robots was broken.
+
+
+## [0.21.0] - 2021-08-05
+
+### Changed
+
+- Locks are not automatically released when aiming is done or cancelled.
+- Linear movements are used by default for stepping and table alignment.
+- Joints stream (`RobotJoints` event) now contains also gripper joints when available (depends on the particular ObjectType).
+
+### Fixed
+
+- Getting action results (the result was always `False`).
+- `ctx_read_lock` made some RPCs impossible to success.
+- Object parameters checking.
+  - Values and types of object parameters were not checked at all.
+  - For now, only basic types are supported.
+
+## [0.20.0] - 2021-07-29
+
+### Changed
+
+- Support for multi arm robots.
+  - Dealing with `arm_id` parameter in RPCs.
+  - Streaming EEF poses for all arms.
+- Allow to reposition scene objects while online.
+  - It was allowed to reposition objects using robot,
+  - ...but disallowed to do it manually.
+  - This was inconsistent and unnecessarily restrictive.
+  - Now objects (except robots) can be repositioned anytime.
+- When creating a new project, common parameters are added automatically.
+  - At the moment those are `scene_id` and `project_id`.
+  - A user could use or remove them.
+- Collisions are not removed after stopping the scene.
+- ObjectType change detection is now based on `modified` instead of comparing source codes.
+- ARServer Project service client now stores cached scenes/projects.
+- Object aiming reworked.
+  - RPCs were renamed and all of them now have `dry_run`.
+  - There is a new method to cancel the process.
+  - One user can be aiming one object at the moment.
+  - Both the object and the selected robot have to be write-locked.
+  - Improved logging.
+  - Test was added.
+- Server no longer downloads URDF packages.
+  - `ARCOR2_DATA_PATH` environment variable is no longer used.
+  - Clients will get URDFs through reverse proxy from Project service.
+- `NewObjectType` no longer assumes that mesh already exists.
+  - A file associated to mesh must exist in advance.
+  
+  
+### Fixed
+- All calls to the Scene service are guarded against exceptions.
+- Renaming of project parameters fixed.
+  - It was possible to use already taken name.
+
+## [0.19.0] - 2021-06-22
+
+- Update to API version 0.15.0.
+
+## [0.18.0] - 2021-06-11
+
+### Changed
+
+- Updated to work with Project service 0.8.0.
+- Allow fast re-login after connection was broken.
+- Added locking to const-related RPCs.
+- Log calibration-related errors.
+
+### Fixed
+
+- Handle invalid ObjectType settings annotation.
+
+## [0.17.0] - 2021-05-21
+
+### Changed
+
+- Return value of `GetCameraPose` RPC updated.
+- Objects initialization order.
+  - Object initialization order can be set using class-level `INIT_PRIORITY` variable.
+  - The higher priority, the sooner are objects of that type initialized.
+  - Initialization happens in parallel (for objects of the same priority).
+- `SetEefPerpendicularToWorld` now calls IK in parallel.
+  - This provides almost 100% speed-up even when the robot service proceeds requests one by one.
+- Added locking of internal resources.
+  - Created a lock module that allows to read/write lock existing or special objects. The module contains:
+    - lock object with all necessary methods;
+    - structures for keeping data about locked objects;
+    - locking-related exceptions;
+    - queue and task for notifying UI about lock data;
+    - methods for auto-unlocking after timeout when user logouts.
+  - Base tests of locking structure.
+  - RPCs for (un)locking object, registering user name.
+  - Events for (un)locking object.
+  - Created a class for maintaining connected UIs.
+  - Project methods to get object by ID, object parent and object children.
+  
+  - All RPCs that requires some kind of locking are now lock-guarded.
+  - Updated existing tests to work with newly implemented locking.
+  - Global variables `SCENE`, `PROJECT` and `INTERFACES` moved to new classes.
+- Rewritten cache for the Project service.
+  - The cache is now always on (provides a significant speed-up).
+  - External updates to the Project service are recognized properly.
+- New RPC `AddApUsingRobot`.
+- Support for multiple inheritance.
+    - ObjectTypes can now use mixins.
+    - It should be used like `class NewObjectType(MixinA, MixinB, Generic)`.
+    - E.g. the last ancestor should be something derived from `Generic`.
+- `SetEefPerpendicularToWorld` faster as it calls IK in parallel. 
+
+### Fixed
+
+- `SceneState` event was not sent to a newly connected UIs.
+- Results of actions are now forgotten when going offline.
+- Fixed support for `link` parameter type.
+
+## [0.16.0] - 2021-04-20
+
+### Fixed
+- Action can't use its own result as a parameter (link parameter type).
+
+### Changed
+- Dependency on arcor2 0.15.0 with updated REST client.
+- Action parameter value is now always JSON.
+  - It used to be a string for link/constant special types.
+
+
+## [0.15.1] - 2021-04-19
+
+### Fixed
+- Dependency on bugfix release of arcor2.
+
+## [0.15.0] - 2021-03-30
+
+### Changed
+- New RPC `SetEefPerpendicularToWorld`.
+- New RPC `StepRobotEef`.
+
+### Fixed
+- `CopyActionPoint` RPC: update action parameters to use copied orientations.
+- Scene now goes offline before execution and to the original state after it.
