From 62d479a6e7ac2e6f52f5b29cdb4cff7ad56753b2 Mon Sep 17 00:00:00 2001 From: ZdenekM Date: Mon, 25 Mar 2024 09:46:02 +0100 Subject: [PATCH] build: update of pants, Python, dependencies --- .github/workflows/pants-cache.yaml | 10 +- .github/workflows/pants.yaml | 24 +- 3rdparty/BUILD | 18 + 3rdparty/constraints.txt | 3429 +++++++++-------- 3rdparty/flake8-requirements.txt | 8 + 3rdparty/flake8_lockfile.txt | 177 +- 3rdparty/mypy-requirements.txt | 2 + 3rdparty/mypy_lockfile.txt | 103 +- 3rdparty/pytest-requirements.txt | 6 + 3rdparty/pytest_lockfile.txt | 356 +- 3rdparty/requirements.txt | 81 +- README.md | 40 +- build-support/setup-venv.sh | 2 +- compose-files/fanuc-demo/docker-compose.yml | 16 +- compose-files/fit-demo/docker-compose.yml | 24 +- pants | 510 --- pants-plugins/macros.py | 4 +- pants-plugins/setup_kwargs_plugin/register.py | 3 +- pants.ci.toml | 2 +- pants.toml | 47 +- pyproject.toml | 2 +- src/docker/arcor2_3d_mouse/BUILD | 2 +- src/docker/arcor2_3d_mouse/Dockerfile | 12 +- src/docker/arcor2_arserver/BUILD | 2 +- src/docker/arcor2_arserver/Dockerfile | 14 +- src/docker/arcor2_build/BUILD | 2 +- src/docker/arcor2_build/Dockerfile | 12 +- src/docker/arcor2_calibration/BUILD | 2 +- src/docker/arcor2_calibration/Dockerfile | 14 +- src/docker/arcor2_dobot/Dockerfile | 12 +- src/docker/arcor2_execution/BUILD | 2 +- src/docker/arcor2_execution/Dockerfile | 12 +- src/docker/arcor2_execution_proxy/BUILD | 2 +- src/docker/arcor2_execution_proxy/Dockerfile | 12 +- src/docker/arcor2_fanuc/BUILD | 2 +- src/docker/arcor2_fanuc/Dockerfile | 12 +- .../arcor2_fanuc_upload_object_types/BUILD | 2 +- .../Dockerfile | 10 +- src/docker/arcor2_kinect_azure/BUILD | 2 +- src/docker/arcor2_kinect_azure/Dockerfile | 12 +- src/docker/arcor2_scene/BUILD | 2 +- src/docker/arcor2_scene/Dockerfile | 14 +- .../arcor2_upload_builtin_objects/BUILD | 2 +- .../arcor2_upload_builtin_objects/Dockerfile | 10 +- src/docker/arcor2_upload_fit_demo/Dockerfile | 10 +- src/python/arcor2/CHANGELOG.md | 6 + src/python/arcor2/VERSION | 2 +- src/python/arcor2/__init__.py | 6 +- src/python/arcor2/data/__init__.py | 26 +- src/python/arcor2/data/common.py | 6 +- .../tests/test_scene_integration.py | 2 +- src/python/arcor2/object_types/utils.py | 2 +- src/python/arcor2/tests/test_logic.py | 4 +- src/python/arcor2/urdf.py | 5 + src/python/arcor2_3d_mouse/CHANGELOG.md | 6 + src/python/arcor2_3d_mouse/VERSION | 2 +- src/python/arcor2_3d_mouse/mouse_program.py | 4 +- src/python/arcor2_arserver/CHANGELOG.md | 6 + src/python/arcor2_arserver/VERSION | 2 +- src/python/arcor2_arserver/execution.py | 2 +- src/python/arcor2_arserver/models.py | 2 +- src/python/arcor2_arserver/rpc/project.py | 2 +- .../arcor2_arserver/scripts/arserver.py | 13 +- src/python/arcor2_arserver/tests/conftest.py | 4 +- src/python/arcor2_arserver/tests/test_lock.py | 74 +- src/python/arcor2_arserver/tests/testutils.py | 4 +- src/python/arcor2_arserver_data/CHANGELOG.md | 6 + src/python/arcor2_arserver_data/VERSION | 2 +- src/python/arcor2_arserver_data/client.py | 8 +- src/python/arcor2_build/CHANGELOG.md | 6 + src/python/arcor2_build/VERSION | 2 +- .../arcor2_build/source/tests/test_logic.py | 2 +- .../arcor2_build/tests/test_cross_import.py | 2 +- src/python/arcor2_build_data/CHANGELOG.md | 6 + src/python/arcor2_build_data/VERSION | 2 +- src/python/arcor2_calibration/CHANGELOG.md | 6 + src/python/arcor2_calibration/VERSION | 2 +- src/python/arcor2_calibration/calibration.py | 8 +- src/python/arcor2_calibration/quaternions.py | 4 +- src/python/arcor2_calibration/robot.py | 6 +- .../arcor2_calibration_data/CHANGELOG.md | 6 + src/python/arcor2_calibration_data/VERSION | 2 +- src/python/arcor2_dobot/CHANGELOG.md | 6 + src/python/arcor2_execution/CHANGELOG.md | 6 + src/python/arcor2_execution/VERSION | 2 +- .../arcor2_execution/scripts/execution.py | 9 +- src/python/arcor2_execution_data/CHANGELOG.md | 6 + src/python/arcor2_execution_data/VERSION | 2 +- .../arcor2_execution_rest_proxy/CHANGELOG.md | 6 + .../arcor2_execution_rest_proxy/VERSION | 2 +- .../scripts/execution_rest_proxy.py | 4 +- src/python/arcor2_fanuc/CHANGELOG.md | 6 + src/python/arcor2_fanuc/VERSION | 2 +- src/python/arcor2_fanuc/scripts/fanuc.py | 4 +- src/python/arcor2_fit_demo/CHANGELOG.md | 6 + src/python/arcor2_kinect_azure/CHANGELOG.md | 5 + src/python/arcor2_kinect_azure/VERSION | 2 +- .../arcor2_kinect_azure/kinect/__init__.py | 2 +- .../scripts/kinect_azure.py | 2 +- .../arcor2_kinect_azure_data/CHANGELOG.md | 5 + src/python/arcor2_kinect_azure_data/VERSION | 2 +- .../arcor2_kinect_azure_data/aggregation.py | 8 +- src/python/arcor2_logger/CHANGELOG.md | 6 + src/python/arcor2_logger/VERSION | 2 +- src/python/arcor2_mocks/CHANGELOG.md | 6 + src/python/arcor2_mocks/VERSION | 2 +- src/python/arcor2_runtime/CHANGELOG.md | 6 + src/python/arcor2_runtime/VERSION | 2 +- src/python/arcor2_scene/CHANGELOG.md | 6 + src/python/arcor2_scene/VERSION | 2 +- src/python/arcor2_yumi/CHANGELOG.md | 6 + src/python/arcor2_yumi/VERSION | 2 +- 112 files changed, 2483 insertions(+), 2936 deletions(-) create mode 100644 3rdparty/flake8-requirements.txt create mode 100644 3rdparty/mypy-requirements.txt create mode 100644 3rdparty/pytest-requirements.txt delete mode 100755 pants diff --git a/.github/workflows/pants-cache.yaml b/.github/workflows/pants-cache.yaml index 04bde4a86..4be3ca956 100644 --- a/.github/workflows/pants-cache.yaml +++ b/.github/workflows/pants-cache.yaml @@ -12,10 +12,10 @@ jobs: build: env: PANTS_CONFIG_FILES: pants.ci.toml - runs-on: ubuntu-20.04 + runs-on: ubuntu-22.04 strategy: matrix: - python-version: ['3.10'] + python-version: ['3.11'] steps: - uses: actions/checkout@v4 with: @@ -72,14 +72,14 @@ jobs: python-version: ${{ matrix.python-version }} - name: bootstrap run: | - ./pants --version + pants --version - name: install system dependencies run: | sudo ./build-support/install_kinect_prerequisites.sh - sudo apt install jq + sudo apt install jq cargo - name: Get dependencies run: | - ./pants export + pants export - name: Upload pants log uses: actions/upload-artifact@v4 with: diff --git a/.github/workflows/pants.yaml b/.github/workflows/pants.yaml index c3c2c6d4f..fd1417b14 100644 --- a/.github/workflows/pants.yaml +++ b/.github/workflows/pants.yaml @@ -12,18 +12,18 @@ jobs: org-check: name: Check GitHub Organization if: ${{ github.repository_owner == 'robofit' }} - runs-on: ubuntu-20.04 + runs-on: ubuntu-22.04 steps: - name: Noop run: "true" build: env: PANTS_CONFIG_FILES: pants.ci.toml - runs-on: ubuntu-20.04 + runs-on: ubuntu-22.04 needs: org-check strategy: matrix: - python-version: ['3.10'] + python-version: ['3.11'] steps: - name: Maximize build space uses: easimon/maximize-build-space@v10 @@ -44,7 +44,7 @@ jobs: uses: actions/setup-python@v5 with: python-version: ${{ matrix.python-version }} - - uses: pantsbuild/actions/init-pants@v8 + - uses: pantsbuild/actions/init-pants@v5-scie-pants with: pants-python-version: ${{ matrix.python-version }} gha-cache-key: cache0-py${{ matrix.python-version }} @@ -53,26 +53,26 @@ jobs: base-branch: master - name: Check BUILD files run: | - ./pants --changed-since=HEAD update-build-files --check + pants --changed-since=HEAD update-build-files --check - name: install system dependencies - run: | + run: | # cargo is required to build fastuuid (no wheels for Python 3.11) sudo ./build-support/install_kinect_prerequisites.sh - sudo apt install jq + sudo apt install jq cargo - name: Lint run: | - ./pants --changed-since=origin/master lint + pants --changed-since=origin/master lint - name: Typecheck run: | - ./pants check --changed-since=origin/master --changed-dependees=transitive + pants check --changed-since=origin/master --changed-dependees=transitive - name: Test run: | - ./pants --changed-since=origin/master --changed-dependees=transitive test + pants --changed-since=origin/master --changed-dependees=transitive test - name: Build Docker images run: | # filter out non-essential docker images (there was a problem with full storage on github) - ./pants filter --target-type=docker_image --changed-since=origin/master --changed-dependees=transitive | grep -v arcor2_3d_mouse | grep -v arcor2_kinect_azure | grep -v arcor2_fanuc arcor2_fanuc_upload_object_types | xargs ./pants package + pants filter --target-type=docker_image --changed-since=origin/master --changed-dependees=transitive | grep -v arcor2_3d_mouse | grep -v arcor2_kinect_azure | grep -v arcor2_fanuc arcor2_fanuc_upload_object_types | xargs pants package - name: Build Python packages run: | - ./pants filter --target-type=python_distribution :: | xargs ./pants package + pants filter --target-type=python_distribution :: | xargs pants package # check for cyclic dependencies or other problems python -m venv ./tstvenv source ./tstvenv/bin/activate diff --git a/3rdparty/BUILD b/3rdparty/BUILD index d6ac617d5..a743b96f5 100644 --- a/3rdparty/BUILD +++ b/3rdparty/BUILD @@ -17,3 +17,21 @@ python_requirements( "urdfpy": {"dependencies": ["#setuptools"]}, # actually, networkx is missing that dependency }, ) + +python_requirements( + name="mypy", + source="mypy-requirements.txt", + resolve="mypy", +) + +python_requirements( + name="pytest", + source="pytest-requirements.txt", + resolve="pytest", +) + +python_requirements( + name="flake8", + source="flake8-requirements.txt", + resolve="flake8", +) \ No newline at end of file diff --git a/3rdparty/constraints.txt b/3rdparty/constraints.txt index 4294ded9d..88376112d 100644 --- a/3rdparty/constraints.txt +++ b/3rdparty/constraints.txt @@ -1,61 +1,68 @@ // This lockfile was autogenerated by Pants. To regenerate, run: // -// ./pants generate-lockfiles --resolve=python-default +// pants generate-lockfiles --resolve=python-default // // --- BEGIN PANTS LOCKFILE METADATA: DO NOT EDIT OR REMOVE --- // { // "version": 3, // "valid_for_interpreter_constraints": [ -// "CPython==3.10.*" +// "CPython==3.11.*" // ], // "generated_with_requirements": [ -// "Cython~=0.29.33", -// "Flask~=2.2.3", -// "Pillow~=9.4.0", -// "PyYAML~=6.0", -// "aiofiles~=23.1.0", +// "Cython~=0.29.37", +// "Flask~=3.0.2", +// "Pillow~=10.2.0", +// "PyYAML~=6.0.1", +// "aiofiles~=23.2.1", // "aiologger~=0.7.0", -// "aiorun~=2022.11.1", -// "apispec-webframeworks~=0.5.2", -// "apispec[yaml]~=6.3.0", -// "autopep8~=2.0.2", -// "ciso8601~=2.3.0", -// "colorlog~=6.7.0", -// "dataclasses-jsonschema[apispec,fast-dateparsing,fast-uuid,fast-validation]~=2.16.0", +// "aiorun~=2023.7.2", +// "apispec-webframeworks~=1.1.0", +// "apispec[yaml]~=6.6.0", +// "autopep8~=2.1.0", +// "ciso8601~=2.3.1", +// "colorlog~=6.8.2", +// "dataclasses-jsonschema[apispec,fast-dateparsing,fast-validation]~=2.16.0", // "easyhid~=0.0.10", -// "fanucpy~=0.1.7", +// "fanucpy~=0.1.14", // "fastuuid~=0.8.0", // "flask-swagger-ui~=4.11.1", -// "flask_cors~=3.0.10", -// "gTTS~=2.3.1", -// "hidapi~=0.9.0.post3", -// "lru-dict~=1.1.8", -// "numpy-quaternion[numba,scipy]~=2022.4.3", -// "numpy~=1.23.5", -// "open3d==0.16.0", -// "openapi-spec-validator~=0.5.6", -// "opencv-contrib-python~=4.7.0.72", -// "orjson~=3.8.8", -// "packaging~=21.3", +// "flask_cors~=4.0.0", +// "gTTS~=2.5.1", +// "hidapi~=0.14.0", +// "lru-dict~=1.3.0", +// "numpy-quaternion[numba,scipy]~=2023.0.3", +// "numpy~=1.26.4", +// "open3d==0.18.0", +// "openapi-spec-validator~=0.7.1", +// "opencv-contrib-python~=4.9.0.80", +// "orjson~=3.9.15", +// "packaging~=24.0", +// "pydub-stubs==0.25.1.1", // "pydub~=0.25.1", // "pyhumps==3.8.0", // "pyk4a@ git+https://github.com/Jakub-Dv/pyk4a.git@feature/body-tracking", // "pyserial~=3.5", -// "pyspacemouse~=1.0.8", -// "pytest-asyncio~=0.21.0", -// "pytest-randomly~=3.12.0", -// "pytest-repeat~=0.9.1", -// "pytest~=7.2.2", -// "python-dateutil~=2.8.2", -// "requests~=2.28.2", -// "setuptools~=66.0.0", +// "pyspacemouse~=1.1.1", +// "pytest-asyncio~=0.23.6", +// "pytest-randomly~=3.15.0", +// "pytest-repeat~=0.9.3", +// "pytest~=8.1.1", +// "python-dateutil~=2.9.0.post0", +// "requests~=2.31.0", +// "setuptools~=69.2.0", // "sqlitedict~=2.1.0", -// "types-playsound~=1.3.1.2", -// "typing-inspect~=0.8.0", +// "types-PyYAML==6.0.12.20240311", +// "types-aiofiles==23.2.0.20240311", +// "types-orjson==3.6.2", +// "types-playsound~=1.3.1.3", +// "types-python-dateutil==2.9.0.20240316", +// "types-requests==2.31.0.20240311", +// "types-setuptools==69.2.0.20240317", +// "typing-inspect~=0.9.0", // "urdfpy~=0.0.22", -// "websocket-client~=1.5.1", -// "websockets~=10.4", -// "werkzeug~=2.2.3" +// "websocket-client~=1.7.0", +// "websockets~=12.0", +// "werkzeug~=3.0.1" // ], // "manylinux": "manylinux2014", // 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"requires_dists": [], "requires_python": ">=3.7", - "version": "2.0.1" + "version": "0.9.3" } ], "platform_tag": null } ], "path_mappings": {}, - "pex_version": "2.1.126", - "pip_version": "20.3.4-patched", + "pex_version": "2.1.148", + "pip_version": "23.1.2", "prefer_older_binary": false, "requirements": [ "pygments", "pytest-asyncio", - "pytest-cov!=2.12.1,<3.1,>=2.12", + "pytest-cov", "pytest-icdiff", "pytest-randomly", - "pytest-repeat", - "pytest-xdist<3,>=2.5", - "pytest==7.2.2" + "pytest-repeat" ], "requires_python": [ - "==3.10.*" + "==3.11.