Merge pull request #712 from ShafSpecs/main

Swapped out `aiogrpc` + updated MAVSDK dependencies
mavlink · Jan 25, 2025 · 49c0cda · 49c0cda
2 parents 76619b0 + 9fff235
commit 49c0cda
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Showing 79 changed files with 321 additions and 535 deletions.
diff --git a/.gitignore b/.gitignore
@@ -11,3 +11,4 @@ build/
 .pytest_cache/
 .tox/
 mavsdk/bin/mavsdk_server
+mavsdk/bin/mavsdk_server.exe
diff --git a/mavsdk/action_pb2.py b/mavsdk/action_pb2.py
diff --git a/mavsdk/action_pb2_grpc.py b/mavsdk/action_pb2_grpc.py
@@ -5,8 +5,10 @@
 
 from . import action_pb2 as action_dot_action__pb2
 
-GRPC_GENERATED_VERSION = '1.70.0'
+GRPC_GENERATED_VERSION = '1.63.0'
 GRPC_VERSION = grpc.__version__
+EXPECTED_ERROR_RELEASE = '1.65.0'
+SCHEDULED_RELEASE_DATE = 'June 25, 2024'
 _version_not_supported = False
 
 try:
@@ -16,12 +18,15 @@
     _version_not_supported = True
 
 if _version_not_supported:
-    raise RuntimeError(
+    warnings.warn(
         f'The grpc package installed is at version {GRPC_VERSION},'
         + f' but the generated code in action/action_pb2_grpc.py depends on'
         + f' grpcio>={GRPC_GENERATED_VERSION}.'
         + f' Please upgrade your grpc module to grpcio>={GRPC_GENERATED_VERSION}'
         + f' or downgrade your generated code using grpcio-tools<={GRPC_VERSION}.'
+        + f' This warning will become an error in {EXPECTED_ERROR_RELEASE},'
+        + f' scheduled for release on {SCHEDULED_RELEASE_DATE}.',
+        RuntimeWarning
     )
 
 
@@ -485,7 +490,6 @@ def add_ActionServiceServicer_to_server(servicer, server):
     generic_handler = grpc.method_handlers_generic_handler(
             'mavsdk.rpc.action.ActionService', rpc_method_handlers)
     server.add_generic_rpc_handlers((generic_handler,))
-    server.add_registered_method_handlers('mavsdk.rpc.action.ActionService', rpc_method_handlers)
 
 
  # This class is part of an EXPERIMENTAL API.

diff --git a/mavsdk/action_server_pb2.py b/mavsdk/action_server_pb2.py
diff --git a/mavsdk/action_server_pb2_grpc.py b/mavsdk/action_server_pb2_grpc.py
@@ -5,8 +5,10 @@
 
 from . import action_server_pb2 as action__server_dot_action__server__pb2
 
-GRPC_GENERATED_VERSION = '1.70.0'
+GRPC_GENERATED_VERSION = '1.63.0'
 GRPC_VERSION = grpc.__version__
+EXPECTED_ERROR_RELEASE = '1.65.0'
+SCHEDULED_RELEASE_DATE = 'June 25, 2024'
 _version_not_supported = False
 
 try:
@@ -16,12 +18,15 @@
     _version_not_supported = True
 
 if _version_not_supported:
-    raise RuntimeError(
+    warnings.warn(
         f'The grpc package installed is at version {GRPC_VERSION},'
         + f' but the generated code in action_server/action_server_pb2_grpc.py depends on'
         + f' grpcio>={GRPC_GENERATED_VERSION}.'
         + f' Please upgrade your grpc module to grpcio>={GRPC_GENERATED_VERSION}'
         + f' or downgrade your generated code using grpcio-tools<={GRPC_VERSION}.'
+        + f' This warning will become an error in {EXPECTED_ERROR_RELEASE},'
+        + f' scheduled for release on {SCHEDULED_RELEASE_DATE}.',
+        RuntimeWarning
     )
 
 
@@ -252,7 +257,6 @@ def add_ActionServerServiceServicer_to_server(servicer, server):
     generic_handler = grpc.method_handlers_generic_handler(
             'mavsdk.rpc.action_server.ActionServerService', rpc_method_handlers)
     server.add_generic_rpc_handlers((generic_handler,))
-    server.add_registered_method_handlers('mavsdk.rpc.action_server.ActionServerService', rpc_method_handlers)
 
