Package: arcor2-execution
arcor2_executionEnvironment variablesARCOR2_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 theDEBUGlevel.ARCOR2_ARSERVER_ASYNCIO_DEBUG=1- turns onasynciodebug output (helpful to debug problems related to concurrency).ChangelogThe format is based onKeep a Changelog,[1.2.0] - 2024-01-03ChangedDependency onarcor2_runtime~=1.1.0.[1.1.0] - 2023-07-20AddedCompatibility witharcor2:1.1.0.[1.0.0] - 2023-02-14ChangedMarked as a stable version.[0.22.0] - 2022-12-12ChangedDependency onarcor2~=0.26.0.[0.21.0] - 2022-10-28ChangedSwitched to Python 3.10, updated dependencies.[0.20.1] - 2022-08-07ChangedUpdate of scene client.[0.20.0] - 2022-01-25ChangedBreaking change of WebSockets API (ActionStateBeforeevent).Switched to Python 3.9, updated dependencies.[0.19.3] - 2021-11-15FixedImproved handling of script/objects initialization failures (arcor2_runtime).[0.19.2] - 2021-11-08FixedFixed mutual dependency betweenarcor2_execution_dataandarcor2_runtime(package.pymoved toarcor2_runtime).[0.19.1] - 2021-11-01ChangedUpdated dependency on arcor2_runtime[0.19.0] - 2021-10-25ChangedMake RPCs less blocking.New environment variablesARCOR2_EXECUTION_DEBUGandARCOR2_EXECUTION_ASYNCIO_DEBUG(see README for details).Added dependency on3rdparty:websocket-clientto makeLoggingMixinwork.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 ofarcor2_runtime.[0.18.1] - 2021-09-02ChangedAdded EXPOSE to dockerfile[0.18.0] - 2021-08-05ChangedDependency onarcor2==0.20.0whereRobotAPI changed.[0.17.0] - 2021-07-29ChangedMore stuff is now done asynchronously.Listing packages is now done in parallel.Improved logging (more events are logged).FixedExceptions were sometimes not reported.[0.16.0] - 2021-06-14ChangedDependency onarcor20.18.0.Dependency onarcor2_execution_data0.11.0.[0.15.0] - 2021-06-14ChangedDependency onarcor20.17.0 (constantsrenamed toparametersin theProjectmodel).[0.14.0] - 2021-05-21ChangedDependency on arcor2 0.16.0 (updatedResourcesclass).[0.13.0] - 2021-04-20ChangedDependency on arcor2 0.15.0 with updated REST client.[0.12.0] - 2021-03-30ChangedDependency on arcor2 0.14.0.Reportingpaussingbeforepausedandstoppingbeforestopped.FixedScript was stopped using a wrong signal.Execution used SIGTERM instead of SIGINT.Because of this, the script was not stopped gracefully.[0.11.1] - 2021-03-15FixedScript was stopped using wrong signal (SIGTERM instead of SIGINT).Because of this, the script was not stopped gracefully andcleanupmethods of objects were not executed.[0.11.0] - 2021-02-08ChangedExecution 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] - 2020-12-14ChangedARCOR2 dependency updated.[0.9.0] - 2020-10-22ChangedSetsproject_metaproperty ofPackageSummaryif the execution package containsproject.jsonfile.[0.8.1] - 2020-10-19ChangedARCOR2 dependency updated[0.8.0] - 2020-09-24ChangedInitial 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.