fix(arcor2_arserver): ap parent checks

build-support/install_ur_dependencies.sh

@@ -2,5 +2,5 @@
 
 apt-get install -y -q --no-install-recommends \
 	ros-jazzy-ros-base=0.11.0-1noble.20240922.110418 \
-	ros-jazzy-ur=2.4.10-1noble.20240922.120253 \
-	ros-jazzy-moveit-py=2.10.0-1noble.20240922.114626
+	ros-jazzy-ur=2.4.12-1noble.20241015.122847 \
+	ros-jazzy-moveit-py=2.10.0-1noble.20241008.001636

compose-files/fit-demo/docker-compose.yml

@@ -1,6 +1,6 @@
 services:
   fit-demo-arserver:
-    image: arcor2/arcor2_arserver:1.3.0
+    image: arcor2/arcor2_arserver:1.3.1
     container_name: fit-demo-arserver
     depends_on:
       fit-demo-project:

compose-files/ur-demo/docker-compose.yml

@@ -15,7 +15,7 @@ services:
       memlock: 8428281856
     # network_mode: host
   ur-demo-arserver:
-    image: arcor2/arcor2_arserver:1.3.0
+    image: arcor2/arcor2_arserver:1.3.1
     container_name: ur-demo-arserver
     depends_on:
       ur-demo-project:

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=["1.3.0"]
+    name="arcor2_arserver", repository="arcor2/arcor2_arserver", dependencies=[":start.sh"], image_tags=["1.3.1"]
 )

src/docker/arcor2_arserver/Dockerfile

@@ -1,15 +1,15 @@
 FROM python:3.11.10-bookworm as deps
 COPY src.python.arcor2_arserver.scripts/arserver.pex /binary.pex
-RUN PEX_TOOLS=1 PYTHONOPTIMIZE=1 /usr/local/bin/python /binary.pex venv --scope=deps --compile /bin/app
+RUN PEX_TOOLS=1 /usr/local/bin/python /binary.pex venv --scope=deps --compile /bin/app
 
 FROM python:3.11.10-bookworm as srcs
 COPY src.python.arcor2_arserver.scripts/arserver.pex /binary.pex
-RUN PEX_TOOLS=1 PYTHONOPTIMIZE=1 /usr/local/bin/python /binary.pex venv --scope=srcs --compile /bin/app
+RUN PEX_TOOLS=1 /usr/local/bin/python /binary.pex venv --scope=srcs --compile /bin/app
 
 FROM python:3.11.10-bookworm
 
 RUN apt-get update \
-        && apt-get install -y -q --no-install-recommends libgl1-mesa-glx=22.3.6-1+deb12u1 libglib2.0-0=2.74.6-2+deb12u2 \
+        && apt-get install -y -q --no-install-recommends libgl1-mesa-glx=22.3.6-1+deb12u1 libglib2.0-0=2.74.6-2+deb12u3 \
         && apt-get clean \
         && rm -rf /var/lib/apt/lists/*
 

src/docker/arcor2_arserver/start.sh

@@ -2,4 +2,4 @@
 
 mkdir -p "${ARCOR2_AREDITOR_LOGS_FOLDER:-/root/logs}"
 python3 -m uploadserver --directory "${ARCOR2_AREDITOR_LOGS_FOLDER:-/root/logs}" 6799 &
-/bin/app/pex
+PYTHONOPTIMIZE=1 /bin/app/pex

src/docker/arcor2_build/Dockerfile

@@ -10,7 +10,7 @@ FROM python:3.11.10-bookworm
 
 # curl is for healthcheck
 RUN apt-get update \
-        && apt-get install -y -q --no-install-recommends libgl1-mesa-glx=22.3.6-1+deb12u1 libglib2.0-0=2.74.6-2+deb12u2 curl=7.88.1-10+deb12u5 \
+        && apt-get install -y -q --no-install-recommends libgl1-mesa-glx=22.3.6-1+deb12u1 libglib2.0-0=2.74.6-2+deb12u3 curl=7.88.1-10+deb12u5 \
         && apt-get clean \
         && rm -rf /var/lib/apt/lists/*
 

src/docker/arcor2_calibration/Dockerfile

@@ -11,7 +11,7 @@ FROM python:3.11.10-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=22.3.6-1+deb12u1 libglib2.0-0=2.74.6-2+deb12u2 libgomp1=12.2.0-14 libusb-1.0-0=2:1.0.26-1 curl=7.88.1-10+deb12u5 \
+        && apt-get install -y -q --no-install-recommends libgl1-mesa-glx=22.3.6-1+deb12u1 libglib2.0-0=2.74.6-2+deb12u3 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/*
 

src/docker/arcor2_dobot/Dockerfile

@@ -10,7 +10,7 @@ FROM python:3.11.10-bookworm
 
 # curl is for healthcheck
 RUN apt-get update \
-        && apt-get install -y -q --no-install-recommends libgl1-mesa-glx=22.3.6-1+deb12u1 libglib2.0-0=2.74.6-2+deb12u2 libgomp1=12.2.0-14 libusb-1.0-0=2:1.0.26-1 curl=7.88.1-10+deb12u5 \
+        && apt-get install -y -q --no-install-recommends libgl1-mesa-glx=22.3.6-1+deb12u1 libglib2.0-0=2.74.6-2+deb12u3 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/*
 

src/docker/arcor2_execution/Dockerfile

@@ -9,7 +9,7 @@ RUN PEX_TOOLS=1 PYTHONOPTIMIZE=1 /usr/local/bin/python /binary.pex venv --scope=
 FROM python:3.11.10-bookworm
 