 
  # This class is part of an EXPERIMENTAL API.

diff --git a/mavsdk/arm_authorizer_server_pb2.py b/mavsdk/arm_authorizer_server_pb2.py
diff --git a/mavsdk/arm_authorizer_server_pb2_grpc.py b/mavsdk/arm_authorizer_server_pb2_grpc.py
@@ -5,8 +5,10 @@
 
 from . import arm_authorizer_server_pb2 as arm__authorizer__server_dot_arm__authorizer__server__pb2
 
-GRPC_GENERATED_VERSION = '1.70.0'
+GRPC_GENERATED_VERSION = '1.63.0'
 GRPC_VERSION = grpc.__version__
+EXPECTED_ERROR_RELEASE = '1.65.0'
+SCHEDULED_RELEASE_DATE = 'June 25, 2024'
 _version_not_supported = False
 
 try:
@@ -16,12 +18,15 @@
     _version_not_supported = True
 
 if _version_not_supported:
-    raise RuntimeError(
+    warnings.warn(
         f'The grpc package installed is at version {GRPC_VERSION},'
         + f' but the generated code in arm_authorizer_server/arm_authorizer_server_pb2_grpc.py depends on'
         + f' grpcio>={GRPC_GENERATED_VERSION}.'
         + f' Please upgrade your grpc module to grpcio>={GRPC_GENERATED_VERSION}'
         + f' or downgrade your generated code using grpcio-tools<={GRPC_VERSION}.'
+        + f' This warning will become an error in {EXPECTED_ERROR_RELEASE},'
+        + f' scheduled for release on {SCHEDULED_RELEASE_DATE}.',
+        RuntimeWarning
     )
 
 
@@ -97,7 +102,6 @@ def add_ArmAuthorizerServerServiceServicer_to_server(servicer, server):
     generic_handler = grpc.method_handlers_generic_handler(
             'mavsdk.rpc.arm_authorizer_server.ArmAuthorizerServerService', rpc_method_handlers)
     server.add_generic_rpc_handlers((generic_handler,))
-    server.add_registered_method_handlers('mavsdk.rpc.arm_authorizer_server.ArmAuthorizerServerService', rpc_method_handlers)
 
 
  # This class is part of an EXPERIMENTAL API.

diff --git a/mavsdk/async_plugin_manager.py b/mavsdk/async_plugin_manager.py
@@ -1,6 +1,6 @@
 # -*- coding: utf-8 -*-
 import logging
-import aiogrpc
+from grpc import aio
 
 
 class AsyncPluginManager:
@@ -26,16 +26,15 @@ async def _connect_backend(self):
         """
 
         #: gRPC channel
-        self._channel = aiogrpc.insecure_channel(
-            "{}:{}".format(self.host, self.port),
-            standalone_pool_for_streaming=True
+        self._channel = aio.insecure_channel(
+            "{}:{}".format(self.host, self.port)
         )
 
         logger = logging.getLogger(__name__)
         logger.addHandler(logging.NullHandler())  # Avoid errors when user has not configured logging
 
         logger.debug("Waiting for mavsdk_server to be ready...")
-        await aiogrpc.channel_ready_future(self._channel)
+        await self._channel.channel_ready()
         logger.debug("Connected to mavsdk_server!")
 
     @property

diff --git a/mavsdk/calibration_pb2.py b/mavsdk/calibration_pb2.py
diff --git a/mavsdk/calibration_pb2_grpc.py b/mavsdk/calibration_pb2_grpc.py
@@ -5,8 +5,10 @@
 
 from . import calibration_pb2 as calibration_dot_calibration__pb2
 
-GRPC_GENERATED_VERSION = '1.70.0'
+GRPC_GENERATED_VERSION = '1.63.0'
 GRPC_VERSION = grpc.__version__
+EXPECTED_ERROR_RELEASE = '1.65.0'
+SCHEDULED_RELEASE_DATE = 'June 25, 2024'
 _version_not_supported = False
 
 try:
@@ -16,12 +18,15 @@
     _version_not_supported = True
 
 if _version_not_supported:
-    raise RuntimeError(
+    warnings.warn(
         f'The grpc package installed is at version {GRPC_VERSION},'
         + f' but the generated code in calibration/calibration_pb2_grpc.py depends on'
         + f' grpcio>={GRPC_GENERATED_VERSION}.'
         + f' Please upgrade your grpc module to grpcio>={GRPC_GENERATED_VERSION}'
         + f' or downgrade your generated code using grpcio-tools<={GRPC_VERSION}.'
+        + f' This warning will become an error in {EXPECTED_ERROR_RELEASE},'
+        + f' scheduled for release on {SCHEDULED_RELEASE_DATE}.',
+        RuntimeWarning
     )
 
