%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 - 1.0.0-1 - Package Spec generated