Merge pull request #52 from bit-bots/feature/alembic-db-migrations

Alembic DB migrations for NAO elbow joint

Author: Flova

.github/actions/setup-repo/action.yml

@@ -4,19 +4,30 @@ inputs:
   python-version:
     description: "Python version to use"
     required: true
-    default: "3.x"
 runs:
   using: "composite"
   steps:
-    - name: Install poetry
-      run: pipx install poetry
-      shell: bash
-
     - name: Set up Python
       uses: actions/setup-python@v5
       with:
         python-version: ${{ inputs.python-version }}
-        cache: "poetry"
+        cache: "pip"
+
+    - name: Install poetry with pipx
+      run: |
+        python -m pip install --upgrade pipx
+        python -m pipx ensurepath
+        pipx install poetry
+
+        poetry config virtualenvs.create true --local
+        poetry config virtualenvs.in-project true --local
+      shell: bash
+
+    - name: Define a cache for poetry dependencies
+      uses: actions/cache@v4
+      with:
+        path: .venv
+        key: ${{ runner.os }}-${{ inputs.python-version }}-venv-${{ hashFiles('poetry.lock') }}
 
     - name: Install dependencies
       run: poetry install

.github/workflows/test-dataset.yml

@@ -29,12 +29,13 @@ jobs:
         with:
           python-version: ${{ matrix.python-version }}
 
-      - name: Create DB schema
-        run: poetry run cli db create-schema
+      - name: Setup DB with alembic migrations
+        run: |
+          cd ./ddlitlab2024/dataset
+          poetry run alembic upgrade head
 
       - name: Populate DB with dummy data
         run: |
-          poetry run cli db create-schema
           poetry run cli db dummy-data -n 2 -s 100 -i 10
 
       - name: Test rosbag import with invalid training data fails
@@ -52,7 +53,6 @@ jobs:
             exit 1
           fi
 
-
       - name: Test rosbag import with valid training data
         run: |
           curl -fsSLO https://data.bit-bots.de/ROSbags/robocup_2024/ID_donna_2024-07-20T15%3A49%3A20/ID_donna_2024-07-20T15%3A49%3A20_0.mcap

