ARCOR2 Execution service
Project description
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 theDEBUG
level.ARCOR2_ARSERVER_ASYNCIO_DEBUG=1
- turns onasyncio
debug output (helpful to debug problems related to concurrency).
Changelog
The format is based on Keep a Changelog,
[0.19.2] - 2021-11-08
Fixed
- Fixed mutual dependency between
arcor2_execution_data
andarcor2_runtime
(package.py
moved toarcor2_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
andARCOR2_EXECUTION_ASYNCIO_DEBUG
(see README for details). - Added dependency on
3rdparty:websocket-client
to makeLoggingMixin
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
.
- The script streams those by default for all robots. For mode details, please see README of
[0.18.1] - 2021-09-02
Changed
- Added EXPOSE to dockerfile
[0.18.0] - 2021-08-05
Changed
- Dependency on
arcor2==0.20.0
whereRobot
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 toparameters
in theProject
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
beforepaused
andstopping
beforestopped
.
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.
- Because of this, the script was not stopped gracefully and
[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 ofPackageSummary
if the execution package containsproject.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.
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