arcor2-execution 1.3.0

ARCOR2 Execution service

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).

Changelog

The format is based on Keep a Changelog,

[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.