 
@@ -150,7 +155,6 @@ def add_CalibrationServiceServicer_to_server(servicer, server):
     generic_handler = grpc.method_handlers_generic_handler(
             'mavsdk.rpc.calibration.CalibrationService', rpc_method_handlers)
     server.add_generic_rpc_handlers((generic_handler,))
-    server.add_registered_method_handlers('mavsdk.rpc.calibration.CalibrationService', rpc_method_handlers)
 
 
  # This class is part of an EXPERIMENTAL API.

diff --git a/mavsdk/camera_pb2.py b/mavsdk/camera_pb2.py
diff --git a/mavsdk/camera_pb2_grpc.py b/mavsdk/camera_pb2_grpc.py
@@ -5,8 +5,10 @@
 
 from . import camera_pb2 as camera_dot_camera__pb2
 
-GRPC_GENERATED_VERSION = '1.70.0'
+GRPC_GENERATED_VERSION = '1.63.0'
 GRPC_VERSION = grpc.__version__
+EXPECTED_ERROR_RELEASE = '1.65.0'
+SCHEDULED_RELEASE_DATE = 'June 25, 2024'
 _version_not_supported = False
 
 try:
@@ -16,12 +18,15 @@
     _version_not_supported = True
 
 if _version_not_supported:
-    raise RuntimeError(
+    warnings.warn(
         f'The grpc package installed is at version {GRPC_VERSION},'
         + f' but the generated code in camera/camera_pb2_grpc.py depends on'
         + f' grpcio>={GRPC_GENERATED_VERSION}.'
         + f' Please upgrade your grpc module to grpcio>={GRPC_GENERATED_VERSION}'
         + f' or downgrade your generated code using grpcio-tools<={GRPC_VERSION}.'
+        + f' This warning will become an error in {EXPECTED_ERROR_RELEASE},'
+        + f' scheduled for release on {SCHEDULED_RELEASE_DATE}.',
+        RuntimeWarning
     )
 
 
@@ -725,7 +730,6 @@ def add_CameraServiceServicer_to_server(servicer, server):
     generic_handler = grpc.method_handlers_generic_handler(
             'mavsdk.rpc.camera.CameraService', rpc_method_handlers)
     server.add_generic_rpc_handlers((generic_handler,))
-    server.add_registered_method_handlers('mavsdk.rpc.camera.CameraService', rpc_method_handlers)
 
 
  # This class is part of an EXPERIMENTAL API.

diff --git a/mavsdk/camera_server_pb2.py b/mavsdk/camera_server_pb2.py
diff --git a/mavsdk/camera_server_pb2_grpc.py b/mavsdk/camera_server_pb2_grpc.py
@@ -5,8 +5,10 @@
 
 from . import camera_server_pb2 as camera__server_dot_camera__server__pb2
 
-GRPC_GENERATED_VERSION = '1.70.0'
+GRPC_GENERATED_VERSION = '1.63.0'
 GRPC_VERSION = grpc.__version__
+EXPECTED_ERROR_RELEASE = '1.65.0'
+SCHEDULED_RELEASE_DATE = 'June 25, 2024'
 _version_not_supported = False
 
 try:
@@ -16,12 +18,15 @@
     _version_not_supported = True
 
 if _version_not_supported:
-    raise RuntimeError(
+    warnings.warn(
         f'The grpc package installed is at version {GRPC_VERSION},'
         + f' but the generated code in camera_server/camera_server_pb2_grpc.py depends on'
         + f' grpcio>={GRPC_GENERATED_VERSION}.'
         + f' Please upgrade your grpc module to grpcio>={GRPC_GENERATED_VERSION}'
         + f' or downgrade your generated code using grpcio-tools<={GRPC_VERSION}.'
+        + f' This warning will become an error in {EXPECTED_ERROR_RELEASE},'
+        + f' scheduled for release on {SCHEDULED_RELEASE_DATE}.',
+        RuntimeWarning
     )
 
 
@@ -711,7 +716,6 @@ def add_CameraServerServiceServicer_to_server(servicer, server):
     generic_handler = grpc.method_handlers_generic_handler(
             'mavsdk.rpc.camera_server.CameraServerService', rpc_method_handlers)
     server.add_generic_rpc_handlers((generic_handler,))
-    server.add_registered_method_handlers('mavsdk.rpc.camera_server.CameraServerService', rpc_method_handlers)
 
 
  # This class is part of an EXPERIMENTAL API.