*" ], "resolver_version": "pip-2020-resolver", "style": "universal", diff --git a/3rdparty/requirements.txt b/3rdparty/requirements.txt index 4d27497b5..b6220fd8b 100644 --- a/3rdparty/requirements.txt +++ b/3rdparty/requirements.txt @@ -1,47 +1,54 @@ -Cython~=0.29.33 -Flask~=2.2.3 -Pillow~=9.4.0 -PyYAML~=6.0 -aiofiles~=23.1.0 +Cython~=0.29.37 +Flask~=3.0.2 +Pillow~=10.2.0 +PyYAML~=6.0.1 +aiofiles~=23.2.1 aiologger~=0.7.0 -aiorun~=2022.11.1 -apispec-webframeworks~=0.5.2 # dependency on Flask has to be specified manually! -apispec[yaml]~=6.3.0 -autopep8~=2.0.2 -colorlog~=6.7.0 -ciso8601~=2.3.0 -dataclasses-jsonschema[fast-validation,apispec,fast-uuid,fast-dateparsing]~=2.16.0 +aiorun~=2023.7.2 +apispec-webframeworks~=1.1.0 # dependency on Flask has to be specified manually! +apispec[yaml]~=6.6.0 +autopep8~=2.1.0 +colorlog~=6.8.2 +ciso8601~=2.3.1 +dataclasses-jsonschema[fast-validation,apispec,fast-dateparsing]~=2.16.0 easyhid~=0.0.10 -fanucpy~=0.1.7 +fanucpy~=0.1.14 fastuuid~=0.8.0 flask-swagger-ui~=4.11.1 -flask_cors~=3.0.10 -gTTS~=2.3.1 -hidapi~=0.9.0.post3 -lru-dict~=1.1.8 -numpy-quaternion[scipy,numba]~=2022.4.3 -numpy~=1.23.5 # 1.24.1 causes troubles with building numba wheel -open3d==0.16.0 # 0.16.1 seems to be only for MacOS, with 0.17.0 there is some pex-related issue -openapi-spec-validator~=0.5.6 -opencv-contrib-python~=4.7.0.72 -orjson~=3.8.8 -packaging~=21.3 # getting "No matching distribution found" with 22.0 +flask_cors~=4.0.0 +gTTS~=2.5.1 +hidapi~=0.14.0 +lru-dict~=1.3.0 +numpy-quaternion[scipy,numba]~=2023.0.3 +numpy~=1.26.4 +open3d==0.18.0 +openapi-spec-validator~=0.7.1 +opencv-contrib-python~=4.9.0.80 +orjson~=3.9.15 +packaging~=24.0 pydub~=0.25.1 pyhumps==3.8.0 pyk4a@ git+https://github.com/Jakub-Dv/pyk4a.git@feature/body-tracking pyserial~=3.5 -pyspacemouse~=1.0.8 -pytest-asyncio~=0.21.0 -pytest-randomly~=3.12.0 -pytest-repeat~=0.9.1 -pytest~=7.2.2 -python-dateutil~=2.8.2 -requests~=2.28.2 -setuptools~=66.0.0 +pyspacemouse~=1.1.1 +pytest-asyncio~=0.23.6 +pytest-randomly~=3.15.0 +pytest-repeat~=0.9.3 +pytest~=8.1.1 +python-dateutil~=2.9.0.post0 +requests~=2.31.0 +setuptools~=69.2.0 sqlitedict~=2.1.0 -types-playsound~=1.3.1.2 -typing-inspect~=0.8.0 +types-playsound~=1.3.1.3 +typing-inspect~=0.9.0 urdfpy~=0.0.22 -websocket-client~=1.5.1 -websockets~=10.4 -werkzeug~=2.2.3 +websocket-client~=1.7.0 +websockets~=12.0 +werkzeug~=3.0.1 +types-PyYAML==6.0.12.20240311 +types-aiofiles==23.2.0.20240311 +types-orjson==3.6.2 +types-python-dateutil==2.9.0.20240316 +types-requests==2.31.0.20240311 +types-setuptools==69.2.0.20240317 +pydub-stubs==0.25.1.1 diff --git a/README.md b/README.md index 45ce3db56..81ce21af8 100644 --- a/README.md +++ b/README.md @@ -36,120 +36,120 @@ The following video by [Kinali](https://www.kinali.cz/en/) shows the use case (o [README](src/python/arcor2/README.md) | [CHANGELOG](src/python/arcor2/CHANGELOG.md) - - 2024-01-26: [1.2.0](https://github.com/robofit/arcor2/releases/tag/arcor2%2F1.2.0) ([pypi](https://pypi.org/project/arcor2/1.2.0/)). + - 2024-04-11: [1.3.0](https://github.com/robofit/arcor2/releases/tag/arcor2%2F1.3.0) ([pypi](https://pypi.org/project/arcor2/1.3.0/)). ### arcor2_arserver [README](src/python/arcor2_arserver/README.md) | [CHANGELOG](src/python/arcor2_arserver/CHANGELOG.md) - - 2024-01-23: [1.1.1](https://github.com/robofit/arcor2/releases/tag/arcor2_arserver%2F1.1.1) ([docker](https://hub.docker.com/r/arcor2/arcor2_arserver/tags?page=1&ordering=last_updated&name=1.1.1), [pypi](https://pypi.org/project/arcor2-arserver/1.1.1/)). + - 2024-04-11: [1.2.0](https://github.com/robofit/arcor2/releases/tag/arcor2_arserver%2F1.2.0) ([docker](https://hub.docker.com/r/arcor2/arcor2_arserver/tags?page=1&ordering=last_updated&name=1.2.0), [pypi](https://pypi.org/project/arcor2-arserver/1.2.0/)). ### arcor2_arserver_data [README](src/python/arcor2_arserver_data/README.md) | [CHANGELOG](src/python/arcor2_arserver_data/CHANGELOG.md) - - 2023-02-14: [1.0.0](https://github.com/robofit/arcor2/releases/tag/arcor2_arserver_data%2F1.0.0) ([pypi](https://pypi.org/project/arcor2-arserver-data/1.0.0/)). + - 2024-04-11: [1.1.0](https://github.com/robofit/arcor2/releases/tag/arcor2_arserver_data%2F1.1.0) ([pypi](https://pypi.org/project/arcor2-arserver-data/1.1.0/)). ### arcor2_build [README](src/python/arcor2_build/README.md) | [CHANGELOG](src/python/arcor2_build/CHANGELOG.md) - - 2024-02-01: [1.3.2](https://github.com/robofit/arcor2/releases/tag/arcor2_build%2F1.3.2) ([docker](https://hub.docker.com/r/arcor2/arcor2_build/tags?page=1&ordering=last_updated&name=1.3.2), [pypi](https://pypi.org/project/arcor2-build/1.3.2/)). + - 2024-04-11: [1.4.0](https://github.com/robofit/arcor2/releases/tag/arcor2_build%2F1.4.0) ([docker](https://hub.docker.com/r/arcor2/arcor2_build/tags?page=1&ordering=last_updated&name=1.4.0), [pypi](https://pypi.org/project/arcor2-build/1.4.0/)). ### arcor2_build_data [README](src/python/arcor2_build_data/README.md) | [CHANGELOG](src/python/arcor2_build_data/CHANGELOG.md) - - 2023-02-14: [1.0.0](https://github.com/robofit/arcor2/releases/tag/arcor2_build_data%2F1.0.0) ([pypi](https://pypi.org/project/arcor2-build-data/1.0.0/)). + - 2024-04-11: [1.1.0](https://github.com/robofit/arcor2/releases/tag/arcor2_build_data%2F1.1.0) ([pypi](https://pypi.org/project/arcor2-build-data/1.1.0/)). ### arcor2_calibration [README](src/python/arcor2_calibration/README.md) | [CHANGELOG](src/python/arcor2_calibration/CHANGELOG.md) - - 2024-02-07: [1.1.0](https://github.com/robofit/arcor2/releases/tag/arcor2_calibration%2F1.1.0) ([docker](https://hub.docker.com/r/arcor2/arcor2_calibration/tags?page=1&ordering=last_updated&name=1.1.0), [pypi](https://pypi.org/project/arcor2-calibration/1.1.0/)). + - 2024-04-11: [1.2.0](https://github.com/robofit/arcor2/releases/tag/arcor2_calibration%2F1.2.0) ([docker](https://hub.docker.com/r/arcor2/arcor2_calibration/tags?page=1&ordering=last_updated&name=1.2.0), [pypi](https://pypi.org/project/arcor2-calibration/1.2.0/)). ### arcor2_calibration_data [README](src/python/arcor2_calibration_data/README.md) | [CHANGELOG](src/python/arcor2_calibration_data/CHANGELOG.md) - - 2023-02-14: [1.0.0](https://github.com/robofit/arcor2/releases/tag/arcor2_calibration_data%2F1.0.0) ([pypi](https://pypi.org/project/arcor2-calibration-data/1.0.0/)). + - 2024-04-11: [1.1.0](https://github.com/robofit/arcor2/releases/tag/arcor2_calibration_data%2F1.1.0) ([pypi](https://pypi.org/project/arcor2-calibration-data/1.1.0/)). ### arcor2_dobot [README](src/python/arcor2_dobot/README.md) | [CHANGELOG](src/python/arcor2_dobot/CHANGELOG.md) - - 2024-03-26: [1.2.0](https://github.com/robofit/arcor2/releases/tag/arcor2_dobot%2F1.2.0) ([docker](https://hub.docker.com/r/arcor2/arcor2_dobot/tags?page=1&ordering=last_updated&name=1.2.0), [pypi](https://pypi.org/project/arcor2-dobot/1.2.0/)). + - 2024-04-11: [1.3.0](https://github.com/robofit/arcor2/releases/tag/arcor2_dobot%2F1.3.0) ([docker](https://hub.docker.com/r/arcor2/arcor2_dobot/tags?page=1&ordering=last_updated&name=1.3.0), [pypi](https://pypi.org/project/arcor2-dobot/1.3.0/)). ### arcor2_execution [README](src/python/arcor2_execution/README.md) | [CHANGELOG](src/python/arcor2_execution/CHANGELOG.md) - - 2024-01-08: [1.2.0](https://github.com/robofit/arcor2/releases/tag/arcor2_execution%2F1.2.0) ([docker](https://hub.docker.com/r/arcor2/arcor2_execution/tags?page=1&ordering=last_updated&name=1.2.0), [pypi](https://pypi.org/project/arcor2-execution/1.2.0/)). + - 2024-04-11: [1.3.0](https://github.com/robofit/arcor2/releases/tag/arcor2_execution%2F1.3.0) ([docker](https://hub.docker.com/r/arcor2/arcor2_execution/tags?page=1&ordering=last_updated&name=1.3.0), [pypi](https://pypi.org/project/arcor2-execution/1.3.0/)). ### arcor2_execution_data [README](src/python/arcor2_execution_data/README.md) | [CHANGELOG](src/python/arcor2_execution_data/CHANGELOG.md) - - 2024-01-08: [1.1.0](https://github.com/robofit/arcor2/releases/tag/arcor2_execution_data%2F1.1.0) ([pypi](https://pypi.org/project/arcor2-execution-data/1.1.0/)). + - 2024-04-11: [1.2.0](https://github.com/robofit/arcor2/releases/tag/arcor2_execution_data%2F1.2.0) ([pypi](https://pypi.org/project/arcor2-execution-data/1.2.0/)). ### arcor2_execution_rest_proxy [README](src/python/arcor2_execution_rest_proxy/README.md) | [CHANGELOG](src/python/arcor2_execution_rest_proxy/CHANGELOG.md) - - 2023-02-14: [1.0.0](https://github.com/robofit/arcor2/releases/tag/arcor2_execution_rest_proxy%2F1.0.0) ([docker](https://hub.docker.com/r/arcor2/arcor2_execution_proxy/tags?page=1&ordering=last_updated&name=1.0.0), [pypi](https://pypi.org/project/arcor2-execution-rest-proxy/1.0.0/)). + - 2024-04-11: [1.1.0](https://github.com/robofit/arcor2/releases/tag/arcor2_execution_rest_proxy%2F1.1.0) ([docker](https://hub.docker.com/r/arcor2/arcor2_execution_proxy/tags?page=1&ordering=last_updated&name=1.1.0), [pypi](https://pypi.org/project/arcor2-execution-rest-proxy/1.1.0/)). ### arcor2_fanuc [README](src/python/arcor2_fanuc/README.md) | [CHANGELOG](src/python/arcor2_fanuc/CHANGELOG.md) - - 2022-10-28: [0.3.0](https://github.com/robofit/arcor2/releases/tag/arcor2_fanuc%2F0.3.0) ([docker-service](https://hub.docker.com/r/arcor2/arcor2_fanuc/tags?page=1&ordering=last_updated&name=0.1.0), [docker-objects](https://hub.docker.com/r/arcor2/arcor2_fanuc_upload_object_types/tags?page=1&ordering=last_updated&name=0.3.0), [pypi](https://pypi.org/project/arcor2-fanuc/0.3.0/)). + - 2024-04-11: [0.4.0](https://github.com/robofit/arcor2/releases/tag/arcor2_fanuc%2F0.4.0) ([docker-service](https://hub.docker.com/r/arcor2/arcor2_fanuc/tags?page=1&ordering=last_updated&name=0.4.0), [docker-objects](https://hub.docker.com/r/arcor2/arcor2_fanuc_upload_object_types/tags?page=1&ordering=last_updated&name=0.4.0), [pypi](https://pypi.org/project/arcor2-fanuc/0.4.0/)). ### arcor2_fit_demo [README](src/python/arcor2_fit_demo/README.md) | [CHANGELOG](src/python/arcor2_fit_demo/CHANGELOG.md) -- 2024-03-26: [1.4.0](https://github.com/robofit/arcor2/releases/tag/arcor2_fit_demo%2F1.4.0) ([docker](https://hub.docker.com/r/arcor2/arcor2_upload_fit_demo/tags?page=1&ordering=last_updated&name=1.4.0), [pypi](https://pypi.org/project/arcor2-fit-demo/1.4.0/)). +- 2024-04-11: [1.5.0](https://github.com/robofit/arcor2/releases/tag/arcor2_fit_demo%2F1.5.0) ([docker](https://hub.docker.com/r/arcor2/arcor2_upload_fit_demo/tags?page=1&ordering=last_updated&name=1.5.0), [pypi](https://pypi.org/project/arcor2-fit-demo/1.5.0/)). ### arcor2_kinect_azure [README](src/python/arcor2_kinect_azure/README.md) | [CHANGELOG](src/python/arcor2_kinect_azure/CHANGELOG.md) - - 2023-07-20: [0.7.0](https://github.com/robofit/arcor2/releases/tag/arcor2_kinect_azure%2F0.7.0) ([docker](https://hub.docker.com/r/arcor2/arcor2_kinect_azure/tags?page=1&ordering=last_updated&name=0.7.0), [pypi](https://pypi.org/project/arcor2_kinect_azure/0.7.0/)). + - 2024-04-11: [0.8.0](https://github.com/robofit/arcor2/releases/tag/arcor2_kinect_azure%2F0.8.0) ([docker](https://hub.docker.com/r/arcor2/arcor2_kinect_azure/tags?page=1&ordering=last_updated&name=0.8.0), [pypi](https://pypi.org/project/arcor2_kinect_azure/0.8.0/)). ### arcor2_kinect_azure_data [README](src/python/arcor2_kinect_azure_data/README.md) | [CHANGELOG](src/python/arcor2_kinect_azure_data/CHANGELOG.md) - - 2023-07-20: [0.1.0](https://github.com/robofit/arcor2/releases/tag/arcor2_kinect_azure_data%2F0.1.0) ([pypi](https://pypi.org/project/arcor2_kinect_azure_data/0.1.0/)). + - 2024-04-11: [0.2.0](https://github.com/robofit/arcor2/releases/tag/arcor2_kinect_azure_data%2F0.2.0) ([pypi](https://pypi.org/project/arcor2_kinect_azure_data/0.2.0/)). ### arcor2_logger [README](src/python/arcor2_logger/README.md) | [CHANGELOG](src/python/arcor2_logger/CHANGELOG.md) - - 2022-10-28: [0.1.0](https://github.com/robofit/arcor2/releases/tag/arcor2_logger%2F0.1.0) ([pypi](https://pypi.org/project/arcor2-logger/0.1.0/)). + - 2024-04-11: [0.2.0](https://github.com/robofit/arcor2/releases/tag/arcor2_logger%2F0.2.0) ([pypi](https://pypi.org/project/arcor2-logger/0.2.0/)). ### arcor2_mocks [README](src/python/arcor2_mocks/README.md) | [CHANGELOG](src/python/arcor2_mocks/CHANGELOG.md) - - 2023-02-14: [1.0.0](https://github.com/robofit/arcor2/releases/tag/arcor2_mocks%2F1.0.0) ([pypi](https://pypi.org/project/arcor2-mocks/1.0.0/)). + - 2024-04-11: [1.1.0](https://github.com/robofit/arcor2/releases/tag/arcor2_mocks%2F1.1.0) ([pypi](https://pypi.org/project/arcor2-mocks/1.1.0/)). ### arcor2_runtime [README](src/python/arcor2_runtime/README.md) | [CHANGELOG](src/python/arcor2_runtime/CHANGELOG.md) - - 2024-01-08: [1.1.0](https://github.com/robofit/arcor2/releases/tag/arcor2_runtime%2F1.1.0) ([pypi](https://pypi.org/project/arcor2-runtime/1.1.0/)). + - 2024-04-11: [1.2.0](https://github.com/robofit/arcor2/releases/tag/arcor2_runtime%2F1.2.0) ([pypi](https://pypi.org/project/arcor2-runtime/1.2.0/)). ### arcor2_scene [README](src/python/arcor2_scene/README.md) | [CHANGELOG](src/python/arcor2_scene/CHANGELOG.md) - - 2023-02-14: [1.0.0](https://github.com/robofit/arcor2/releases/tag/arcor2_scene%2F1.0.0) ([docker](https://hub.docker.com/r/arcor2/arcor2_scene/tags?page=1&ordering=last_updated&name=1.0.0), [pypi](https://pypi.org/project/arcor2-scene/1.0.0/)). + - 2024-04-11: [1.1.0](https://github.com/robofit/arcor2/releases/tag/arcor2_scene%2F1.1.0) ([docker](https://hub.docker.com/r/arcor2/arcor2_scene/tags?page=1&ordering=last_updated&name=1.1.0), [pypi](https://pypi.org/project/arcor2-scene/1.1.0/)). ### arcor2_yumi [README](src/python/arcor2_yumi/README.md) | [CHANGELOG](src/python/arcor2_yumi/CHANGELOG.md) - - 2022-10-28: [0.2.0](https://github.com/robofit/arcor2/releases/tag/arcor2_yumi%2F0.2.0) ([pypi](https://pypi.org/project/arcor2-yumi/0.2.0/)). + - 2024-04-11: [0.3.0](https://github.com/robofit/arcor2/releases/tag/arcor2_yumi%2F0.3.0) ([pypi](https://pypi.org/project/arcor2-yumi/0.3.0/)). diff --git a/build-support/setup-venv.sh b/build-support/setup-venv.sh index b704c9604..ee90bced7 100755 --- a/build-support/setup-venv.sh +++ b/build-support/setup-venv.sh @@ -6,7 +6,7 @@ set -e # see https://vsupalov.com/developing-with-python3-8-on-ubuntu-18-04/ # also don't forget to run sudo apt install python3.9-venv python3.9-dev (otherwise ensurepip module won't be available) -PYTHON_BIN=python3.10 +PYTHON_BIN=python3.11 VIRTUALENV=build-support/.venv PIP="${VIRTUALENV}/bin/pip" REQUIREMENTS_FILE=3rdparty/requirements.txt diff --git a/compose-files/fanuc-demo/docker-compose.yml b/compose-files/fanuc-demo/docker-compose.yml index 126ed4f43..66b29985c 100644 --- a/compose-files/fanuc-demo/docker-compose.yml +++ b/compose-files/fanuc-demo/docker-compose.yml @@ -1,6 +1,6 @@ services: fanuc-demo-arserver: - image: arcor2/arcor2_arserver:1.1.1 + image: arcor2/arcor2_arserver:1.2.0 container_name: fanuc-demo-arserver depends_on: - fanuc-demo-project @@ -27,7 +27,7 @@ services: - ARCOR2_CALIBRATION_URL=http://fanuc-demo-calibration:5014 fanuc-demo-build: - image: arcor2/arcor2_build:1.3.2 + image: arcor2/arcor2_build:1.4.0 container_name: fanuc-demo-build depends_on: - fanuc-demo-project @@ -40,7 +40,7 @@ services: - fanuc-demo-project-network fanuc-demo-execution: - image: arcor2/arcor2_execution:1.2.0 + image: arcor2/arcor2_execution:1.3.0 container_name: fanuc-demo-execution networks: - fanuc-demo-execution-network @@ -53,7 +53,7 @@ services: - fanuc-demo-execution:/root/project fanuc-demo-robot: - image: arcor2/arcor2_fanuc:0.3.0 + image: arcor2/arcor2_fanuc:0.4.0 container_name: fanuc-demo-robot restart: on-failure:3 # TODO it often fails to contact Scene Service when starting, remove once we have healthcheck depends_on: @@ -67,7 +67,7 @@ services: - ARCOR2_SCENE_SERVICE_URL=http://fanuc-demo-scene:5013 fanuc-demo-calibration: - image: arcor2/arcor2_calibration:1.1.0 + image: arcor2/arcor2_calibration:1.2.0 networks: - fanuc-demo-calibration-network ports: @@ -79,7 +79,7 @@ services: - ./calibration.yaml:/root/calibration.yaml fanuc-demo-scene: - image: arcor2/arcor2_scene:1.0.0 + image: arcor2/arcor2_scene:1.1.0 container_name: fanuc-demo-scene networks: - fanuc-demo-scene-network @@ -114,7 +114,7 @@ services: - fanuc-demo-asset-network fanuc-demo-nginx: - image: nginx:1.23.3 + image: nginx:1.25.4 container_name: "fanuc-demo-nginx" volumes: - ./nginx.conf:/etc/nginx/conf.d/default.conf @@ -126,7 +126,7 @@ services: - fanuc-demo-project fanuc-demo-upload-object-types: - image: arcor2/arcor2_fanuc_upload_object_types:0.3.1 + image: arcor2/arcor2_fanuc_upload_object_types:0.4.0 container_name: "fanuc-demo-upload-object-types" depends_on: - fanuc-demo-project diff --git a/compose-files/fit-demo/docker-compose.yml b/compose-files/fit-demo/docker-compose.yml index 5ce240434..b9ab0fb10 100644 --- a/compose-files/fit-demo/docker-compose.yml +++ b/compose-files/fit-demo/docker-compose.yml @@ -2,7 +2,7 @@ version: '3.8' services: fit-demo-arserver: - image: arcor2/arcor2_arserver:1.1.1 + image: arcor2/arcor2_arserver:1.2.0 container_name: fit-demo-arserver depends_on: fit-demo-project: @@ -47,7 +47,7 @@ services: - ARCOR2_KINECT_AZURE_URL=http://192.168.104.100:5017 # Run kinect using pants fit-demo-build: - image: arcor2/arcor2_build:1.3.2 + image: arcor2/arcor2_build:1.4.0 container_name: fit-demo-build depends_on: fit-demo-project: @@ -61,7 +61,7 @@ services: - fit-demo-project-network fit-demo-execution: - image: arcor2/arcor2_execution:1.2.0 + image: arcor2/arcor2_execution:1.3.0 container_name: fit-demo-execution networks: - fit-demo-execution-network @@ -76,7 +76,7 @@ services: - fit-demo-execution:/root/project fit-demo-kinect: - image: arcor2/arcor2_kinect_azure:0.7.0 + image: arcor2/arcor2_kinect_azure:0.8.0 container_name: fit-demo-kinect networks: - fit-demo-kinect-network @@ -86,7 +86,7 @@ services: - ARCOR2_KINECT_AZURE_MOCK=true fit-demo-calibration: - image: arcor2/arcor2_calibration:1.1.0 + image: arcor2/arcor2_calibration:1.2.0 networks: - fit-demo-calibration-network ports: @@ -98,7 +98,7 @@ services: - ./calibration.yaml:/root/calibration.yaml fit-demo-dobot-magician: - image: arcor2/arcor2_dobot:1.2.0 + image: arcor2/arcor2_dobot:1.3.0 container_name: fit-demo-dobot-magician depends_on: fit-demo-scene: @@ -114,7 +114,7 @@ services: - ARCOR2_DOBOT_MODEL=magician fit-demo-dobot-magician2: - image: arcor2/arcor2_dobot:1.2.0 + image: arcor2/arcor2_dobot:1.3.0 container_name: fit-demo-dobot-magician2 depends_on: fit-demo-scene: @@ -130,7 +130,7 @@ services: - ARCOR2_DOBOT_MODEL=magician fit-demo-dobot-m1: - image: arcor2/arcor2_dobot:1.2.0 + image: arcor2/arcor2_dobot:1.3.0 container_name: fit-demo-dobot-m1 depends_on: fit-demo-scene: @@ -162,7 +162,7 @@ services: fit-demo-scene: - image: arcor2/arcor2_scene:1.0.0 + image: arcor2/arcor2_scene:1.1.0 container_name: fit-demo-scene networks: - fit-demo-scene-network @@ -198,7 +198,7 @@ services: - fit-demo-asset-network fit-demo-nginx: - image: nginx:1.23.3 + image: nginx:1.25.4 container_name: "fit-demo-nginx" volumes: - ./nginx.conf:/etc/nginx/conf.d/default.conf @@ -210,7 +210,7 @@ services: - fit-demo-asset fit-demo-upload-object-types: - image: arcor2/arcor2_upload_fit_demo:1.4.0 + image: arcor2/arcor2_upload_fit_demo:1.5.0 container_name: "fit-demo-upload-object-types" depends_on: fit-demo-project: @@ -225,7 +225,7 @@ services: - ARCOR2_ASSET_SERVICE_URL=http://fit-demo-asset:10040 fit-demo-upload-builtin-objects: - image: arcor2/arcor2_upload_builtin_objects:1.0.0 + image: arcor2/arcor2_upload_builtin_objects:1.1.0 container_name: "fit-demo-upload-builtin-objects" depends_on: fit-demo-project: diff --git a/pants b/pants deleted file mode 100755 index 59f720d70..000000000 --- a/pants +++ /dev/null @@ -1,510 +0,0 @@ -#!/usr/bin/env bash -# Copyright 2020 Pants project contributors (see CONTRIBUTORS.md). -# Licensed under the Apache License, Version 2.0 (see LICENSE). - -# =============================== NOTE =============================== -# This ./pants bootstrap script comes from the pantsbuild/setup -# project. It is intended to be checked into your code repository so -# that other developers have the same setup. -# -# Learn more here: https://www.pantsbuild.org/docs/installation -# ==================================================================== - -set -eou pipefail - -# an arbitrary number: bump when there's a change that someone might want to query for -# (e.g. checking $(PANTS_BOOTSTRAP_TOOLS=1 ./pants version) >= ...) -SCRIPT_VERSION=1 - -# Source any custom bootstrap settings for Pants from PANTS_BOOTSTRAP if it exists. -: ${PANTS_BOOTSTRAP:=".pants.bootstrap"} -if [[ -f "${PANTS_BOOTSTRAP}" ]]; then - source "${PANTS_BOOTSTRAP}" -fi - -# NOTE: To use an unreleased version of Pants from the pantsbuild/pants main branch, -# locate the main branch SHA, set PANTS_SHA= in the environment, and run this script as usual. -# -# E.g., PANTS_SHA=725fdaf504237190f6787dda3d72c39010a4c574 ./pants --version -# -# You can also use PANTS_VERSION= to override the config version that is in the pants.toml file. -# -# E.g., PANTS_VERSION=2.13.0 ./pants --version - -PYTHON_BIN_NAME="${PYTHON:-unspecified}" - -# Set this to specify a non-standard location for this script to read the Pants version from. -# NB: This will *not* cause Pants itself to use this location as a config file. -# You can use PANTS_CONFIG_FILES or --pants-config-files to do so. -PANTS_TOML=${PANTS_TOML:-pants.toml} - -PANTS_BIN_NAME="${PANTS_BIN_NAME:-$0}" - -PANTS_SETUP_CACHE="${PANTS_SETUP_CACHE:-${XDG_CACHE_HOME:-$HOME/.cache}/pants/setup}" -# If given a relative path, we fix it to be absolute. -if [[ "$PANTS_SETUP_CACHE" != /* ]]; then - PANTS_SETUP_CACHE="${PWD}/${PANTS_SETUP_CACHE}" -fi - -PANTS_BOOTSTRAP="${PANTS_SETUP_CACHE}/bootstrap-$(uname -s)-$(uname -m)" - -_PEX_VERSION=2.1.103 -_PEX_URL="https://github.com/pantsbuild/pex/releases/download/v${_PEX_VERSION}/pex" -_PEX_EXPECTED_SHA256="4d45336511484100ae4e2bab24542a8b86b12c8cb89230463593c60d08c4b8d3" - -VIRTUALENV_VERSION=20.4.7 -VIRTUALENV_REQUIREMENTS=$( -cat << EOF -virtualenv==${VIRTUALENV_VERSION} --hash sha256:2b0126166ea7c9c3661f5b8e06773d28f83322de7a3ff7d06f0aed18c9de6a76 -filelock==3.0.12 --hash sha256:929b7d63ec5b7d6b71b0fa5ac14e030b3f70b75747cef1b10da9b879fef15836 -six==1.16.0 --hash sha256:8abb2f1d86890a2dfb989f9a77cfcfd3e47c2a354b01111771326f8aa26e0254 -distlib==0.3.2 --hash sha256:23e223426b28491b1ced97dc3bbe183027419dfc7982b4fa2f05d5f3ff10711c -appdirs==1.4.4 --hash sha256:a841dacd6b99318a741b166adb07e19ee71a274450e68237b4650ca1055ab128 -importlib-resources==5.1.4; python_version < "3.7" --hash sha256:e962bff7440364183203d179d7ae9ad90cb1f2b74dcb84300e88ecc42dca3351 -importlib-metadata==4.5.0; python_version < "3.8" --hash sha256:833b26fb89d5de469b24a390e9df088d4e52e4ba33b01dc5e0e4f41b81a16c00 -zipp==3.4.1; python_version < "3.10" --hash sha256:51cb66cc54621609dd593d1787f286ee42a5c0adbb4b29abea5a63edc3e03098 -typing-extensions==3.10.0.0; python_version < "3.8" --hash sha256:779383f6086d90c99ae41cf0ff39aac8a7937a9283ce0a414e5dd782f4c94a84 -EOF -) - -COLOR_RED="\x1b[31m" -COLOR_GREEN="\x1b[32m" -COLOR_YELLOW="\x1b[33m" -COLOR_RESET="\x1b[0m" - -INSTALL_URL="https://www.pantsbuild.org/docs/installation" - -function log() { - echo -e "$@" 1>&2 -} - -function die() { - (($# > 0)) && log "${COLOR_RED}$*${COLOR_RESET}" - exit 1 -} - -function green() { - (($# > 0)) && log "${COLOR_GREEN}$*${COLOR_RESET}" -} - -function warn() { - (($# > 0)) && log "${COLOR_YELLOW}$*${COLOR_RESET}" -} - -function tempdir { - mkdir -p "$1" - mktemp -d "$1"/pants.XXXXXX -} - -function get_exe_path_or_die { - local exe="$1" - if ! command -v "${exe}"; then - die "Could not find ${exe}. Please ensure ${exe} is on your PATH." - fi -} - -function get_pants_config_string_value { - local config_key="$1" - local optional_space="[[:space:]]*" - local prefix="^${config_key}${optional_space}=${optional_space}" - local raw_value - raw_value="$(sed -ne "/${prefix}/ s|${prefix}||p" "${PANTS_TOML}")" - local optional_suffix="${optional_space}(#.*)?$" - echo "${raw_value}" \ - | sed -E \ - -e "s|^'([^']*)'${optional_suffix}|\1|" \ - -e 's|^"([^"]*)"'"${optional_suffix}"'$|\1|' \ - && return 0 - return 0 -} - -function get_python_major_minor_version { - local python_exe="$1" - "$python_exe" </dev/null 2>&1; then - continue - fi - if [[ -n "$(check_python_exe_compatible_version "${interpreter_path}")" ]]; then - echo "${interpreter_path}" && return 0 - fi - done -} - -function determine_python_exe { - local pants_version="$1" - set_supported_python_versions "${pants_version}" - local requirement_str="For \`pants_version = \"${pants_version}\"\`, Pants requires Python ${supported_message} to run." - - local python_exe - if [[ "${PYTHON_BIN_NAME}" != 'unspecified' ]]; then - python_exe="$(get_exe_path_or_die "${PYTHON_BIN_NAME}")" || exit 1 - if [[ -z "$(check_python_exe_compatible_version "${python_exe}")" ]]; then - die "Invalid Python interpreter version for ${python_exe}. ${requirement_str}" - fi - else - python_exe="$(determine_default_python_exe)" - if [[ -z "${python_exe}" ]]; then - die "No valid Python interpreter found. ${requirement_str} Please check that a valid interpreter is installed and on your \$PATH." - fi - fi - echo "${python_exe}" -} - -function compute_sha256 { - local python="$1" - local path="$2" - - "$python" <&2 || exit 1 - fi - echo "${bootstrapped}" -} - -function scrub_env_vars { - # Ensure the virtualenv PEX runs as shrink-wrapped. - # See: https://github.com/pantsbuild/setup/issues/105 - local -r pex_env_vars=(${!PEX_@}) - if [[ ! ${#pex_env_vars[@]} -eq 0 ]]; then - local -r pex_env_vars_to_scrub="${pex_env_vars[@]/PEX_ROOT}" - if [[ -n "${pex_env_vars_to_scrub[@]}" ]]; then - warn "Scrubbing ${pex_env_vars_to_scrub[@]}" - unset ${pex_env_vars_to_scrub[@]} - fi - fi - # Also ensure pip doesn't think packages on PYTHONPATH - # are already installed. - if [ -n "${PYTHONPATH:-}" ]; then - warn "Scrubbing PYTHONPATH" - unset PYTHONPATH - fi -} - -function bootstrap_virtualenv { - local python="$1" - local bootstrapped="${PANTS_BOOTSTRAP}/virtualenv-${VIRTUALENV_VERSION}/virtualenv.pex" - if [[ ! -f "${bootstrapped}" ]]; then - ( - green "Creating the virtualenv PEX." - pex_path="$(bootstrap_pex "${python}")" || exit 1 - mkdir -p "${PANTS_BOOTSTRAP}" - local staging_dir - staging_dir=$(tempdir "${PANTS_BOOTSTRAP}") - echo "${VIRTUALENV_REQUIREMENTS}" > "${staging_dir}/requirements.txt" - ( - scrub_env_vars - "${python}" "${pex_path}" -r "${staging_dir}/requirements.txt" -c virtualenv -o "${staging_dir}/virtualenv.pex" - ) - mkdir -p "$(dirname "${bootstrapped}")" - mv -f "${staging_dir}/virtualenv.pex" "${bootstrapped}" - rm -rf "${staging_dir}" - ) 1>&2 || exit 1 - fi - echo "${bootstrapped}" -} - -function find_links_url { - local pants_version="$1" - local pants_sha="$2" - echo -n "https://binaries.pantsbuild.org/wheels/pantsbuild.pants/${pants_sha}/${pants_version/+/%2B}/index.html" -} - -function get_version_for_sha { - local sha="$1" - - # Retrieve the Pants version associated with this commit. - local pants_version - pants_version="$(curl --proto "=https" \ - --tlsv1.2 \ - --fail \ - --silent \ - --location \ - "https://raw.githubusercontent.com/pantsbuild/pants/${sha}/src/python/pants/VERSION")" - - # Construct the version as the release version from src/python/pants/VERSION, plus the string `+gitXXXXXXXX`, - # where the XXXXXXXX is the first 8 characters of the SHA. - echo "${pants_version}+git${sha:0:8}" -} - -function bootstrap_pants { - local pants_version="$1" - local python="$2" - local pants_sha="${3:-}" - local pants_debug="${4:-}" - - local pants_requirements=(pantsbuild.pants==${pants_version}) - local maybe_find_links - if [[ -z "${pants_sha}" ]]; then - maybe_find_links="" - else - maybe_find_links="--find-links=$(find_links_url "${pants_version}" "${pants_sha}")" - fi - - local debug_suffix - if [[ -z "${pants_debug}" ]]; then - debug_suffix="" - else - debug_suffix="-debug" - pants_requirements+=(debugpy==1.6.0) - fi - - local python_major_minor_version - python_major_minor_version="$(get_python_major_minor_version "${python}")" - local target_folder_name="${pants_version}_py${python_major_minor_version}${debug_suffix}" - local bootstrapped="${PANTS_BOOTSTRAP}/${target_folder_name}" - - if [[ ! -d "${bootstrapped}" ]]; then - ( - green "Bootstrapping Pants using ${python}" - local staging_dir - staging_dir=$(tempdir "${PANTS_BOOTSTRAP}") - local virtualenv_path - virtualenv_path="$(bootstrap_virtualenv "${python}")" || exit 1 - green "Installing ${pants_requirements[@]} into a virtual environment at ${bootstrapped}" - ( - scrub_env_vars - # shellcheck disable=SC2086 - "${python}" "${virtualenv_path}" --quiet --no-download "${staging_dir}/install" && \ - # Grab the latest pip, but don't advance setuptools past 58 which drops support for the - # `setup` kwarg `use_2to3` which Pants 1.x sdist dependencies (pystache) use. - "${staging_dir}/install/bin/pip" install --quiet -U pip "setuptools<58" && \ - "${staging_dir}/install/bin/pip" install ${maybe_find_links} --quiet --progress-bar off "${pants_requirements[@]}" - ) && \ - ln -s "${staging_dir}/install" "${staging_dir}/${target_folder_name}" && \ - mv "${staging_dir}/${target_folder_name}" "${bootstrapped}" && \ - green "New virtual environment successfully created at ${bootstrapped}." - ) 1>&2 || exit 1 - fi - echo "${bootstrapped}" -} - -function run_bootstrap_tools { - # functionality for introspecting the bootstrapping process, without actually doing it - if [[ "${PANTS_BOOTSTRAP_TOOLS}" -gt "${SCRIPT_VERSION}" ]]; then - die "$0 script (bootstrap version ${SCRIPT_VERSION}) is too old for this invocation (with PANTS_BOOTSTRAP_TOOLS=${PANTS_BOOTSTRAP_TOOLS}). -Please update it by following ${INSTALL_URL}" - fi - - case "${1:-}" in - bootstrap-cache-key) - local pants_version=$(determine_pants_version) - local python="$(determine_python_exe "${pants_version}")" - # the python above may be a shim (e.g. pyenv or homebrew), so let's get an estimate of the - # actual path, as will be symlinked in the virtualenv. (NB. virtualenv does more complicated - # things, but we at least emulate the symlink-resolution that it does.) - local python_executable_path="$("${python}" -c 'import os, sys; print(os.path.realpath(sys.executable))')" - - local requirements_file="$(mktemp)" - echo "${VIRTUALENV_REQUIREMENTS}" > "${requirements_file}" - local virtualenv_requirements_sha256="$(compute_sha256 "${python}" "${requirements_file}")" - rm "${requirements_file}" - - local parts=( - "os_name=$(uname -s)" - "arch=$(uname -m)" - "python_path=${python}" - "python_executable_path=${python_executable_path}" - # the full interpreter information, for maximum compatibility - "python_version=$("$python" --version)" - "pex_version=${_PEX_VERSION}" - "virtualenv_requirements_sha256=${virtualenv_requirements_sha256}" - "pants_version=${pants_version}" - ) - echo "${parts[*]}" - ;; - bootstrap-version) - echo "${SCRIPT_VERSION}" - ;; - help|"") - cat <", "/usr/bin/python3.10"] - -[black] -interpreter_constraints = ["==3.10.*"] -version = "black==23.1.0" -lockfile = "3rdparty/black_lockfile.txt" +search_path = ["", "/usr/bin/python3.11"] [flake8] -version = "flake8==6.0.0" -extra_requirements.add = [ - "flake8-tidy-imports", - "flake8-annotations-coverage", - "flake8-pytest-style", - "flake8-bugbear", - "flake8-pantsbuild", -# "flake8-new-union-types", TODO enable when https://github.com/s-knibbs/dataclasses-jsonschema/issues/195 is solved - "flake8-absolute-import", - "vulture" -] -lockfile = "3rdparty/flake8_lockfile.txt" - +install_from_resolve = "flake8" [mypy] -version = "mypy==1.1.1" -interpreter_constraints = ["==3.10.*"] -extra_requirements.add = [ - "numpy" -] -extra_type_stubs = ["types-PyYAML==6.0.12.8", "types-aiofiles==23.1.0.0", "types-orjson==3.6.2", "types-python-dateutil==2.8.19.10", "types-requests==2.28.11.16", "types-setuptools==65.7.0.2", "pydub-stubs==0.25.1"] -lockfile = "3rdparty/mypy_lockfile.txt" +install_from_resolve = "mypy" [pytest] -version = "pytest==7.2.2" -extra_requirements.add = [ - "pytest-repeat", - "pytest-randomly", - "pytest-icdiff", - "pygments", - "pytest-asyncio" -] -lockfile = "3rdparty/pytest_lockfile.txt" - +install_from_resolve = "pytest" # args = ["--count=3 -x"] [test] diff --git a/pyproject.toml b/pyproject.toml index d84347b48..36fc99ffb 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -1,3 +1,3 @@ [tool.black] line-length = 120 -target-version = ['py310'] \ No newline at end of file +target-version = ['py311'] \ No newline at end of file diff --git a/src/docker/arcor2_3d_mouse/BUILD b/src/docker/arcor2_3d_mouse/BUILD index 51ee5f2ce..f99a73b9e 100644 --- a/src/docker/arcor2_3d_mouse/BUILD +++ b/src/docker/arcor2_3d_mouse/BUILD @@ -1 +1 @@ -docker_image(name="arcor2_3D_mouse", repository="arcor2/arcor2_3D_mouse", image_tags=["1.0.0"]) +docker_image(name="arcor2_3D_mouse", repository="arcor2/arcor2_3D_mouse", image_tags=["1.1.0"]) diff --git a/src/docker/arcor2_3d_mouse/Dockerfile b/src/docker/arcor2_3d_mouse/Dockerfile index 74d6b12d6..49ebb1ca8 100644 --- a/src/docker/arcor2_3d_mouse/Dockerfile +++ b/src/docker/arcor2_3d_mouse/Dockerfile @@ -1,19 +1,19 @@ -FROM python:3.10.10-slim-bullseye as deps +FROM python:3.11.8-bookworm as deps COPY src.python.arcor2_3d_mouse.scripts/mouse_launcher.pex /binary.pex -RUN PEX_TOOLS=1 PYTHONOPTIMIZE=1 /usr/local/bin/python3.10 /binary.pex venv --scope=deps --compile /bin/app +RUN PEX_TOOLS=1 PYTHONOPTIMIZE=1 /usr/local/bin/python /binary.pex venv --scope=deps --compile /bin/app -FROM python:3.10.10-slim-bullseye as srcs +FROM python:3.11.8-bookworm as srcs COPY src.python.arcor2_3d_mouse.scripts/mouse_launcher.pex /binary.pex -RUN PEX_TOOLS=1 PYTHONOPTIMIZE=1 /usr/local/bin/python3.10 /binary.pex venv --scope=srcs --compile /bin/app +RUN PEX_TOOLS=1 PYTHONOPTIMIZE=1 /usr/local/bin/python /binary.pex venv --scope=srcs --compile /bin/app -FROM python:3.10.10-slim-bullseye +FROM python:3.11.8-bookworm # curl is for healthcheck RUN apt-get update \ && apt-get -f satisfy ffmpeg -y \ - && apt-get install -y -q --no-install-recommends sudo=1.9.5p2-3+deb11u1 libhidapi-dev=0.10.1+dfsg-1 libpulse0=14.2-2 libasound2=1.2.4-1.1 libasound2-plugins=1.2.2-2 curl=7.74.0-1.3+deb11u11 \ + && apt-get install -y -q --no-install-recommends sudo=1.9.13p3-1+deb12u1 libhidapi-dev=0.13.1-1 libpulse0=16.1+dfsg1-2+b1 libasound2=1.2.8-1+b1 libasound2-plugins=1.2.7.1-1 curl=7.88.1-10+deb12u5 \ && apt-get clean \ && rm -rf /var/lib/apt/lists/* diff --git a/src/docker/arcor2_arserver/BUILD b/src/docker/arcor2_arserver/BUILD index 5d829b025..a55187714 100644 --- a/src/docker/arcor2_arserver/BUILD +++ b/src/docker/arcor2_arserver/BUILD @@ -1,5 +1,5 @@ shell_source(name="start.sh", source="start.sh") docker_image( - name="arcor2_arserver", repository="arcor2/arcor2_arserver", dependencies=[":start.sh"], image_tags=["1.1.1"] + name="arcor2_arserver", repository="arcor2/arcor2_arserver", dependencies=[":start.sh"], image_tags=["1.2.0"] ) diff --git a/src/docker/arcor2_arserver/Dockerfile b/src/docker/arcor2_arserver/Dockerfile index 5dfe75682..d4d1c68f6 100644 --- a/src/docker/arcor2_arserver/Dockerfile +++ b/src/docker/arcor2_arserver/Dockerfile @@ -1,15 +1,15 @@ -FROM python:3.10.10-slim-bullseye as deps +FROM python:3.11.8-bookworm as deps COPY src.python.arcor2_arserver.scripts/arserver.pex /binary.pex -RUN PEX_TOOLS=1 PYTHONOPTIMIZE=1 /usr/local/bin/python3.10 /binary.pex venv --scope=deps --compile /bin/app +RUN PEX_TOOLS=1 PYTHONOPTIMIZE=1 /usr/local/bin/python /binary.pex venv --scope=deps --compile /bin/app -FROM python:3.10.10-slim-bullseye as srcs +FROM python:3.11.8-bookworm as srcs COPY src.python.arcor2_arserver.scripts/arserver.pex /binary.pex -RUN PEX_TOOLS=1 PYTHONOPTIMIZE=1 /usr/local/bin/python3.10 /binary.pex venv --scope=srcs --compile /bin/app +RUN PEX_TOOLS=1 PYTHONOPTIMIZE=1 /usr/local/bin/python /binary.pex venv --scope=srcs --compile /bin/app -FROM python:3.10.10-slim-bullseye +FROM python:3.11.8-bookworm RUN apt-get update \ - && apt-get install -y -q --no-install-recommends libgl1-mesa-glx=20.3.5-1 libglib2.0-0=2.66.8-1+deb11u1 \ + && apt-get install -y -q --no-install-recommends libgl1-mesa-glx=22.3.6-1+deb12u1 libglib2.0-0=2.74.6-2 \ && apt-get clean \ && rm -rf /var/lib/apt/lists/* @@ -21,4 +21,4 @@ ENTRYPOINT ["/root/start.sh"] COPY --from=deps /bin/app /bin/app COPY --from=srcs /bin/app /bin/app -RUN mkdir -p /root/data \ No newline at end of file +RUN mkdir -p /root/data diff --git a/src/docker/arcor2_build/BUILD b/src/docker/arcor2_build/BUILD index 4ae6be2d8..187718574 100644 --- a/src/docker/arcor2_build/BUILD +++ b/src/docker/arcor2_build/BUILD @@ -1 +1 @@ -docker_image(name="arcor2_build", repository="arcor2/arcor2_build", image_tags=["1.3.2"]) +docker_image(name="arcor2_build", repository="arcor2/arcor2_build", image_tags=["1.4.0"]) diff --git a/src/docker/arcor2_build/Dockerfile b/src/docker/arcor2_build/Dockerfile index bc1b847af..cdd2b40b3 100644 --- a/src/docker/arcor2_build/Dockerfile +++ b/src/docker/arcor2_build/Dockerfile @@ -1,16 +1,16 @@ -FROM python:3.10.10-slim-bullseye as deps +FROM python:3.11.8-bookworm as deps COPY src.python.arcor2_build.scripts/build.pex /binary.pex -RUN PEX_TOOLS=1 PYTHONOPTIMIZE=1 /usr/local/bin/python3.10 /binary.pex venv --scope=deps --compile /bin/app +RUN PEX_TOOLS=1 PYTHONOPTIMIZE=1 /usr/local/bin/python /binary.pex venv --scope=deps --compile /bin/app -FROM python:3.10.10-slim-bullseye as srcs +FROM python:3.11.8-bookworm as srcs COPY src.python.arcor2_build.scripts/build.pex /binary.pex -RUN PEX_TOOLS=1 PYTHONOPTIMIZE=1 /usr/local/bin/python3.10 /binary.pex venv --scope=srcs --compile /bin/app +RUN PEX_TOOLS=1 PYTHONOPTIMIZE=1 /usr/local/bin/python /binary.pex venv --scope=srcs --compile /bin/app -FROM python:3.10.10-slim-bullseye +FROM python:3.11.8-bookworm # curl is for healthcheck RUN apt-get update \ - && apt-get install -y -q --no-install-recommends libgl1-mesa-glx=20.3.5-1 libglib2.0-0=2.66.8-1+deb11u1 curl=7.74.0-1.3+deb11u11 \ + && apt-get install -y -q --no-install-recommends libgl1-mesa-glx=22.3.6-1+deb12u1 libglib2.0-0=2.74.6-2 curl=7.88.1-10+deb12u5 \ && apt-get clean \ && rm -rf /var/lib/apt/lists/* diff --git a/src/docker/arcor2_calibration/BUILD b/src/docker/arcor2_calibration/BUILD index 988493429..befc806aa 100644 --- a/src/docker/arcor2_calibration/BUILD +++ b/src/docker/arcor2_calibration/BUILD @@ -1,5 +1,5 @@ shell_source(name="start.sh", source="start.sh") docker_image( - name="arcor2_calibration", repository="arcor2/arcor2_calibration", dependencies=[":start.sh"], image_tags=["1.1.0"] + name="arcor2_calibration", repository="arcor2/arcor2_calibration", dependencies=[":start.sh"], image_tags=["1.2.0"] ) \ No newline at end of file diff --git a/src/docker/arcor2_calibration/Dockerfile b/src/docker/arcor2_calibration/Dockerfile index a1708a126..78c09a7d0 100644 --- a/src/docker/arcor2_calibration/Dockerfile +++ b/src/docker/arcor2_calibration/Dockerfile @@ -1,17 +1,17 @@ -FROM python:3.10.10-slim-bullseye as deps +FROM python:3.11.8-bookworm as deps COPY src.python.arcor2_calibration.scripts/calibration.pex /binary.pex -RUN PEX_TOOLS=1 PYTHONOPTIMIZE=1 /usr/local/bin/python3.10 /binary.pex venv --scope=deps --compile /bin/app +RUN PEX_TOOLS=1 PYTHONOPTIMIZE=1 /usr/local/bin/python /binary.pex venv --scope=deps --compile /bin/app -FROM python:3.10.10-slim-bullseye as srcs +FROM python:3.11.8-bookworm as srcs COPY src.python.arcor2_calibration.scripts/calibration.pex /binary.pex -RUN PEX_TOOLS=1 PYTHONOPTIMIZE=1 /usr/local/bin/python3.10 /binary.pex venv --scope=srcs --compile /bin/app +RUN PEX_TOOLS=1 PYTHONOPTIMIZE=1 /usr/local/bin/python /binary.pex venv --scope=srcs --compile /bin/app -FROM python:3.10.10-slim-bullseye +FROM python:3.11.8-bookworm # libgomp1 and libusb-1.0-0 are because of Open3D # curl is for healthcheck RUN apt-get update \ - && apt-get install -y -q --no-install-recommends libgl1-mesa-glx=20.3.5-1 libglib2.0-0=2.66.8-1+deb11u1 libgomp1=10.2.1-6 libusb-1.0-0=2:1.0.24-3 curl=7.74.0-1.3+deb11u11 \ + && apt-get install -y -q --no-install-recommends libgl1-mesa-glx=22.3.6-1+deb12u1 libglib2.0-0=2.74.6-2 libgomp1=12.2.0-14 libusb-1.0-0=2:1.0.26-1 curl=7.88.1-10+deb12u5 \ && apt-get clean \ && rm -rf /var/lib/apt/lists/* @@ -21,4 +21,4 @@ ENTRYPOINT ["/root/start.sh"] COPY --from=deps /bin/app /bin/app COPY --from=srcs /bin/app /bin/app -HEALTHCHECK --interval=5s --start-period=60s CMD curl -f http://localhost:5014/healthz/ready || exit 1 \ No newline at end of file +HEALTHCHECK --interval=5s --start-period=60s CMD curl -f http://localhost:5014/healthz/ready || exit 1 diff --git a/src/docker/arcor2_dobot/Dockerfile b/src/docker/arcor2_dobot/Dockerfile index 5f86df89f..9c566877e 100644 --- a/src/docker/arcor2_dobot/Dockerfile +++ b/src/docker/arcor2_dobot/Dockerfile @@ -1,16 +1,16 @@ -FROM python:3.10.10-slim-bullseye as deps +FROM python:3.11.8-bookworm as deps COPY src.python.arcor2_dobot.scripts/dobot.pex /binary.pex -RUN PEX_TOOLS=1 PYTHONOPTIMIZE=1 /usr/local/bin/python3.10 /binary.pex venv --scope=deps --compile /bin/app +RUN PEX_TOOLS=1 PYTHONOPTIMIZE=1 /usr/local/bin/python /binary.pex venv --scope=deps --compile /bin/app -FROM python:3.10.10-slim-bullseye as srcs +FROM python:3.11.8-bookworm as srcs COPY src.python.arcor2_dobot.scripts/dobot.pex /binary.pex -RUN PEX_TOOLS=1 PYTHONOPTIMIZE=1 /usr/local/bin/python3.10 /binary.pex venv --scope=srcs --compile /bin/app +RUN PEX_TOOLS=1 PYTHONOPTIMIZE=1 /usr/local/bin/python /binary.pex venv --scope=srcs --compile /bin/app -FROM python:3.10.10-slim-bullseye +FROM python:3.11.8-bookworm # curl is for healthcheck RUN apt-get update \ - && apt-get install -y -q --no-install-recommends libgl1-mesa-glx=20.3.5-1 libglib2.0-0=2.66.8-1+deb11u1 libgomp1=10.2.1-6 libusb-1.0-0=2:1.0.24-3 curl=7.74.0-1.3+deb11u11 \ + && apt-get install -y -q --no-install-recommends libgl1-mesa-glx=22.3.6-1+deb12u1 libglib2.0-0=2.74.6-2 libgomp1=12.2.0-14 libusb-1.0-0=2:1.0.26-1 curl=7.88.1-10+deb12u5 \ && apt-get clean \ && rm -rf /var/lib/apt/lists/* diff --git a/src/docker/arcor2_execution/BUILD b/src/docker/arcor2_execution/BUILD index a3de1fc8b..d4f3cf8f9 100644 --- a/src/docker/arcor2_execution/BUILD +++ b/src/docker/arcor2_execution/BUILD @@ -1 +1 @@ -docker_image(name="arcor2_execution", repository="arcor2/arcor2_execution", image_tags=["1.2.0"]) +docker_image(name="arcor2_execution", repository="arcor2/arcor2_execution", image_tags=["1.3.0"]) diff --git a/src/docker/arcor2_execution/Dockerfile b/src/docker/arcor2_execution/Dockerfile index c04a4aaea..635bb581a 100644 --- a/src/docker/arcor2_execution/Dockerfile +++ b/src/docker/arcor2_execution/Dockerfile @@ -1,15 +1,15 @@ -FROM python:3.10.10-slim-bullseye as deps +FROM python:3.11.8-bookworm as deps COPY src.python.arcor2_execution.scripts/execution.pex /binary.pex -RUN PEX_TOOLS=1 PYTHONOPTIMIZE=1 /usr/local/bin/python3.10 /binary.pex venv --scope=deps --compile /bin/app +RUN PEX_TOOLS=1 PYTHONOPTIMIZE=1 /usr/local/bin/python /binary.pex venv --scope=deps --compile /bin/app -FROM python:3.10.10-slim-bullseye as srcs +FROM python:3.11.8-bookworm as srcs COPY src.python.arcor2_execution.scripts/execution.pex /binary.pex -RUN PEX_TOOLS=1 PYTHONOPTIMIZE=1 /usr/local/bin/python3.10 /binary.pex venv --scope=srcs --compile /bin/app +RUN PEX_TOOLS=1 PYTHONOPTIMIZE=1 /usr/local/bin/python /binary.pex venv --scope=srcs --compile /bin/app -FROM python:3.10.10-slim-bullseye +FROM python:3.11.8-bookworm RUN apt-get update \ - && apt-get install -y -q --no-install-recommends libgl1-mesa-glx=20.3.5-1 libglib2.0-0=2.66.8-1+deb11u1 \ + && apt-get install -y -q --no-install-recommends libgl1-mesa-glx=22.3.6-1+deb12u1 libglib2.0-0=2.74.6-2 \ && apt-get clean \ && rm -rf /var/lib/apt/lists/* diff --git a/src/docker/arcor2_execution_proxy/BUILD b/src/docker/arcor2_execution_proxy/BUILD index 63da74426..b548f49a6 100644 --- a/src/docker/arcor2_execution_proxy/BUILD +++ b/src/docker/arcor2_execution_proxy/BUILD @@ -1,5 +1,5 @@ docker_image( name="arcor2_execution_proxy", repository="arcor2/arcor2_execution_proxy", - image_tags=["1.0.0"], + image_tags=["1.1.0"], ) diff --git a/src/docker/arcor2_execution_proxy/Dockerfile b/src/docker/arcor2_execution_proxy/Dockerfile index 03f3573ab..8b6afa37b 100644 --- a/src/docker/arcor2_execution_proxy/Dockerfile +++ b/src/docker/arcor2_execution_proxy/Dockerfile @@ -1,19 +1,19 @@ -FROM python:3.10.10-slim-bullseye as deps +FROM python:3.11.8-bookworm as deps COPY src.python.arcor2_execution_rest_proxy.scripts/execution_rest_proxy.pex /binary.pex -RUN PEX_TOOLS=1 PYTHONOPTIMIZE=1 /usr/local/bin/python3.10 /binary.pex venv --scope=deps --compile /bin/app +RUN PEX_TOOLS=1 PYTHONOPTIMIZE=1 /usr/local/bin/python /binary.pex venv --scope=deps --compile /bin/app -FROM python:3.10.10-slim-bullseye as srcs +FROM python:3.11.8-bookworm as srcs COPY src.python.arcor2_execution_rest_proxy.scripts/execution_rest_proxy.pex /binary.pex -RUN PEX_TOOLS=1 PYTHONOPTIMIZE=1 /usr/local/bin/python3.10 /binary.pex venv --scope=srcs --compile /bin/app +RUN PEX_TOOLS=1 PYTHONOPTIMIZE=1 /usr/local/bin/python /binary.pex venv --scope=srcs --compile /bin/app -FROM python:3.10.10-slim-bullseye +FROM python:3.11.8-bookworm RUN mkdir -p /root/tokens \ && mkdir -p /root/project # curl is for healthcheck RUN apt-get update \ - && apt-get install -y -q --no-install-recommends curl=7.74.0-1.3+deb11u11 \ + && apt-get install -y -q --no-install-recommends curl=7.88.1-10+deb12u5 \ && apt-get clean \ && rm -rf /var/lib/apt/lists/* diff --git a/src/docker/arcor2_fanuc/BUILD b/src/docker/arcor2_fanuc/BUILD index 955b92c1b..20eb3bc63 100644 --- a/src/docker/arcor2_fanuc/BUILD +++ b/src/docker/arcor2_fanuc/BUILD @@ -1 +1 @@ -docker_image(name="arcor2_fanuc", repository="arcor2/arcor2_fanuc", image_tags=["0.3.0"]) +docker_image(name="arcor2_fanuc", repository="arcor2/arcor2_fanuc", image_tags=["0.4.0"]) diff --git a/src/docker/arcor2_fanuc/Dockerfile b/src/docker/arcor2_fanuc/Dockerfile index 6b6400bc6..cd0764ac4 100644 --- a/src/docker/arcor2_fanuc/Dockerfile +++ b/src/docker/arcor2_fanuc/Dockerfile @@ -1,16 +1,16 @@ -FROM python:3.10.10-slim-bullseye as deps +FROM python:3.11.8-bookworm as deps COPY src.python.arcor2_fanuc.scripts/fanuc.pex /binary.pex -RUN PEX_TOOLS=1 PYTHONOPTIMIZE=1 /usr/local/bin/python3.10 /binary.pex venv --scope=deps --compile /bin/app +RUN PEX_TOOLS=1 PYTHONOPTIMIZE=1 /usr/local/bin/python /binary.pex venv --scope=deps --compile /bin/app -FROM python:3.10.10-slim-bullseye as srcs +FROM python:3.11.8-bookworm as srcs COPY src.python.arcor2_fanuc.scripts/fanuc.pex /binary.pex -RUN PEX_TOOLS=1 PYTHONOPTIMIZE=1 /usr/local/bin/python3.10 /binary.pex venv --scope=srcs --compile /bin/app +RUN PEX_TOOLS=1 PYTHONOPTIMIZE=1 /usr/local/bin/python /binary.pex venv --scope=srcs --compile /bin/app -FROM python:3.10.10-slim-bullseye +FROM python:3.11.8-bookworm # curl is for healthcheck RUN apt-get update \ - && apt-get install -y -q --no-install-recommends curl=7.74.0-1.3+deb11u11 \ + && apt-get install -y -q --no-install-recommends curl=7.88.1-10+deb12u5 \ && apt-get clean \ && rm -rf /var/lib/apt/lists/* diff --git a/src/docker/arcor2_fanuc_upload_object_types/BUILD b/src/docker/arcor2_fanuc_upload_object_types/BUILD index beb6cdaff..27f1835ca 100644 --- a/src/docker/arcor2_fanuc_upload_object_types/BUILD +++ b/src/docker/arcor2_fanuc_upload_object_types/BUILD @@ -1,3 +1,3 @@ docker_image( - name="arcor2_fanuc_upload_object_types", repository="arcor2/arcor2_fanuc_upload_object_types", image_tags=["0.3.1"] + name="arcor2_fanuc_upload_object_types", repository="arcor2/arcor2_fanuc_upload_object_types", image_tags=["0.4.0"] ) diff --git a/src/docker/arcor2_fanuc_upload_object_types/Dockerfile b/src/docker/arcor2_fanuc_upload_object_types/Dockerfile index f4b5708fa..4f08542f1 100644 --- a/src/docker/arcor2_fanuc_upload_object_types/Dockerfile +++ b/src/docker/arcor2_fanuc_upload_object_types/Dockerfile @@ -1,12 +1,12 @@ -FROM python:3.10.10-slim-bullseye as deps +FROM python:3.11.8-bookworm as deps COPY src.python.arcor2_fanuc.scripts/upload_objects.pex /binary.pex -RUN PEX_TOOLS=1 PYTHONOPTIMIZE=1 /usr/local/bin/python3.10 /binary.pex venv --scope=deps --compile /bin/app +RUN PEX_TOOLS=1 PYTHONOPTIMIZE=1 /usr/local/bin/python /binary.pex venv --scope=deps --compile /bin/app -FROM python:3.10.10-slim-bullseye as srcs +FROM python:3.11.8-bookworm as srcs COPY src.python.arcor2_fanuc.scripts/upload_objects.pex /binary.pex -RUN PEX_TOOLS=1 PYTHONOPTIMIZE=1 /usr/local/bin/python3.10 /binary.pex venv --scope=srcs --compile /bin/app +RUN PEX_TOOLS=1 PYTHONOPTIMIZE=1 /usr/local/bin/python /binary.pex venv --scope=srcs --compile /bin/app -FROM python:3.10.10-slim-bullseye +FROM python:3.11.8-bookworm ENTRYPOINT ["/bin/app/pex"] COPY --from=deps /bin/app /bin/app diff --git a/src/docker/arcor2_kinect_azure/BUILD b/src/docker/arcor2_kinect_azure/BUILD index 979f493d8..16066948d 100644 --- a/src/docker/arcor2_kinect_azure/BUILD +++ b/src/docker/arcor2_kinect_azure/BUILD @@ -3,5 +3,5 @@ docker_image( name="arcor2_kinect_azure", repository="arcor2/arcor2_kinect_azure", dependencies=["build-support:install_kinect_prerequisites.sh"], - image_tags=["0.7.0"], + image_tags=["0.8.0"], ) diff --git a/src/docker/arcor2_kinect_azure/Dockerfile b/src/docker/arcor2_kinect_azure/Dockerfile index c01475232..77a0166bf 100644 --- a/src/docker/arcor2_kinect_azure/Dockerfile +++ b/src/docker/arcor2_kinect_azure/Dockerfile @@ -1,18 +1,18 @@ -FROM python:3.10.10-slim-bullseye as deps +FROM python:3.11.8-bookworm as deps COPY src.python.arcor2_kinect_azure.scripts/kinect_azure.pex /binary.pex -RUN PEX_TOOLS=1 PYTHONOPTIMIZE=1 /usr/local/bin/python3.10 /binary.pex venv --scope=deps --compile /bin/app +RUN PEX_TOOLS=1 PYTHONOPTIMIZE=1 /usr/local/bin/python /binary.pex venv --scope=deps --compile /bin/app -FROM python:3.10.10-slim-bullseye as srcs +FROM python:3.11.8-bookworm as srcs COPY src.python.arcor2_kinect_azure.scripts/kinect_azure.pex /binary.pex -RUN PEX_TOOLS=1 PYTHONOPTIMIZE=1 /usr/local/bin/python3.10 /binary.pex venv --scope=srcs --compile /bin/app +RUN PEX_TOOLS=1 PYTHONOPTIMIZE=1 /usr/local/bin/python /binary.pex venv --scope=srcs --compile /bin/app -FROM python:3.10.10-slim-bullseye +FROM python:3.11.8-bookworm COPY build-support/install_kinect_prerequisites.sh /root/install_kinect_prerequisites.sh # curl is for healthcheck RUN apt-get update \ - && apt-get install -y -q --no-install-recommends libgl1-mesa-glx=20.3.5-1 libglib2.0-0=2.66.8-1+deb11u1 gnupg2=2.2.27-2+deb11u2 curl=7.74.0-1.3+deb11u11 \ + && apt-get install -y -q --no-install-recommends libgl1-mesa-glx=22.3.6-1+deb12u1 libglib2.0-0=2.74.6-2 gnupg2=2.2.40-1.1 curl=7.88.1-10+deb12u5 \ && /root/install_kinect_prerequisites.sh \ && apt-get clean \ && rm -rf /var/lib/apt/lists/* diff --git a/src/docker/arcor2_scene/BUILD b/src/docker/arcor2_scene/BUILD index 8adbc9cd2..05625c891 100644 --- a/src/docker/arcor2_scene/BUILD +++ b/src/docker/arcor2_scene/BUILD @@ -1 +1 @@ -docker_image(name="arcor2_scene", repository="arcor2/arcor2_scene", image_tags=["1.0.0"]) +docker_image(name="arcor2_scene", repository="arcor2/arcor2_scene", image_tags=["1.1.0"]) diff --git a/src/docker/arcor2_scene/Dockerfile b/src/docker/arcor2_scene/Dockerfile index 72fab8a6d..1eb1900f6 100644 --- a/src/docker/arcor2_scene/Dockerfile +++ b/src/docker/arcor2_scene/Dockerfile @@ -1,17 +1,17 @@ -FROM python:3.10.10-slim-bullseye as deps +FROM python:3.11.8-bookworm as deps COPY src.python.arcor2_scene.scripts/scene.pex /binary.pex -RUN PEX_TOOLS=1 PYTHONOPTIMIZE=1 /usr/local/bin/python3.10 /binary.pex venv --scope=deps --compile /bin/app +RUN PEX_TOOLS=1 PYTHONOPTIMIZE=1 /usr/local/bin/python /binary.pex venv --scope=deps --compile /bin/app -FROM python:3.10.10-slim-bullseye as srcs +FROM python:3.11.8-bookworm as srcs COPY src.python.arcor2_scene.scripts/scene.pex /binary.pex -RUN PEX_TOOLS=1 PYTHONOPTIMIZE=1 /usr/local/bin/python3.10 /binary.pex venv --scope=srcs --compile /bin/app +RUN PEX_TOOLS=1 PYTHONOPTIMIZE=1 /usr/local/bin/python /binary.pex venv --scope=srcs --compile /bin/app -FROM python:3.10.10-slim-bullseye +FROM python:3.11.8-bookworm # libgomp1 and libusb-1.0-0 are because of Open3D # curl is for healthcheck RUN apt-get update \ - && apt-get install -y -q --no-install-recommends libgl1-mesa-glx=20.3.5-1 libglib2.0-0=2.66.8-1+deb11u1 libgomp1=10.2.1-6 libusb-1.0-0=2:1.0.24-3 curl=7.74.0-1.3+deb11u11 \ + && apt-get install -y -q --no-install-recommends libgl1-mesa-glx=22.3.6-1+deb12u1 libglib2.0-0=2.74.6-2 libgomp1=12.2.0-14 libusb-1.0-0=2:1.0.26-1 curl=7.88.1-10+deb12u5 \ && apt-get clean \ && rm -rf /var/lib/apt/lists/* @@ -19,4 +19,4 @@ ENTRYPOINT ["/bin/app/pex"] COPY --from=deps /bin/app /bin/app COPY --from=srcs /bin/app /bin/app -HEALTHCHECK --interval=5s --start-period=60s CMD curl -f http://localhost:5013/healthz/ready || exit 1 \ No newline at end of file +HEALTHCHECK --interval=5s --start-period=60s CMD curl -f http://localhost:5013/healthz/ready || exit 1 diff --git a/src/docker/arcor2_upload_builtin_objects/BUILD b/src/docker/arcor2_upload_builtin_objects/BUILD index bb6f3c70a..4b36b11ba 100644 --- a/src/docker/arcor2_upload_builtin_objects/BUILD +++ b/src/docker/arcor2_upload_builtin_objects/BUILD @@ -1,3 +1,3 @@ docker_image( - name="arcor2_upload_builtin_objects", repository="arcor2/arcor2_upload_builtin_objects", image_tags=["1.0.0"] + name="arcor2_upload_builtin_objects", repository="arcor2/arcor2_upload_builtin_objects", image_tags=["1.1.0"] ) diff --git a/src/docker/arcor2_upload_builtin_objects/Dockerfile b/src/docker/arcor2_upload_builtin_objects/Dockerfile index 4ee03af54..fe0e8cd3e 100644 --- a/src/docker/arcor2_upload_builtin_objects/Dockerfile +++ b/src/docker/arcor2_upload_builtin_objects/Dockerfile @@ -1,12 +1,12 @@ -FROM python:3.10.10-slim-bullseye as deps +FROM python:3.11.8-bookworm as deps COPY src.python.arcor2.scripts/upload_builtin_objects.pex /binary.pex -RUN PEX_TOOLS=1 PYTHONOPTIMIZE=1 /usr/local/bin/python3.10 /binary.pex venv --scope=deps --compile /bin/app +RUN PEX_TOOLS=1 PYTHONOPTIMIZE=1 /usr/local/bin/python /binary.pex venv --scope=deps --compile /bin/app -FROM python:3.10.10-slim-bullseye as srcs +FROM python:3.11.8-bookworm as srcs COPY src.python.arcor2.scripts/upload_builtin_objects.pex /binary.pex -RUN PEX_TOOLS=1 PYTHONOPTIMIZE=1 /usr/local/bin/python3.10 /binary.pex venv --scope=srcs --compile /bin/app +RUN PEX_TOOLS=1 PYTHONOPTIMIZE=1 /usr/local/bin/python /binary.pex venv --scope=srcs --compile /bin/app -FROM python:3.10.10-slim-bullseye +FROM python:3.11.8-bookworm ENTRYPOINT ["/bin/app/pex"] COPY --from=deps /bin/app /bin/app diff --git a/src/docker/arcor2_upload_fit_demo/Dockerfile b/src/docker/arcor2_upload_fit_demo/Dockerfile index 174bb6267..4306c8a41 100644 --- a/src/docker/arcor2_upload_fit_demo/Dockerfile +++ b/src/docker/arcor2_upload_fit_demo/Dockerfile @@ -1,12 +1,12 @@ -FROM