+- Scene-related messages adapted to a new terminology.
+
+## [0.14.0] - 2021-03-15
+
+### Changed
+- Improved logging for debugging robot features.
+- Suffix is added to copied AP/action instead of prefix.
+
+### Fixed
+- Names for orientations/joints were not checked as valid identifiers.
+- Action names were checked, but should not be.
+
+## [0.13.0] - 2021-03-03
+
+### Changed
+
+-  API to copy action point (including orientations, joints, child APs).
+- Robot-related API (MoveToPose, MoveToJoints, MoveToActionPoint) updated in order to contain `safe` parameter.
+- API to enable/disable robot hand teaching mode.  
+- Concrete and helpful error messages when a name entered by the user is refused.
+
+### Fixed
+- Only `BareActionPoint` was sent on parent change.
+
+## [0.12.0] - 2021-02-08
+
+### Changed
+- Improved scene-related messages.
+  - Error messages now contain the name of the object which caused the error.
+- New `MarkersCorners` RPC for getting markers corners.
+- Support for `an` parameter (explicit parameters).
+- Improved check of action signature and annotation.
+- New WS API for execution state reporting.
+- Support for project constants.
+  - Only basic types are supported so far.
+
+### Fixed
+- Better handling of missing collision model.
+  - If server can't get collision model of the object, the object is disabled.
+  - Previously, this situation caused crash of the server.
+- `GetCameraPose` callback fixed (used to be `Calibration`).
+
+## [0.11.0] - 2020-12-14
+
+### Changed
+- Improved support for logic branching.
+  - So far, only boolean outputs are supported.
+- Improved handling of return values (uses the same function as the main script).
+- The internal database of ObjectTypes in updated each time before opening a scene or a project.
+  - Changes are notified using `ChangedObjectTypes` event (one event for added objects, one for updated and another one for deleted ones).
+- Support for camera/robot calibration.
+- Initial support for cameras (getting images, camera parameters).
+
+## [0.10.1] - 2020-10-30
+
+### Changed
+- RPC for IK/FK.
+
+## [0.10.0] - 2020-10-22
+
+### Changed
+- Updated due to a breaking change in `arcor2_execution_data`.
+
+## [0.9.1] - 2020-10-19
+
+### Changed
+- ARCOR2 dependency updated
+
+### Fixed
+- fixed check for existing override
+ 
+## [0.9.0] - 2020-10-16
+
+### Changed
+- WS API for updates of scene objects parameters and management of project-defined overrides.
+- Integration tests refactored into multiple modules that can run in parallel.
+- `UpdateObjectPose` and `UpdateActionPointPosition` now has dry_run.
+- Box/Cylinder/Sphere models now have some constraints on their dimensions.
+- 
+
+## [0.8.0] - 2020-09-24
+### Changed
+- The first release of the separated package.
+- RPC/Events refactored. 
+- ARServer script now has ```--openapi``` argument and is able to generate OpenAPI models for RPCs and events.
+- Detection of loops in: AP hierarchy, logic.
+- Caching client for Project service.
+- Proper handling of object inheritance.
+- ObjectTypes are stored in temporary module on disk.
+- Integration tests.
+
+
+%prep
+%autosetup -n arcor2-arserver-1.0.0
+
+%build
+%py3_build
+
+%install
+%py3_install
+install -d -m755 %{buildroot}/%{_pkgdocdir}
+if [ -d doc ]; then cp -arf doc %{buildroot}/%{_pkgdocdir}; fi
+if [ -d docs ]; then cp -arf docs %{buildroot}/%{_pkgdocdir}; fi
+if [ -d example ]; then cp -arf example %{buildroot}/%{_pkgdocdir}; fi
+if [ -d examples ]; then cp -arf examples %{buildroot}/%{_pkgdocdir}; fi
+pushd %{buildroot}
+if [ -d usr/lib ]; then
+	find usr/lib -type f -printf "/%h/%f\n" >> filelist.lst
+fi
+if [ -d usr/lib64 ]; then
+	find usr/lib64 -type f -printf "/%h/%f\n" >> filelist.lst
+fi
+if [ -d usr/bin ]; then
+	find usr/bin -type f -printf "/%h/%f\n" >> filelist.lst
+fi
+if [ -d usr/sbin ]; then
+	find usr/sbin -type f -printf "/%h/%f\n" >> filelist.lst
+fi
+touch doclist.lst
+if [ -d usr/share/man ]; then
+	find usr/share/man -type f -printf "/%h/%f.gz\n" >> doclist.lst
+fi
+popd
+mv %{buildroot}/filelist.lst .
+mv %{buildroot}/doclist.lst .
+
+%files -n python3-arcor2-arserver -f filelist.lst
+%dir %{python3_sitelib}/*
+
+%files help -f doclist.lst
+%{_docdir}/*
+
+%changelog
+* Wed May 31 2023 Python_Bot <Python_Bot@openeuler.org> - 1.0.0-1
+- Package Spec generated
diff --git a/sources b/sources
new file mode 100644
index 0000000..8891565
--- /dev/null
+++ b/sources
@@ -0,0 +1 @@
+d4c64878a76d3b73a103fe781843febe  arcor2_arserver-1.0.0.tar.gz