arcor2_execution

Environment variables

• ARCOR2_EXECUTION_URL=ws://0.0.0.0:6790 - by default, the service listens on port 6790.
• ARCOR2_MAX_RPC_DURATION=0.1 - by default, a warning is emitted when any RPC call takes longer than 0.1 second.
• ARCOR2_EXECUTION_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_EXECUTION_PKG_STOP_TIMEOUT=5.0 - configures timeout for an attempt to stop the script in the civilized way (SIGINT). After the timeout, the script is killed (SIGKILL).

Changelog

The format is based on Keep a Changelog,

[1.6.0] - 2024-09-12

Changed

• Dependency on arcor2~=1.5.0.

[1.5.0] - 2024-08-14

Changed

• Dependency on arcor2_runtime~=1.4.0.

[1.4.2] - 2024-06-26

Fixed

• It was possible to pause or stop the package before it was actually running.

Changed

• If the attempt to stop the script with SIGINT fails (after timeout configured using ARCOR2_EXECUTION_PKG_STOP_TIMEOUT), it is stopped with SIGKILL. This may happen e.g. when using threads without daemon=True (which is strongly discouraged).
• Previously, the package state RUNNING was reported once the script was started. Now, STARTED is sent when the script starts running and RUNNING afterward once the Resources class is fully initialized (PackageInfo event is sent). This should be fully backwards-compatible.

[1.4.1] - 2024-06-19

Fixed

• Attempt to run package resulted into NameError in some environments (and was OK on others, weird).

[1.4.0] - 2024-06-14

Changed

• Dependency on arcor2_runtime~=1.3.0.

[1.3.0] - 2024-04-11

Changed

• Updated dependencies, switched to Python 3.11.

[1.2.0] - 2024-01-08

Changed

• Dependency on arcor2_runtime~=1.1.0.

[1.1.0] - 2023-07-20

Added

• Compatibility with arcor2:1.1.0.

[1.0.0] - 2023-02-14

Changed

• Marked as a stable version.

[0.22.0] - 2022-12-12

Changed

• Dependency on arcor2~=0.26.0.

[0.21.0] - 2022-10-28

Changed

• Switched to Python 3.10, updated dependencies.

[0.20.1] - 2022-08-07

Changed

• Update of scene client.

[0.20.0] - 2022-01-25

Changed

• Breaking change of WebSockets API (ActionStateBefore event).
• Switched to Python 3.9, updated dependencies.

[0.19.3] - 2021-11-15

Fixed

• Improved handling of script/objects initialization failures (arcor2_runtime).

[0.19.2] - 2021-11-08

Fixed

• Fixed mutual dependency between arcor2_execution_data and arcor2_runtime (package.py moved to arcor2_runtime).

[0.19.1] - 2021-11-01

Changed

• Updated dependency on arcor2_runtime

[0.19.0] - 2021-10-25

Changed

• Make RPCs less blocking.
• New environment variables ARCOR2_EXECUTION_DEBUG and ARCOR2_EXECUTION_ASYNCIO_DEBUG (see README for details).
• Added dependency on 3rdparty:websocket-client to make LoggingMixin work.
• Support for debugging.
  • The script can now be started in paused state.
  • Breakpoints can be set on action points.
  • The paused script can be stepped to the following action.
• 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.
• Relaying events with EEF poses/joints from the main script to the clients.
  • The script streams those by default for all robots. For mode details, please see README of arcor2_runtime.

[0.18.1] - 2021-09-02

Changed

• Added EXPOSE to dockerfile

[0.18.0] - 2021-08-05

Changed

• Dependency on arcor2==0.20.0 where Robot API changed.

[0.17.0] - 2021-07-29

Changed

• More stuff is now done asynchronously.
• Listing packages is now done in parallel.
• Improved logging (more events are logged).

Fixed

• Exceptions were sometimes not reported.

[0.16.0] - 2021-06-14

Changed

• Dependency on arcor2 0.18.0.
• Dependency on arcor2_execution_data 0.11.0.

[0.15.0] - 2021-06-14

Changed

• Dependency on arcor2 0.17.0 (constants renamed to parameters in the Project model).

[0.14.0] - 2021-05-21

Changed

• Dependency on arcor2 0.16.0 (updated Resources class).

[0.13.0] - 2021-04-20

Changed

• Dependency on arcor2 0.15.0 with updated REST client.

[0.12.0] - 2021-03-30

Changed

• Dependency on arcor2 0.14.0.
• Reporting paussing before paused and stopping before stopped.

Fixed

• Script was stopped using a wrong signal.
  • Execution used SIGTERM instead of SIGINT.
  • Because of this, the script was not stopped gracefully.

[0.11.1] - 2021-03-15

Fixed

• Script was stopped using wrong signal (SIGTERM instead of SIGINT).
  • Because of this, the script was not stopped gracefully and cleanup methods of objects were not executed.

[0.11.0] - 2021-02-08

Changed

• Execution state reporting was improved
  • 'CurrentAction' and 'ActionState' events -> 'ActionStateBefore' and 'ActionStateAfter'.
  • 'ActionStateBefore' contains action id and its parameters.
  • 'ActionStateAfter' contains action id and its results.
  • 'PackageState' RPC removed.

[0.10.0] - 2020-12-14

Changed

• ARCOR2 dependency updated.

[0.9.0] - 2020-10-22

Changed

• Sets project_meta property of PackageSummary if the execution package contains project.json file.

[0.8.1] - 2020-10-19

Changed

• ARCOR2 dependency updated

[0.8.0] - 2020-09-24

Changed

• Initial release of the separated package.
• Execution service is now ok with packages that do not contain scene/project/package.json.
• Execution service now sends PackageChanged events (on: new, rename, delete).
• New environment variable: ARCOR2_EXECUTION_URL (defaults to 'ws://0.0.0.0:6790').
• Main script now don't have to be executable and contain shebang.