python:3.10.10-slim-bullseye as deps +FROM python:3.11.8-bookworm as deps COPY src.python.arcor2_fit_demo.scripts/upload_objects.pex /binary.pex -RUN PEX_TOOLS=1 PYTHONOPTIMIZE=1 /usr/local/bin/python3.10 /binary.pex venv --scope=deps --compile /bin/app +RUN PEX_TOOLS=1 PYTHONOPTIMIZE=1 /usr/local/bin/python /binary.pex venv --scope=deps --compile /bin/app -FROM python:3.10.10-slim-bullseye as srcs +FROM python:3.11.8-bookworm as srcs COPY src.python.arcor2_fit_demo.scripts/upload_objects.pex /binary.pex -RUN PEX_TOOLS=1 PYTHONOPTIMIZE=1 /usr/local/bin/python3.10 /binary.pex venv --scope=srcs --compile /bin/app +RUN PEX_TOOLS=1 PYTHONOPTIMIZE=1 /usr/local/bin/python /binary.pex venv --scope=srcs --compile /bin/app -FROM python:3.10.10-slim-bullseye +FROM python:3.11.8-bookworm ENTRYPOINT ["/bin/app/pex"] COPY --from=deps /bin/app /bin/app diff --git a/src/python/arcor2/CHANGELOG.md b/src/python/arcor2/CHANGELOG.md index b241c7133..99c15d48c 100644 --- a/src/python/arcor2/CHANGELOG.md +++ b/src/python/arcor2/CHANGELOG.md @@ -2,6 +2,12 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/), +## [1.3.0] - 2024-04-11 + +### Changed + +- Updated dependencies, switched to Python 3.11. + ## [1.2.0] - 2024-01-26 ### Added diff --git a/src/python/arcor2/VERSION b/src/python/arcor2/VERSION index 867e52437..589268e6f 100644 --- a/src/python/arcor2/VERSION +++ b/src/python/arcor2/VERSION @@ -1 +1 @@ -1.2.0 \ No newline at end of file +1.3.0 \ No newline at end of file diff --git a/src/python/arcor2/__init__.py b/src/python/arcor2/__init__.py index 0dbbabeef..a1ecce35d 100644 --- a/src/python/arcor2/__init__.py +++ b/src/python/arcor2/__init__.py @@ -1,4 +1,4 @@ -import pkgutil +import importlib.resources import warnings from typing import NamedTuple @@ -20,9 +20,7 @@ class DynamicParamTuple(NamedTuple): def package_version(package: str, file: str = "VERSION") -> str: - if res := pkgutil.get_data(package, file): - return res.decode().strip() - return "unknown" + return importlib.resources.read_text(package, file).strip() def version() -> str: diff --git a/src/python/arcor2/data/__init__.py b/src/python/arcor2/data/__init__.py index 0dd9dacec..22dad5cbf 100644 --- a/src/python/arcor2/data/__init__.py +++ b/src/python/arcor2/data/__init__.py @@ -1,11 +1,8 @@ -import importlib -import inspect -import pkgutil from typing import TYPE_CHECKING import dataclasses_jsonschema import orjson -from dataclasses_jsonschema import JsonSchemaMixin, ValidationError +from dataclasses_jsonschema import JsonSchemaMixin from dataclasses_jsonschema.apispec import DataclassesPlugin, _schema_reference from arcor2.exceptions import Arcor2Exception @@ -45,24 +42,3 @@ def resolve_schema_refs(self, data: dict) -> None: # monkey patch to solve https://github.com/s-knibbs/dataclasses-jsonschema/issues/126 DataclassesPlugin.resolve_schema_refs = resolve_schema_refs # type: ignore - - -def compile_json_schemas() -> None: - """ - Force compilation of json schema (otherwise it might cause troubles later when executed in parallel) - :return: - """ - - from arcor2 import data - - for _, module_name, _ in pkgutil.iter_modules(data.__path__): - module = importlib.import_module(f"{data.__name__}.{module_name}") - - for _, obj in inspect.getmembers(module, inspect.isclass): - if not issubclass(obj, JsonSchemaMixin) or obj is JsonSchemaMixin or inspect.isabstract(obj): - continue - - try: - obj.from_dict({}) - except ValidationError: - pass diff --git a/src/python/arcor2/data/common.py b/src/python/arcor2/data/common.py index 3842b6c16..aa1cb0750 100644 --- a/src/python/arcor2/data/common.py +++ b/src/python/arcor2/data/common.py @@ -4,7 +4,9 @@ import copy from dataclasses import dataclass, field from datetime import datetime -from enum import Enum, unique +from enum import Enum +from enum import StrEnum as BuiltinStrEnum +from enum import unique from json import JSONEncoder from typing import Any, Iterator, NamedTuple, Optional, TypeVar, cast @@ -26,7 +28,7 @@ def uid(prefix: str) -> str: @unique -class StrEnum(str, Enum): +class StrEnum(BuiltinStrEnum): @classmethod def set(cls) -> set[str]: return set(map(lambda c: c.value, cls)) # type: ignore diff --git a/src/python/arcor2/object_types/tests/test_scene_integration.py b/src/python/arcor2/object_types/tests/test_scene_integration.py index 8c639a02d..944ef412c 100644 --- a/src/python/arcor2/object_types/tests/test_scene_integration.py +++ b/src/python/arcor2/object_types/tests/test_scene_integration.py @@ -18,7 +18,7 @@ def finish_processes(processes) -> None: print(proc.communicate()[0].decode("utf-8").strip()) -@pytest.fixture() +@pytest.fixture def start_processes() -> Iterator[None]: my_env = os.environ.copy() diff --git a/src/python/arcor2/object_types/utils.py b/src/python/arcor2/object_types/utils.py index daa507427..858458bd9 100644 --- a/src/python/arcor2/object_types/utils.py +++ b/src/python/arcor2/object_types/utils.py @@ -206,7 +206,7 @@ def iterate_over_actions( ) -> Iterator[tuple[str, Callable[[Any,], Any]]]: for method_name, method in inspect.getmembers(type_def, inspect.isroutine): try: - if not isinstance(method.__action__, ActionMetadata): + if not isinstance(method.__action__, ActionMetadata): # type: ignore continue except AttributeError: continue diff --git a/src/python/arcor2/tests/test_logic.py b/src/python/arcor2/tests/test_logic.py index 092e3dfd5..dee325381 100644 --- a/src/python/arcor2/tests/test_logic.py +++ b/src/python/arcor2/tests/test_logic.py @@ -24,14 +24,14 @@ ac4 = Action("ac4", f"{obj.id}/test", flows=[Flow()]) -@pytest.fixture() +@pytest.fixture def scene() -> Scene: scene = Scene("s1", "s1") scene.objects.append(obj) return scene -@pytest.fixture() +@pytest.fixture def project() -> UpdateableCachedProject: project = Project("p1", "s1") ap1 = ActionPoint("ap1", Position()) diff --git a/src/python/arcor2/urdf.py b/src/python/arcor2/urdf.py index 967326ada..54915a9ff 100644 --- a/src/python/arcor2/urdf.py +++ b/src/python/arcor2/urdf.py @@ -6,6 +6,8 @@ import tempfile import zipfile +import numpy as np + from arcor2 import rest from arcor2.exceptions import Arcor2Exception @@ -21,6 +23,9 @@ collections.Set = Set # type: ignore collections.Iterable = Iterable # type: ignore +np.int = int # type: ignore # TODO workaround for urdfpy +np.float = float # type: ignore # TODO workaround for urdfpy + from urdfpy import URDF # noqa diff --git a/src/python/arcor2_3d_mouse/CHANGELOG.md b/src/python/arcor2_3d_mouse/CHANGELOG.md index aac5852f2..4c55b9c51 100644 --- a/src/python/arcor2_3d_mouse/CHANGELOG.md +++ b/src/python/arcor2_3d_mouse/CHANGELOG.md @@ -1,3 +1,9 @@ +## [1.1.0] - 2024-04-11 + +### Changed + +- Updated dependencies, switched to Python 3.11. + ## [1.0.0] - 2023-05-05 ### Release - First version of application diff --git a/src/python/arcor2_3d_mouse/VERSION b/src/python/arcor2_3d_mouse/VERSION index 3eefcb9dd..9084fa2f7 100644 --- a/src/python/arcor2_3d_mouse/VERSION +++ b/src/python/arcor2_3d_mouse/VERSION @@ -1 +1 @@ -1.0.0 +1.1.0 diff --git a/src/python/arcor2_3d_mouse/mouse_program.py b/src/python/arcor2_3d_mouse/mouse_program.py index 3ecbb25bb..ceddc70d5 100644 --- a/src/python/arcor2_3d_mouse/mouse_program.py +++ b/src/python/arcor2_3d_mouse/mouse_program.py @@ -1188,12 +1188,12 @@ def _finish_action(self): ) self._pop_events() if self.program_state == ProgramPosition.WAITING or self.cur_proj is None: - return + return # type: ignore self._update_logic(self.cur_proj.logic, ap.actions[0].id) self._lock_write_unlock(ap.id) self._pop_events() if self.program_state == ProgramPosition.WAITING: - return + return # type: ignore def _get_added_point(self, name: str) -> ActionPoint: """Gets newly added action point. diff --git a/src/python/arcor2_arserver/CHANGELOG.md b/src/python/arcor2_arserver/CHANGELOG.md index 1715b74e1..f9a2c44df 100644 --- a/src/python/arcor2_arserver/CHANGELOG.md +++ b/src/python/arcor2_arserver/CHANGELOG.md @@ -2,6 +2,12 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/), +## [1.2.0] - 2024-04-11 + +### Changed + +- Updated dependencies, switched to Python 3.11. + ## [1.1.1] - 2024-01-23 ### Fixed diff --git a/src/python/arcor2_arserver/VERSION b/src/python/arcor2_arserver/VERSION index 8cfbc905b..867e52437 100644 --- a/src/python/arcor2_arserver/VERSION +++ b/src/python/arcor2_arserver/VERSION @@ -1 +1 @@ -1.1.1 \ No newline at end of file +1.2.0 \ No newline at end of file diff --git a/src/python/arcor2_arserver/execution.py b/src/python/arcor2_arserver/execution.py index 59144e6dd..98930bede 100644 --- a/src/python/arcor2_arserver/execution.py +++ b/src/python/arcor2_arserver/execution.py @@ -133,7 +133,7 @@ async def project_manager_client(handle_manager_incoming_messages) -> None: logger.info("Attempting connection to manager...") try: - async with websockets.connect(EXE_URL) as manager_client: # type: ignore # TODO not sure what is wrong + async with websockets.connect(EXE_URL) as manager_client: logger.info("Connected to manager.") future = asyncio.ensure_future(handle_manager_incoming_messages(manager_client)) diff --git a/src/python/arcor2_arserver/models.py b/src/python/arcor2_arserver/models.py index 5d17b491a..266efe184 100644 --- a/src/python/arcor2_arserver/models.py +++ b/src/python/arcor2_arserver/models.py @@ -19,7 +19,7 @@ def _rename_childs(obj: type[JsonSchemaMixin] | type[Enum]) -> None: if "." in child_obj.__qualname__: child_obj.__name__ = "".join(child_obj.__qualname__.split(".")) - child_obj.__renamed__ = None + child_obj.__renamed__ = None # type: ignore _rename_childs(child_obj) diff --git a/src/python/arcor2_arserver/rpc/project.py b/src/python/arcor2_arserver/rpc/project.py index 36136eb82..fceaa66f6 100644 --- a/src/python/arcor2_arserver/rpc/project.py +++ b/src/python/arcor2_arserver/rpc/project.py @@ -227,7 +227,7 @@ async def project_info(project_id: str) -> srpc.p.ListProjects.Response.Data: ): if isinstance(res, Arcor2Exception): logger.error(str(res)) - elif isinstance(res, Exception): + elif isinstance(res, BaseException): raise res # zero toleration for other exceptions else: resp.data.append(res) diff --git a/src/python/arcor2_arserver/scripts/arserver.py b/src/python/arcor2_arserver/scripts/arserver.py index b6663c79d..1cbf4cab7 100644 --- a/src/python/arcor2_arserver/scripts/arserver.py +++ b/src/python/arcor2_arserver/scripts/arserver.py @@ -21,7 +21,7 @@ import arcor2_execution_data from arcor2 import env, json, ws_server from arcor2.clients import aio_scene_service as scene_srv -from arcor2.data import compile_json_schemas, events, rpc +from arcor2.data import events, rpc from arcor2.exceptions import Arcor2Exception from arcor2.parameter_plugins.utils import known_parameter_types from arcor2_arserver import events as server_events @@ -109,7 +109,12 @@ async def handle_manager_incoming_messages(manager_client) -> None: logger.error(f"Connection to manager closed. {str(e)}") +_server: websockets.server.WebSocketServer | None = None + + async def _initialize_server() -> None: + global _server + exe_version = await exe.manager_request(rpc.common.Version.Request(exe.get_id())) assert isinstance(exe_version, rpc.common.Version.Response) if not exe_version.result: @@ -160,7 +165,7 @@ async def _initialize_server() -> None: logger.warn("Development mode. The service will shutdown on any unhandled exception.") logger.info(f"ARServer {arcor2_arserver.version()} " f"(API version {arcor2_arserver_data.version()}) initialized.") - await asyncio.wait([websockets.server.serve(bound_handler, "0.0.0.0", glob.PORT)]) + _server = await websockets.server.serve(bound_handler, "0.0.0.0", glob.PORT) asyncio.create_task(run_lock_notification_worker()) @@ -316,9 +321,9 @@ def main() -> None: loop.set_debug(enabled=args.asyncio_debug) loop.set_exception_handler(ws_server.custom_exception_handler) - compile_json_schemas() - run(aio_main(), loop=loop) + if _server is not None: + _server.close() shutil.rmtree(settings.OBJECT_TYPE_PATH) diff --git a/src/python/arcor2_arserver/tests/conftest.py b/src/python/arcor2_arserver/tests/conftest.py index 852698f73..e448ccbd3 100644 --- a/src/python/arcor2_arserver/tests/conftest.py +++ b/src/python/arcor2_arserver/tests/conftest.py @@ -10,7 +10,7 @@ pytest_plugins = ["arcor2_arserver.tests.testutils"] -@pytest.fixture() +@pytest.fixture def scene(ars: ARServer) -> common.Scene: assert isinstance(ars.get_event(), events.c.ShowMainScreen) @@ -77,7 +77,7 @@ def scene(ars: ARServer) -> common.Scene: return scene_evt.data.scene -@pytest.fixture() +@pytest.fixture def project(ars: ARServer, scene: common.Scene) -> common.Project: """Creates project with following objects: diff --git a/src/python/arcor2_arserver/tests/test_lock.py b/src/python/arcor2_arserver/tests/test_lock.py index 43fb3d204..7f6b3ffb1 100644 --- a/src/python/arcor2_arserver/tests/test_lock.py +++ b/src/python/arcor2_arserver/tests/test_lock.py @@ -17,7 +17,7 @@ from arcor2_arserver_data.client import ARServer, get_id -@pytest.fixture() +@pytest.fixture def lock() -> Lock: """Creates lock with initialized scene and project.""" test = "test" @@ -48,7 +48,7 @@ def lock() -> Lock: return lock -@pytest.mark.asyncio() +@pytest.mark.asyncio async def test_ctx_read_lock() -> None: test = "test" user = "user" @@ -86,7 +86,7 @@ async def patch() -> set[str]: assert await glob.LOCK.is_write_locked(ap_ap.id, user) -@pytest.mark.asyncio() +@pytest.mark.asyncio async def test_base_logic(lock: Lock) -> None: assert lock.project @@ -105,7 +105,7 @@ async def test_base_logic(lock: Lock) -> None: assert not lock._locked_objects -@pytest.mark.asyncio() +@pytest.mark.asyncio async def test_locking_unknown_id(lock: Lock) -> None: assert