def main() -> None:
assert sys.version_info >= (3, 8)
parser = argparse.ArgumentParser()
parser.add_argument("-v",
"--verbose",
help="Increase verbosity.",
action="store_const",
const=True,
default=False)
parser.add_argument(
"-d",
"--debug",
help="Set logging level to debug.",
action="store_const",
const=LogLevel.DEBUG,
default=LogLevel.INFO,
)
parser.add_argument("--version",
action="version",
version=arcor2_arserver.version(),
help="Shows version and exits.")
parser.add_argument("--api_version",
action="version",
version=arcor2_arserver_data.version(),
help="Shows API version and exits.")
parser.add_argument("-a",
"--asyncio_debug",
help="Turn on asyncio debug mode.",
action="store_const",
const=True,
default=False)
parser.add_argument("--openapi",
action="store_true",
help="Prints OpenAPI models and exits.")
args = parser.parse_args()
if args.openapi:
print_openapi_models()
return
glob.logger.level = args.debug
glob.VERBOSE = args.verbose
loop = asyncio.get_event_loop()
loop.set_debug(enabled=args.asyncio_debug)
compile_json_schemas()
if os.path.exists(settings.URDF_PATH):
shutil.rmtree(settings.URDF_PATH)
os.makedirs(settings.URDF_PATH)
run(aio_main(), loop=loop, stop_on_unhandled_errors=True)
shutil.rmtree(settings.OBJECT_TYPE_PATH)
async def system_info_cb(req: srpc.c.SystemInfo.Request, ui: WsClient) -> srpc.c.SystemInfo.Response:
resp = srpc.c.SystemInfo.Response()
resp.data = resp.Data(
arcor2_arserver.version(),
arcor2_arserver_data.version(),
known_parameter_types(),
{key for key in RPC_DICT.keys()},
)
return resp
def print_openapi_models() -> None:
modules = [arcor2_execution_data.events, events]
for _, mod in inspect.getmembers(evts, inspect.ismodule):
modules.append(mod)
event_types: List[Type[events.Event]] = []
for mod in modules:
for _, cls in inspect.getmembers(mod, inspect.isclass):
if issubclass(cls, events.Event):
event_types.append(cls)
print(
models.generate_openapi("ARCOR2 ARServer", arcor2_arserver.version(),
[v[0] for k, v in RPC_DICT.items()],
event_types))