ddlitlab2024/dataset/alembic.ini

@@ -0,0 +1,119 @@
+# A generic, single database configuration.
+
+[alembic]
+# path to migration scripts
+# Use forward slashes (/) also on windows to provide an os agnostic path
+script_location = migrations
+
+# template used to generate migration file names; The default value is %%(rev)s_%%(slug)s
+# Uncomment the line below if you want the files to be prepended with date and time
+# see https://alembic.sqlalchemy.org/en/latest/tutorial.html#editing-the-ini-file
+# for all available tokens
+# file_template = %%(year)d_%%(month).2d_%%(day).2d_%%(hour).2d%%(minute).2d-%%(rev)s_%%(slug)s
+
+# sys.path path, will be prepended to sys.path if present.
+# defaults to the current working directory.
+prepend_sys_path = .
+
+# timezone to use when rendering the date within the migration file
+# as well as the filename.
+# If specified, requires the python>=3.9 or backports.zoneinfo library and tzdata library.
+# Any required deps can installed by adding `alembic[tz]` to the pip requirements
+# string value is passed to ZoneInfo()
+# leave blank for localtime
+# timezone =
+
+# max length of characters to apply to the "slug" field
+# truncate_slug_length = 40
+
+# set to 'true' to run the environment during
+# the 'revision' command, regardless of autogenerate
+# revision_environment = false
+
+# set to 'true' to allow .pyc and .pyo files without
+# a source .py file to be detected as revisions in the
+# versions/ directory
+# sourceless = false
+
+# version location specification; This defaults
+# to migrations/versions.  When using multiple version
+# directories, initial revisions must be specified with --version-path.
+# The path separator used here should be the separator specified by "version_path_separator" below.
+# version_locations = %(here)s/bar:%(here)s/bat:migrations/versions
+
+# version path separator; As mentioned above, this is the character used to split
+# version_locations. The default within new alembic.ini files is "os", which uses os.pathsep.
+# If this key is omitted entirely, it falls back to the legacy behavior of splitting on spaces and/or commas.
+# Valid values for version_path_separator are:
+#
+# version_path_separator = :
+# version_path_separator = ;
+# version_path_separator = space
+# version_path_separator = newline
+#
+# Use os.pathsep. Default configuration used for new projects.
+version_path_separator = os
+
+# set to 'true' to search source files recursively
+# in each "version_locations" directory
+# new in Alembic version 1.10
+# recursive_version_locations = false
+
+# the output encoding used when revision files
+# are written from script.py.mako
+# output_encoding = utf-8
+
+# sqlalchemy.url = driver://user:pass@localhost/dbname
+
+
+[post_write_hooks]
+# post_write_hooks defines scripts or Python functions that are run
+# on newly generated revision scripts.  See the documentation for further
+# detail and examples
+
+# format using "black" - use the console_scripts runner, against the "black" entrypoint
+# hooks = black
+# black.type = console_scripts
+# black.entrypoint = black
+# black.options = -l 79 REVISION_SCRIPT_FILENAME
+
+# lint with attempts to fix using "ruff" - use the exec runner, execute a binary
+# hooks = ruff
+# ruff.type = exec
+# ruff.executable = %(here)s/.venv/bin/ruff
+# ruff.options = --fix REVISION_SCRIPT_FILENAME
+
+# Logging configuration
+[loggers]
+keys = root,sqlalchemy,alembic
+
+[handlers]
+keys = console
+
+[formatters]
+keys = generic
+
+[logger_root]
+level = WARNING
+handlers = console
+qualname =
+
+[logger_sqlalchemy]
+level = WARNING
+handlers =
+qualname = sqlalchemy.engine
+
+[logger_alembic]
+level = INFO
+handlers =
+qualname = alembic
+
+[handler_console]
+class = StreamHandler
+args = (sys.stderr,)
+level = NOTSET
+formatter = generic
+
+[formatter_generic]
+format = %(levelname)-5.5s [%(name)s] %(message)s
+datefmt = %H:%M:%S

ddlitlab2024/dataset/migrations/README

@@ -0,0 +1 @@
+Generic single-database configuration.

ddlitlab2024/dataset/migrations/env.py

@@ -0,0 +1,78 @@
+from logging.config import fileConfig
+
+from alembic import context
+from sqlalchemy import engine_from_config, pool
+
+from ddlitlab2024 import DB_PATH
+from ddlitlab2024.dataset import models
+
+# this is the Alembic Config object, which provides
+# access to the values within the .ini file in use.
+config = context.config
+
+# Interpret the config file for Python logging.
+# This line sets up loggers basically.
+if config.config_file_name is not None:
+    fileConfig(config.config_file_name)
+
+# add your model's MetaData object here
+# for 'autogenerate' support
+# from myapp import mymodel
+# target_metadata = mymodel.Base.metadata
+target_metadata = models.Base.metadata
+
+# other values from the config, defined by the needs of env.py,
+# can be acquired:
+# my_important_option = config.get_main_option("my_important_option")
+# ... etc.
+config.set_main_option("sqlalchemy.url", f"sqlite:///{DB_PATH}")
+
+
+def run_migrations_offline() -> None:
+    """Run migrations in 'offline' mode.
+
+    This configures the context with just a URL
+    and not an Engine, though an Engine is acceptable
+    here as well.  By skipping the Engine creation
+    we don't even need a DBAPI to be available.
+
+    Calls to context.execute() here emit the given string to the
+    script output.
+
+    """
+    url = config.get_main_option("sqlalchemy.url")
+    context.configure(
+        url=url,
+        target_metadata=target_metadata,
+        literal_binds=True,
+        dialect_opts={"paramstyle": "named"},
+    )
+
+    with context.begin_transaction():
+        context.run_migrations()
+
+
+def run_migrations_online() -> None:
+    """Run migrations in 'online' mode.
+
+    In this scenario we need to create an Engine
+    and associate a connection with the context.
+
+    """
+    connectable = engine_from_config(
+        config.get_section(config.config_ini_section, {}),
+        prefix="sqlalchemy.",
+        poolclass=pool.NullPool,
+    )
+
+    with connectable.connect() as connection:
+        context.configure(connection=connection, target_metadata=target_metadata)
+
+        with context.begin_transaction():
+            context.run_migrations()
+
+
+if context.is_offline_mode():
+    run_migrations_offline()
+else:
+    run_migrations_online()