lock.project @@ -120,34 +120,32 @@ async def test_locking_unknown_id(lock: Lock) -> None: assert not lock._locked_objects -@pytest.mark.asyncio() +@pytest.mark.asyncio async def test_locking_special_names(lock: Lock) -> None: assert lock.project test = "test" + with pytest.raises(Arcor2Exception): + await lock.read_lock(lock.Owners.SERVER, test) + with pytest.raises(Arcor2Exception): + await lock.write_lock(lock.Owners.SERVER, test) + for special_id in lock.SpecialValues: - # server id could be used only as lock owner - if special_id == lock.Owners.SERVER: - with pytest.raises(Arcor2Exception): - await lock.read_lock(special_id, test) - with pytest.raises(Arcor2Exception): - await lock.write_lock(special_id, test) - else: - await lock.read_lock(special_id, test) - assert special_id in lock._locked_objects - assert special_id in lock._locked_objects[special_id].read - await lock.read_unlock(special_id, test) - assert not lock._locked_objects - - await lock.write_lock(special_id, test) - assert special_id in lock._locked_objects - assert special_id in lock._locked_objects[special_id].write - await lock.write_unlock(special_id, test) - assert not lock._locked_objects - - -@pytest.mark.asyncio() + await lock.read_lock(special_id, test) + assert special_id in lock._locked_objects + assert special_id in lock._locked_objects[special_id].read + await lock.read_unlock(special_id, test) + assert not lock._locked_objects + + await lock.write_lock(special_id, test) + assert special_id in lock._locked_objects + assert special_id in lock._locked_objects[special_id].write + await lock.write_unlock(special_id, test) + assert not lock._locked_objects + + +@pytest.mark.asyncio async def test_unlocking_unknown_or_unlocked(lock: Lock) -> None: assert lock.scene assert lock.project @@ -177,7 +175,7 @@ async def test_unlocking_unknown_or_unlocked(lock: Lock) -> None: assert not lock._locked_objects -@pytest.mark.asyncio() +@pytest.mark.asyncio async def test_whole_lock_yield(lock: Lock) -> None: assert lock.scene assert lock.project @@ -199,7 +197,7 @@ async def test_whole_lock_yield(lock: Lock) -> None: await lock.write_unlock(lock.scene.id, test) -@pytest.mark.asyncio() +@pytest.mark.asyncio async def test_recursive_locking(lock: Lock) -> None: assert lock.scene assert lock.project @@ -229,7 +227,7 @@ async def test_recursive_locking(lock: Lock) -> None: assert not await lock.write_lock(ap.id, test, True) -@pytest.mark.asyncio() +@pytest.mark.asyncio async def test_count_methods(lock: Lock) -> None: assert lock.scene assert lock.project @@ -244,7 +242,7 @@ async def test_count_methods(lock: Lock) -> None: await lock.write_unlock(lock.scene.id, test) -@pytest.mark.asyncio() +@pytest.mark.asyncio async def test_notification_queue(lock: Lock) -> None: assert lock.project @@ -265,7 +263,7 @@ async def test_notification_queue(lock: Lock) -> None: assert not lock.all_ui_locks -@pytest.mark.asyncio() +@pytest.mark.asyncio async def test_possibility_of_locking_tree(lock: Lock) -> None: assert lock.project @@ -288,7 +286,7 @@ async def test_possibility_of_locking_tree(lock: Lock) -> None: await lock.check_lock_tree(ap_ap.id, test) -@pytest.mark.asyncio() +@pytest.mark.asyncio async def test_updating_lock(lock: Lock) -> None: assert lock.project @@ -321,7 +319,7 @@ async def test_updating_lock(lock: Lock) -> None: await lock.write_unlock(ap.id, test) -@pytest.mark.asyncio() +@pytest.mark.asyncio async def test_root_getter(lock: Lock) -> None: assert lock.scene assert lock.project @@ -341,7 +339,7 @@ async def test_root_getter(lock: Lock) -> None: assert await lock.get_root_id(scene_object_id) == scene_object_id -@pytest.mark.asyncio() +@pytest.mark.asyncio async def test_auto_release(lock: Lock) -> None: assert lock.project @@ -379,7 +377,7 @@ async def test_auto_release(lock: Lock) -> None: await check_notification_content(lock, test, [ap.id, ap_ap.id, ap_ap_ap.id, ori.id, action.id], False) -@pytest.mark.asyncio() +@pytest.mark.asyncio async def test_root_getter_without_scene_and_project(lock: Lock) -> None: assert lock.scene assert lock.project @@ -404,7 +402,7 @@ async def patch() -> set[str]: assert await lock.get_root_id(scene.id) == scene.id -@pytest.mark.asyncio() +@pytest.mark.asyncio async def test_update_parent(lock: Lock) -> None: assert lock.project @@ -422,7 +420,7 @@ async def test_update_parent(lock: Lock) -> None: await lock.write_unlock([ap2.id, ap_ap.id, ap.id], test) -@pytest.mark.asyncio() +@pytest.mark.asyncio async def test_check_remove(lock: Lock) -> None: assert lock.project @@ -464,7 +462,7 @@ async def test_check_remove(lock: Lock) -> None: assert not await lock.check_remove(ap.id, test) -@pytest.mark.asyncio() +@pytest.mark.asyncio async def test_getters(lock: Lock) -> None: assert lock.scene assert lock.project diff --git a/src/python/arcor2_arserver/tests/testutils.py b/src/python/arcor2_arserver/tests/testutils.py index b06abce43..2718c8254 100644 --- a/src/python/arcor2_arserver/tests/testutils.py +++ b/src/python/arcor2_arserver/tests/testutils.py @@ -37,7 +37,7 @@ def finish_processes(processes) -> None: log_proc_output(proc.communicate()) -@pytest.fixture() +@pytest.fixture def start_processes(request) -> Iterator[None]: """Starts ARServer dependencies.""" @@ -173,7 +173,7 @@ def build_url_str() -> str: event_mapping[cls.__name__] = cls -@pytest.fixture() +@pytest.fixture def ars() -> Iterator[ARServer]: with ARServer(ars_connection_str(), timeout=30, event_mapping=event_mapping) as ws: test_username = "testUser" diff --git a/src/python/arcor2_arserver_data/CHANGELOG.md b/src/python/arcor2_arserver_data/CHANGELOG.md index 49a1c7f1f..c3da3c343 100644 --- a/src/python/arcor2_arserver_data/CHANGELOG.md +++ b/src/python/arcor2_arserver_data/CHANGELOG.md @@ -2,6 +2,12 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/), +## [1.1.0] - 2024-04-11 + +### Changed + +- Updated dependencies, switched to Python 3.11. + ## [1.0.0] - 2023-02-14 ### Changed diff --git a/src/python/arcor2_arserver_data/VERSION b/src/python/arcor2_arserver_data/VERSION index afaf360d3..1cc5f657e 100644 --- a/src/python/arcor2_arserver_data/VERSION +++ b/src/python/arcor2_arserver_data/VERSION @@ -1 +1 @@ -1.0.0 \ No newline at end of file +1.1.0 \ No newline at end of file diff --git a/src/python/arcor2_arserver_data/client.py b/src/python/arcor2_arserver_data/client.py index 8b7106fdf..1cc70bce8 100644 --- a/src/python/arcor2_arserver_data/client.py +++ b/src/python/arcor2_arserver_data/client.py @@ -76,7 +76,9 @@ def _call_rpc(self, req: rpc.common.RPC.Request, resp_type: type[RR]) -> RR: # wait for RPC response, put any incoming event into the queue while True: try: - recv_dict = json.loads(self._ws.recv()) + data = self._ws.recv() + assert isinstance(data, str), "Binary payload not supported" + recv_dict = json.loads(data) except websocket.WebSocketTimeoutException: raise ARServerClientException("RPC timeouted.") @@ -111,7 +113,9 @@ def get_event(self, drop_everything_until: None | type[events.Event] = None) -> evt = self._event_queue.get_nowait() except Empty: try: - recv_dict = json.loads(self._ws.recv()) + data = self._ws.recv() + assert isinstance(data, str), "Binary payload not supported." + recv_dict = json.loads(data) except websocket.WebSocketTimeoutException: raise ARServerClientException("Timeouted.") diff --git a/src/python/arcor2_build/CHANGELOG.md b/src/python/arcor2_build/CHANGELOG.md index 8e7caa378..4c61a25ff 100644 --- a/src/python/arcor2_build/CHANGELOG.md +++ b/src/python/arcor2_build/CHANGELOG.md @@ -2,6 +2,12 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/), +## [1.4.0] - 2024-04-11 + +### Changed + +- Updated dependencies, switched to Python 3.11. + ## [1.3.2] - 2024-02-01 ### Fixed diff --git a/src/python/arcor2_build/VERSION b/src/python/arcor2_build/VERSION index d5e98f723..e21e727f9 100644 --- a/src/python/arcor2_build/VERSION +++ b/src/python/arcor2_build/VERSION @@ -1 +1 @@ -1.3.2 \ No newline at end of file +1.4.0 \ No newline at end of file diff --git a/src/python/arcor2_build/source/tests/test_logic.py b/src/python/arcor2_build/source/tests/test_logic.py index 021d35db0..bf983e1e1 100644 --- a/src/python/arcor2_build/source/tests/test_logic.py +++ b/src/python/arcor2_build/source/tests/test_logic.py @@ -326,7 +326,7 @@ def test_branched_output_2() -> None: assert ac6_idx > if_bool_2_res_true_idx -@pytest.mark.xfail() +@pytest.mark.xfail def test_alone_if() -> None: scene = Scene("s1") obj = SceneObject("test_name", "Test") diff --git a/src/python/arcor2_build/tests/test_cross_import.py b/src/python/arcor2_build/tests/test_cross_import.py index fee0ceed6..9367fc8ac 100644 --- a/src/python/arcor2_build/tests/test_cross_import.py +++ b/src/python/arcor2_build/tests/test_cross_import.py @@ -35,7 +35,7 @@ def check_health(service_name: str, service_url: str, timeout: int = 60) -> None raise Exception(f"{service_name} service at {service_url} is not responding.") -@pytest.fixture() +@pytest.fixture def start_processes() -> Iterator[None]: global build_url diff --git a/src/python/arcor2_build_data/CHANGELOG.md b/src/python/arcor2_build_data/CHANGELOG.md index cd4c54a3e..8cdd2a18a 100644 --- a/src/python/arcor2_build_data/CHANGELOG.md +++ b/src/python/arcor2_build_data/CHANGELOG.md @@ -2,6 +2,12 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/), +## [1.1.0] - 2024-04-11 + +### Changed + +- Updated dependencies, switched to Python 3.11. + ## [1.0.0] - 2023-02-14 ### Changed diff --git a/src/python/arcor2_build_data/VERSION b/src/python/arcor2_build_data/VERSION index 3eefcb9dd..9084fa2f7 100644 --- a/src/python/arcor2_build_data/VERSION +++ b/src/python/arcor2_build_data/VERSION @@ -1 +1 @@ -1.0.0 +1.1.0 diff --git a/src/python/arcor2_calibration/CHANGELOG.md b/src/python/arcor2_calibration/CHANGELOG.md index de45059d6..041632850 100644 --- a/src/python/arcor2_calibration/CHANGELOG.md +++ b/src/python/arcor2_calibration/CHANGELOG.md @@ -2,6 +2,12 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/), +## [1.2.0] - 2024-04-11 + +### Changed + +- Updated dependencies, switched to Python 3.11. + ## [1.1.0] - 2024-02-07 ### Changed diff --git a/src/python/arcor2_calibration/VERSION b/src/python/arcor2_calibration/VERSION index 1cc5f657e..867e52437 100644 --- a/src/python/arcor2_calibration/VERSION +++ b/src/python/arcor2_calibration/VERSION @@ -1 +1 @@ -1.1.0 \ No newline at end of file +1.2.0 \ No newline at end of file diff --git a/src/python/arcor2_calibration/calibration.py b/src/python/arcor2_calibration/calibration.py index e8d8079b5..219122758 100644 --- a/src/python/arcor2_calibration/calibration.py +++ b/src/python/arcor2_calibration/calibration.py @@ -39,7 +39,8 @@ def detect_corners( corners, ids, _ = detector.detectMarkers(gray) - return camera_matrix_arr, dist_matrix_arr, gray, corners, ids + # TODO improve/fix typing + return camera_matrix_arr, dist_matrix_arr, gray, corners, ids # type: ignore def estimate_camera_pose( @@ -55,14 +56,15 @@ def estimate_camera_pose( return ret # TODO do not perform estimation for un-configured markers - rvec, tvec, _ = aruco.estimatePoseSingleMarkers(corners, marker_size, camera_matrix_arr, dist_matrix_arr) + # TODO improve/fix typing + rvec, tvec, _ = aruco.estimatePoseSingleMarkers(corners, marker_size, camera_matrix_arr, dist_matrix_arr) # type: ignore # noqa rvec = rvec.reshape(len(ids), 3) tvec = tvec.reshape(len(ids), 3) if __debug__: backtorgb = cv2.cvtColor(gray, cv2.COLOR_GRAY2RGB) - aruco.drawDetectedMarkers(backtorgb, corners) # Draw A square around the markers + aruco.drawDetectedMarkers(backtorgb, corners) # type: ignore for idx in range(len(ids)): cv2.drawFrameAxes(backtorgb, camera_matrix_arr, dist_matrix_arr, rvec[idx], tvec[idx], 0.15) diff --git a/src/python/arcor2_calibration/quaternions.py b/src/python/arcor2_calibration/quaternions.py index bf3ca6108..37ff839ad 100644 --- a/src/python/arcor2_calibration/quaternions.py +++ b/src/python/arcor2_calibration/quaternions.py @@ -59,7 +59,7 @@ def average_quaternions(Q: numpy.ndarray) -> numpy.ndarray: # Sort by largest eigenvalue eigenVectors = eigenVectors[:, eigenValues.argsort()[::-1]] # return the real part of the largest eigenvector (has only real part) - return numpy.real(eigenVectors[:, 0].A1) + return numpy.real(numpy.asarray(eigenVectors[:, 0]).ravel()) # Average multiple quaternions with specific weights @@ -86,4 +86,4 @@ def weighted_average_quaternions(Q: numpy.ndarray, w: numpy.ndarray) -> numpy.nd eigenVectors = eigenVectors[:, eigenValues.argsort()[::-1]] # return the real part of the largest eigenvector (has only real part) - return numpy.real(eigenVectors[:, 0].A1) + return numpy.real(numpy.asarray(eigenVectors[:, 0]).ravel()) diff --git a/src/python/arcor2_calibration/robot.py b/src/python/arcor2_calibration/robot.py index 9eda9d5de..01b36d6ca 100644 --- a/src/python/arcor2_calibration/robot.py +++ b/src/python/arcor2_calibration/robot.py @@ -4,13 +4,17 @@ import numpy as np import open3d as o3d from PIL import Image -from urdfpy import URDF from arcor2.data.camera import CameraParameters from arcor2.data.common import Joint, Pose from arcor2.exceptions import Arcor2Exception from arcor2.logging import get_logger +np.int = int # type: ignore # TODO workaround for urdfpy +np.float = float # type: ignore # TODO workaround for urdfpy + +from urdfpy import URDF # noqa + logger = get_logger(__name__) diff --git a/src/python/arcor2_calibration_data/CHANGELOG.md b/src/python/arcor2_calibration_data/CHANGELOG.md index b78f8f9ce..fc1099158 100644 --- a/src/python/arcor2_calibration_data/CHANGELOG.md +++ b/src/python/arcor2_calibration_data/CHANGELOG.md @@ -2,6 +2,12 