 RUN apt-get update \
-        && apt-get install -y -q --no-install-recommends libgl1-mesa-glx=22.3.6-1+deb12u1 libglib2.0-0=2.74.6-2+deb12u2 \
+        && apt-get install -y -q --no-install-recommends libgl1-mesa-glx=22.3.6-1+deb12u1 libglib2.0-0=2.74.6-2+deb12u3 \
         && apt-get clean \
         && rm -rf /var/lib/apt/lists/*
 

src/docker/arcor2_scene/Dockerfile

@@ -11,7 +11,7 @@ FROM python:3.11.10-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=22.3.6-1+deb12u1 libglib2.0-0=2.74.6-2+deb12u2 libgomp1=12.2.0-14 libusb-1.0-0=2:1.0.26-1 curl=7.88.1-10+deb12u5 \
+        && apt-get install -y -q --no-install-recommends libgl1-mesa-glx=22.3.6-1+deb12u1 libglib2.0-0=2.74.6-2+deb12u3 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/*
 

src/python/arcor2/cached.py

@@ -674,6 +674,8 @@ def remove_joints(self, joints_id: str) -> cmn.ProjectRobotJoints:
     def upsert_action_point(
         self, ap_id: str, name: str, position: cmn.Position, parent: None | str = None
     ) -> cmn.BareActionPoint:
+        assert parent != ""
+
         try:
             ap = self.bare_action_point(ap_id)
             ap.name = name

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/),
 
+## [1.3.1] - 2024-10-23
+
+### Fixed
+
+- Handling of useless changes in `UpdateActionPointParent`.
+
 ## [1.3.0] - 2024-09-12
 
 ### Changed

src/python/arcor2_arserver/VERSION

@@ -1 +1 @@
-1.3.0
+1.3.1

src/python/arcor2_arserver/rpc/project.py

@@ -447,7 +447,8 @@ async def update_action_point_parent_cb(req: srpc.p.UpdateActionPointParent.Requ
     ap = proj.bare_action_point(req.args.action_point_id)
 
     # some super basic checks (not involving other objects) are performed before locking anything
-    if req.args.new_parent_id == ap.parent:
+    if req.args.new_parent_id == ("" if ap.parent is None else ap.parent):
+        logger.warn(f"Attempted useless update of parent from {ap.parent} to {req.args.new_parent_id} on AP {ap.name}.")
         return None
 
     if req.args.new_parent_id == ap.id:
@@ -473,10 +474,12 @@ async def update_action_point_parent_cb(req: srpc.p.UpdateActionPointParent.Requ
         if not ap.parent and req.args.new_parent_id:
             # AP position and all orientations will become relative to the parent
             updated_aps = tr.make_global_ap_relative(scene, proj, ap, req.args.new_parent_id)
+            assert ap.parent == req.args.new_parent_id
 
         elif ap.parent and not req.args.new_parent_id:
             # AP position and all orientations will become absolute
             updated_aps = tr.make_relative_ap_global(scene, proj, ap)
+            assert ap.parent is None
         else:
             assert ap.parent
             # AP position and all orientations will become relative to another parent
@@ -867,6 +870,11 @@ async def add_action_point_cb(req: srpc.p.AddActionPoint.Request, ui: WsClient)
     scene = glob.LOCK.scene_or_exception()
     proj = glob.LOCK.project_or_exception()
 
+    # TODO workaround for issue with parent
+    # best solution would be probably to make it non-optional everywhere
+    if req.args.parent == "":
+        req.args.parent = None
+
     async with ctx_write_lock(glob.LOCK.SpecialValues.PROJECT, glob.USERS.user_name(ui)):
         hlp.is_valid_identifier(req.args.name)
         unique_name(req.args.name, proj.action_points_names)

src/python/arcor2_arserver/tests/test_project_ap.py

@@ -70,6 +70,48 @@ def test_project_ap_rpcs(start_processes: None, ars: ARServer) -> None:
     child_ap_evt = event(ars, events.p.ActionPointChanged)
     assert child_ap_evt.data.parent == parent_ap_evt.data.id
 
+    assert ars.call_rpc(
+        rpc.p.UpdateActionPointParent.Request(
+            get_id(), rpc.p.UpdateActionPointParent.Request.Args(child_ap_evt.data.id, parent_ap_evt.data.id)
+        ),
+        rpc.p.UpdateActionPointParent.Response,
+    ).result
+
+    lock_object(ars, child_ap_evt.data.id)
+
+    assert ars.call_rpc(
+        rpc.p.UpdateActionPointParent.Request(
+            get_id(), rpc.p.UpdateActionPointParent.Request.Args(child_ap_evt.data.id, "")
+        ),
+        rpc.p.UpdateActionPointParent.Response,
+    ).result
+
+    update_ap_parent_evt = event(ars, events.p.ActionPointChanged)
+    assert update_ap_parent_evt.data.parent is None
+
+    event(ars, events.lk.ObjectsUnlocked)
+
+    assert ars.call_rpc(
+        rpc.p.UpdateActionPointParent.Request(
+            get_id(), rpc.p.UpdateActionPointParent.Request.Args(child_ap_evt.data.id, "")
+        ),
+        rpc.p.UpdateActionPointParent.Response,
+    ).result
+
+    lock_object(ars, child_ap_evt.data.id)
+
+    assert ars.call_rpc(
+        rpc.p.UpdateActionPointParent.Request(
+            get_id(), rpc.p.UpdateActionPointParent.Request.Args(child_ap_evt.data.id, parent_ap_evt.data.id)
+        ),
+        rpc.p.UpdateActionPointParent.Response,
+    ).result
+
+    update_ap_parent_evt = event(ars, events.p.ActionPointChanged)
+    assert update_ap_parent_evt.data.parent == parent_ap_evt.data.id
+
+    event(ars, events.lk.ObjectsUnlocked)
+
     lock_object(ars, child_ap_evt.data.id)
 
     assert ars.call_rpc(