def generate_swagger() -> str:
# Create an APISpec
spec = APISpec(
title="ARCOR2 Data Models",
version=arcor2.api_version(),
openapi_version="3.0.2",
plugins=[FlaskPlugin(), DataclassesPlugin()],
)
# TODO avoid explicit naming of all sub-modules in rpc module
for module in (arcor2.data.common, arcor2.data.object_type, rpc.common,
rpc.execution, rpc.objects, rpc.robot, rpc.scene,
rpc.project, rpc.services, rpc.storage, arcor2.data.events):
for name, obj in inspect.getmembers(module):
if not inspect.isclass(obj) or not issubclass(
obj, JsonSchemaMixin) or obj == JsonSchemaMixin:
continue
try:
spec.components.schema(obj.__name__, schema=obj)
except DuplicateComponentNameError:
continue
return spec.to_yaml()
async def system_info_cb(req: rpc.common.SystemInfoRequest,
ui: WsClient) -> rpc.common.SystemInfoResponse:
resp = rpc.common.SystemInfoResponse()
resp.data.version = arcor2.version()
resp.data.api_version = arcor2.api_version()
resp.data.supported_parameter_types = set(PARAM_PLUGINS.keys())
resp.data.supported_rpc_requests = {key.request for key in RPC_DICT.keys()}
return resp
def main():
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.version(),
help="Shows ARCOR2 version and exits.")
parser.add_argument('--api_version',
action='version',
version=arcor2.api_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)
args = parser.parse_args()
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)
async def _initialize_server() -> None:
exe_version = await exe.manager_request(
rpc.common.VersionRequest(uuid.uuid4().int))
assert isinstance(exe_version, rpc.common.VersionResponse)
"""
Following check is especially useful when running server/execution in Docker containers.
Then it might easily happen that one tries to use different versions together.
"""
try:
hlp.check_compatibility(arcor2.api_version(), exe_version.data.version)
except Arcor2Exception as e:
raise Arcor2Exception(
"ARServer/Execution API_VERSION mismatch.") from e
while True: # wait until Project service becomes available
try:
await storage.get_projects()
break
except storage.PersistentStorageException as e:
print(e.message)
await asyncio.sleep(1)
# this has to be done sequentially as objects might depend on services so (all) services has to be known first
await osa.get_service_types()
await osa.get_object_types()
await osa.get_object_actions()
bound_handler = functools.partial(hlp.server,
logger=glob.logger,
register=register,
unregister=unregister,
rpc_dict=RPC_DICT,
event_dict=EVENT_DICT,
verbose=glob.VERBOSE)
await glob.logger.info("Server initialized.")
await asyncio.wait([websockets.serve(bound_handler, '0.0.0.0', glob.PORT)])
def main() -> None:
assert sys.version_info >= (3, 8)
parser = argparse.ArgumentParser()
parser.add_argument("-v",
"--verbose",
help="Increase output verbosity",
action="store_const",
const=LogLevel.DEBUG,
default=LogLevel.INFO)
parser.add_argument('--version',
action='version',
version=arcor2.version(),
help="Shows ARCOR2 version and exits.")
parser.add_argument('--api_version',
action='version',
version=arcor2.api_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)
args = parser.parse_args()
logger.level = args.verbose
loop = asyncio.get_event_loop()
loop.set_debug(enabled=args.asyncio_debug)
compile_json_schemas()
run(aio_main(), loop=loop, stop_on_unhandled_errors=True)
async def _version_cb(req: rpc.common.VersionRequest,
ui: WsClient) -> rpc.common.VersionResponse:
return rpc.common.VersionResponse(
data=rpc.common.VersionData(arcor2.api_version()))