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/), +## [1.1.0] - 2024-04-11 + +### Changed + +- Updated dependencies, switched to Python 3.11. + ## [1.0.0] - 2023-02-14 ### Changed diff --git a/src/python/arcor2_calibration_data/VERSION b/src/python/arcor2_calibration_data/VERSION index afaf360d3..1cc5f657e 100644 --- a/src/python/arcor2_calibration_data/VERSION +++ b/src/python/arcor2_calibration_data/VERSION @@ -1 +1 @@ -1.0.0 \ No newline at end of file +1.1.0 \ No newline at end of file diff --git a/src/python/arcor2_dobot/CHANGELOG.md b/src/python/arcor2_dobot/CHANGELOG.md index 6aed3ed91..7d8b96206 100644 --- a/src/python/arcor2_dobot/CHANGELOG.md +++ b/src/python/arcor2_dobot/CHANGELOG.md @@ -2,6 +2,12 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/), +## [1.3.0] - 2024-04-11 + +### Changed + +- Updated dependencies, switched to Python 3.11. + ## [1.2.0] - 2024-03-26 ### Changed diff --git a/src/python/arcor2_execution/CHANGELOG.md b/src/python/arcor2_execution/CHANGELOG.md index 477969077..5b8118f81 100644 --- a/src/python/arcor2_execution/CHANGELOG.md +++ b/src/python/arcor2_execution/CHANGELOG.md @@ -2,6 +2,12 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/), +## [1.3.0] - 2024-04-11 + +### Changed + +- Updated dependencies, switched to Python 3.11. + ## [1.2.0] - 2024-01-08 ### Changed diff --git a/src/python/arcor2_execution/VERSION b/src/python/arcor2_execution/VERSION index 867e52437..589268e6f 100644 --- a/src/python/arcor2_execution/VERSION +++ b/src/python/arcor2_execution/VERSION @@ -1 +1 @@ -1.2.0 \ No newline at end of file +1.3.0 \ No newline at end of file diff --git a/src/python/arcor2_execution/scripts/execution.py b/src/python/arcor2_execution/scripts/execution.py index d2f84ff96..84387b514 100644 --- a/src/python/arcor2_execution/scripts/execution.py +++ b/src/python/arcor2_execution/scripts/execution.py @@ -23,7 +23,7 @@ import arcor2_execution import arcor2_execution_data from arcor2 import env, json, ws_server -from arcor2.data import common, compile_json_schemas +from arcor2.data import common from arcor2.data import rpc as arcor2_rpc from arcor2.data.events import Event, PackageInfo, PackageState, ProjectException from arcor2.exceptions import Arcor2Exception @@ -192,7 +192,7 @@ async def _update_executed(package_id: str) -> None: logger.info(f"Starting script: {script_path}") PROCESS = await asyncio.create_subprocess_exec( - "python3.10", + "python", *args, stdin=asyncio.subprocess.PIPE, stdout=asyncio.subprocess.PIPE, @@ -412,8 +412,7 @@ async def send_to_clients(event: events.Event) -> None: logger.error(f"Script raised {event.data.type}. {event.data.message}") if CLIENTS: - data = event.to_json() - await asyncio.wait([client.send(data) for client in CLIENTS]) + websockets.broadcast(CLIENTS, event.to_json()) async def register(websocket: WsClient) -> None: @@ -496,8 +495,6 @@ def main() -> None: loop.set_exception_handler(ws_server.custom_exception_handler) - compile_json_schemas() - run(aio_main(), loop=loop) diff --git a/src/python/arcor2_execution_data/CHANGELOG.md b/src/python/arcor2_execution_data/CHANGELOG.md index 896d72d45..070b10912 100644 --- a/src/python/arcor2_execution_data/CHANGELOG.md +++ b/src/python/arcor2_execution_data/CHANGELOG.md @@ -2,6 +2,12 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/), +## [1.2.0] - 2024-04-11 + +### Changed + +- Updated dependencies, switched to Python 3.11. + ## [1.1.0] - 2024-01-08 ### Changed diff --git a/src/python/arcor2_execution_data/VERSION b/src/python/arcor2_execution_data/VERSION index 1cc5f657e..867e52437 100644 --- a/src/python/arcor2_execution_data/VERSION +++ b/src/python/arcor2_execution_data/VERSION @@ -1 +1 @@ -1.1.0 \ No newline at end of file +1.2.0 \ No newline at end of file diff --git a/src/python/arcor2_execution_rest_proxy/CHANGELOG.md b/src/python/arcor2_execution_rest_proxy/CHANGELOG.md index 8366ee9ab..1ea40d383 100644 --- a/src/python/arcor2_execution_rest_proxy/CHANGELOG.md +++ b/src/python/arcor2_execution_rest_proxy/CHANGELOG.md @@ -2,6 +2,12 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/), +## [1.1.0] - 2024-04-11 + +### Changed + +- Updated dependencies, switched to Python 3.11. + ## [1.0.0] - 2023-02-14 ### Changed diff --git a/src/python/arcor2_execution_rest_proxy/VERSION b/src/python/arcor2_execution_rest_proxy/VERSION index afaf360d3..1cc5f657e 100644 --- a/src/python/arcor2_execution_rest_proxy/VERSION +++ b/src/python/arcor2_execution_rest_proxy/VERSION @@ -1 +1 @@ -1.0.0 \ No newline at end of file +1.1.0 \ No newline at end of file diff --git a/src/python/arcor2_execution_rest_proxy/scripts/execution_rest_proxy.py b/src/python/arcor2_execution_rest_proxy/scripts/execution_rest_proxy.py index 3a983b003..f98d211d4 100644 --- a/src/python/arcor2_execution_rest_proxy/scripts/execution_rest_proxy.py +++ b/src/python/arcor2_execution_rest_proxy/scripts/execution_rest_proxy.py @@ -203,7 +203,9 @@ def ws_thread() -> None: # TODO use (refactored) arserver client rpc_mapping: dict[str, type[arcor2_rpc.common.RPC]] = {rpc.__name__: rpc for rpc in EXPOSED_RPCS} while True: - data = json.loads(ws.recv()) # TODO handle WebSocketConnectionClosedException + raw_data = ws.recv() + assert isinstance(raw_data, str), "Binary payload not supported." + data = json.loads(raw_data) # TODO handle WebSocketConnectionClosedException if not isinstance(data, dict): continue diff --git a/src/python/arcor2_fanuc/CHANGELOG.md b/src/python/arcor2_fanuc/CHANGELOG.md index 629e61227..e273c0ecd 100644 --- a/src/python/arcor2_fanuc/CHANGELOG.md +++ b/src/python/arcor2_fanuc/CHANGELOG.md @@ -2,6 +2,12 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/), +## [0.4.0] - 2024-04-11 + +### Changed + +- Updated dependencies, switched to Python 3.11. + ## [0.3.0] - 2022-10-28 ### Changed diff --git a/src/python/arcor2_fanuc/VERSION b/src/python/arcor2_fanuc/VERSION index 9325c3ccd..60a2d3e96 100644 --- a/src/python/arcor2_fanuc/VERSION +++ b/src/python/arcor2_fanuc/VERSION @@ -1 +1 @@ -0.3.0 \ No newline at end of file +0.4.0 \ No newline at end of file diff --git a/src/python/arcor2_fanuc/scripts/fanuc.py b/src/python/arcor2_fanuc/scripts/fanuc.py index 60bdfa40d..6baacb980 100644 --- a/src/python/arcor2_fanuc/scripts/fanuc.py +++ b/src/python/arcor2_fanuc/scripts/fanuc.py @@ -5,7 +5,7 @@ import os import socket import time -from dataclasses import dataclass +from dataclasses import dataclass, field from functools import wraps from threading import Lock, Thread @@ -156,7 +156,7 @@ def send_cmd(self, cmd): @dataclass class Globals: robot: None | ThreadSafeRobot = None - pose: Pose = Pose() + pose: Pose = field(default_factory=Pose) gl = Globals() diff --git a/src/python/arcor2_fit_demo/CHANGELOG.md b/src/python/arcor2_fit_demo/CHANGELOG.md index 02c71dcfb..fcca72ab6 100644 --- a/src/python/arcor2_fit_demo/CHANGELOG.md +++ b/src/python/arcor2_fit_demo/CHANGELOG.md @@ -2,6 +2,12 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/), +## [1.5.0] - 2024-04-11 + +### Changed + +- Updated dependencies, switched to Python 3.11. + ## [1.4.0] - 2024-03-26 ### Changed diff --git a/src/python/arcor2_kinect_azure/CHANGELOG.md b/src/python/arcor2_kinect_azure/CHANGELOG.md index 082d0dd9b..f1d4275b8 100644 --- a/src/python/arcor2_kinect_azure/CHANGELOG.md +++ b/src/python/arcor2_kinect_azure/CHANGELOG.md @@ -2,6 +2,11 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/), +## [0.8.0] - 2024-04-11 + +### Changed + +- Updated dependencies, switched to Python 3.11. ## [0.7.0] - 2023-07-20 diff --git a/src/python/arcor2_kinect_azure/VERSION b/src/python/arcor2_kinect_azure/VERSION index bcaffe19b..8adc70fdd 100644 --- a/src/python/arcor2_kinect_azure/VERSION +++ b/src/python/arcor2_kinect_azure/VERSION @@ -1 +1 @@ -0.7.0 \ No newline at end of file +0.8.0 \ No newline at end of file diff --git a/src/python/arcor2_kinect_azure/kinect/__init__.py b/src/python/arcor2_kinect_azure/kinect/__init__.py index b3a2762b6..52264cb00 100644 --- a/src/python/arcor2_kinect_azure/kinect/__init__.py +++ b/src/python/arcor2_kinect_azure/kinect/__init__.py @@ -322,7 +322,7 @@ def skeleton_image(self, raw: bool = False) -> Image.Image | np.ndarray: (0, 255, 0), 2, cv2.LINE_AA, - ) + ) # type: ignore if raw: return frame diff --git a/src/python/arcor2_kinect_azure/scripts/kinect_azure.py b/src/python/arcor2_kinect_azure/scripts/kinect_azure.py index 304365957..01f8ad634 100644 --- a/src/python/arcor2_kinect_azure/scripts/kinect_azure.py +++ b/src/python/arcor2_kinect_azure/scripts/kinect_azure.py @@ -1,4 +1,4 @@ -#!/usr/bin/env python3.10 +#!/usr/bin/env python from arcor2_kinect_azure.app import main if __name__ == "__main__": diff --git a/src/python/arcor2_kinect_azure_data/CHANGELOG.md b/src/python/arcor2_kinect_azure_data/CHANGELOG.md index 1a05726a3..ce11a7694 100644 --- a/src/python/arcor2_kinect_azure_data/CHANGELOG.md +++ b/src/python/arcor2_kinect_azure_data/CHANGELOG.md @@ -2,6 +2,11 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/), +## [0.2.0] - 2024-04-11 + +### Changed + +- Updated dependencies, switched to Python 3.11. ## [0.1.0] - 2023-07-20 diff --git a/src/python/arcor2_kinect_azure_data/VERSION b/src/python/arcor2_kinect_azure_data/VERSION index 6c6aa7cb0..341cf11fa 100644 --- a/src/python/arcor2_kinect_azure_data/VERSION +++ b/src/python/arcor2_kinect_azure_data/VERSION @@ -1 +1 @@ -0.1.0 \ No newline at end of file +0.2.0 \ No newline at end of file diff --git a/src/python/arcor2_kinect_azure_data/aggregation.py b/src/python/arcor2_kinect_azure_data/aggregation.py index 9f9c50281..19fc4206c 100644 --- a/src/python/arcor2_kinect_azure_data/aggregation.py +++ b/src/python/arcor2_kinect_azure_data/aggregation.py @@ -1,4 +1,4 @@ -from dataclasses import dataclass +from dataclasses import dataclass, field from dataclasses_jsonschema import JsonSchemaMixin @@ -7,9 +7,9 @@ @dataclass class MovingDirection(JsonSchemaMixin): - position: Position = Position() - speed: Position = Position() - orientation_speed: Orientation = Orientation() + position: Position = field(default_factory=Position) + speed: Position = field(default_factory=Position) + orientation_speed: Orientation = field(default_factory=Orientation) __all__ = ["MovingDirection"] diff --git a/src/python/arcor2_logger/CHANGELOG.md b/src/python/arcor2_logger/CHANGELOG.md index ffa3d9502..759fd5a26 100644 --- a/src/python/arcor2_logger/CHANGELOG.md +++ b/src/python/arcor2_logger/CHANGELOG.md @@ -2,6 +2,12 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/), +## [0.2.0] - 2024-04-11 + +### Changed + +- Updated dependencies, switched to Python 3.11. + ## [0.1.0] - 2022-10-28 ### Changed diff --git a/src/python/arcor2_logger/VERSION b/src/python/arcor2_logger/VERSION index 6c6aa7cb0..341cf11fa 100644 --- a/src/python/arcor2_logger/VERSION +++ b/src/python/arcor2_logger/VERSION @@ -1 +1 @@ -0.1.0 \ No newline at end of file +0.2.0 \ No newline at end of file diff --git a/src/python/arcor2_mocks/CHANGELOG.md b/src/python/arcor2_mocks/CHANGELOG.md index 5012229ac..ec78de034 100644 --- a/src/python/arcor2_mocks/CHANGELOG.md +++ b/src/python/arcor2_mocks/CHANGELOG.md @@ -2,6 +2,12 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/), +## [1.1.0] - 2024-04-11 + +### Changed + +- Updated dependencies, switched to Python 3.11. + ## [1.0.0] - 2023-02-14 ### Changed diff --git a/src/python/arcor2_mocks/VERSION b/src/python/arcor2_mocks/VERSION index afaf360d3..1cc5f657e 100644 --- a/src/python/arcor2_mocks/VERSION +++ b/src/python/arcor2_mocks/VERSION @@ -1 +1 @@ -1.0.0 \ No newline at end of file +1.1.0 \ No newline at end of file diff --git a/src/python/arcor2_runtime/CHANGELOG.md b/src/python/arcor2_runtime/CHANGELOG.md index 3f242ae67..24e0ab1c7 100644 --- a/src/python/arcor2_runtime/CHANGELOG.md +++ b/src/python/arcor2_runtime/CHANGELOG.md @@ -2,6 +2,12 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/), +## [1.2.0] - 2024-04-11 + +### Changed + +- Updated dependencies, switched to Python 3.11. + ## [1.1.0] - 2024-01-08 ### Changed diff --git a/src/python/arcor2_runtime/VERSION b/src/python/arcor2_runtime/VERSION index 1cc5f657e..867e52437 100644 --- a/src/python/arcor2_runtime/VERSION +++ b/src/python/arcor2_runtime/VERSION @@ -1 +1 @@ -1.1.0 \ No newline at end of file +1.2.0 \ No newline at end of file diff --git a/src/python/arcor2_scene/CHANGELOG.md b/src/python/arcor2_scene/CHANGELOG.md index d5c64e76a..21674c84e 100644 --- a/src/python/arcor2_scene/CHANGELOG.md +++ b/src/python/arcor2_scene/CHANGELOG.md @@ -2,6 +2,12 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/), +## [1.1.0] - 2024-04-11 + +### Changed + +- Updated dependencies, switched to Python 3.11. + ## [1.0.0] - 2023-02-14 ### Changed diff --git a/src/python/arcor2_scene/VERSION b/src/python/arcor2_scene/VERSION index afaf360d3..1cc5f657e 100644 --- a/src/python/arcor2_scene/VERSION +++ b/src/python/arcor2_scene/VERSION @@ -1 +1 @@ -1.0.0 \ No newline at end of file +1.1.0 \ No newline at end of file diff --git a/src/python/arcor2_yumi/CHANGELOG.md b/src/python/arcor2_yumi/CHANGELOG.md index a18169295..e13e7ebc1 100644 --- a/src/python/arcor2_yumi/CHANGELOG.md +++ b/src/python/arcor2_yumi/CHANGELOG.md @@ -2,6 +2,12 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/), +## [0.3.0] - 2024-04-11 + +### Changed + +- Updated dependencies, switched to Python 3.11. + ## [0.2.0] - 2022-10-28 ### Changed diff --git a/src/python/arcor2_yumi/VERSION b/src/python/arcor2_yumi/VERSION index 341cf11fa..9325c3ccd 100644 --- a/src/python/arcor2_yumi/VERSION +++ b/src/python/arcor2_yumi/VERSION @@ -1 +1 @@ -0.2.0 \ No newline at end of file +0.3.0 \ No newline at end of file