ddlitlab2024/dataset/migrations/script.py.mako

@@ -0,0 +1,26 @@
+"""${message}
+
+Revision ID: ${up_revision}
+Revises: ${down_revision | comma,n}
+Create Date: ${create_date}
+
+"""
+from typing import Sequence, Union
+
+from alembic import op
+import sqlalchemy as sa
+${imports if imports else ""}
+
+# revision identifiers, used by Alembic.
+revision: str = ${repr(up_revision)}
+down_revision: Union[str, None] = ${repr(down_revision)}
+branch_labels: Union[str, Sequence[str], None] = ${repr(branch_labels)}
+depends_on: Union[str, Sequence[str], None] = ${repr(depends_on)}
+
+
+def upgrade() -> None:
+    ${upgrades if upgrades else "pass"}
+
+
+def downgrade() -> None:
+    ${downgrades if downgrades else "pass"}

ddlitlab2024/dataset/migrations/versions/14ae0e795470_add_nao_elbow_joint.py

@@ -0,0 +1,63 @@
+"""Add NAO elbow joint
+
+Revision ID: 14ae0e795470
+Revises: 3f1574e89695
+Create Date: 2025-01-23 17:01:45.686722
+
+"""
+
+from collections.abc import Sequence
+from typing import Union
+
+import sqlalchemy as sa
+from alembic import op
+
+# revision identifiers, used by Alembic.
+revision: str = "14ae0e795470"
+down_revision: Union[str, None] = "3f1574e89695"
+branch_labels: Union[str, Sequence[str], None] = None
+depends_on: Union[str, Sequence[str], None] = None
+
+
+def upgrade() -> None:
+    # ### commands auto generated by Alembic - please adjust! ###
+    with op.batch_alter_table("JointCommands") as batch_op:
+        batch_op.add_column(sa.Column("RElbowYaw", sa.Float(), nullable=False))
+        batch_op.create_check_constraint(
+            op.f("ck_JointCommands_RElbowYaw_value"), "RElbowYaw >= 0 AND RElbowYaw < 2 * pi()"
+        )
+
+        batch_op.add_column(sa.Column("LElbowYaw", sa.Float(), nullable=False))
+        batch_op.create_check_constraint(
+            op.f("ck_JointCommands_LElbowYaw_value"), "LElbowYaw >= 0 AND LElbowYaw < 2 * pi()"
+        )
+
+    with op.batch_alter_table("JointStates") as batch_op:
+        batch_op.add_column(sa.Column("RElbowYaw", sa.Float(), nullable=False))
+        batch_op.create_check_constraint(
+            op.f("ck_JointStates_LElbowYaw_value"), "LElbowYaw >= 0 AND LElbowYaw < 2 * pi()"
+        )
+
+        batch_op.add_column(sa.Column("LElbowYaw", sa.Float(), nullable=False))
+        batch_op.create_check_constraint(
+            op.f("ck_JointStates_RElbowYaw_value"), "RElbowYaw >= 0 AND RElbowYaw < 2 * pi()"
+        )
+    # ### end Alembic commands ###
+
+
+def downgrade() -> None:
+    # ### commands auto generated by Alembic - please adjust! ###
+    with op.batch_alter_table("JointCommands") as batch_op:
+        batch_op.drop_constraint("ck_JointCommands_RElbowYaw_value")
+        batch_op.drop_column("RElbowYaw")
+
+        batch_op.drop_constraint("ck_JointCommands_LElbowYaw_value")
+        batch_op.drop_column("LElbowYaw")
+
+    with op.batch_alter_table("JointStates") as batch_op:
+        batch_op.drop_constraint("ck_JointStates_RElbowYaw_value")
+        batch_op.drop_column("RElbowYaw")
+
+        batch_op.drop_constraint("ck_JointStates_LElbowYaw_value")
+        batch_op.drop_column("LElbowYaw")
+    # ### end Alembic commands ###