diff --git a/manifest.yaml b/manifest.yaml
index dace691..1c14cd3 100644
--- a/manifest.yaml
+++ b/manifest.yaml
@@ -26,6 +26,8 @@ artifacts:
mounts:
- mount: tmpfs:/tmp
access: rw
+ - mount: persistent:/data
+ access: rw
devices:
- type: ttyTool
ingress:
diff --git a/tool-comm-forwarder-backend/src/socat_server.py b/tool-comm-forwarder-backend/src/socat_server.py
index 03903b2..a5cad46 100644
--- a/tool-comm-forwarder-backend/src/socat_server.py
+++ b/tool-comm-forwarder-backend/src/socat_server.py
@@ -1,6 +1,7 @@
import subprocess
import json
import logging
+import os
import sys
import flask
@@ -20,6 +21,7 @@
SOCAT_COMMAND = ["socat", f"tcp-l:{PORT},reuseaddr,fork", "file:/dev/ur-ttylink/ttyTool,nonblock,raw,waitlock=/tmp/lock_tty"]
STOP_SOCAT_COOMAND = "killall -9 socat 2> /dev/null"
IS_SOCAT_SERVER_RUNNING_COMMAND = f"socat /dev/null TCP:127.0.0.1:{PORT}"
+STATUS_FILENAME = "/data/socat_server_status.json"
app = Flask(__name__)
@@ -46,6 +48,7 @@ def socat_server():
flask.Response: A Flask response with a success key, telling whether the command was successful or not.
"""
action = request.get_json()["action"]
+ response = None
if action == "start":
result = subprocess.Popen(SOCAT_COMMAND, stdout=subprocess.PIPE, stderr=subprocess.PIPE)
try:
@@ -53,23 +56,29 @@ def socat_server():
_, stderr = result.communicate(timeout=0.2)
if result.returncode != 0:
logger.error(f"Failed to start socat server. Error message {stderr}")
- return create_response({"success": False})
+
+ response = create_response({"success": False})
except subprocess.TimeoutExpired: # If timeout expired the server is running
logger.info("Started socat server")
- return create_response({"success": True})
+ response = create_response({"success": True})
elif action == "stop":
result = subprocess.run(STOP_SOCAT_COOMAND, capture_output=True, shell=True)
if result.returncode == 0:
logger.info("Stopped socat server")
- return create_response({"success": True})
+ response = create_response({"success": True})
else:
logger.error(f"Failed to stop socat server. Error message {result.stderr}")
- return create_response({"success": False})
+ response = create_response({"success": False})
else:
logger.error(f"Unknown action received! Action received {action}")
- return create_response({"success": False})
+ response = create_response({"success": False})
+
+ with open(STATUS_FILENAME, "wb") as status_file:
+ running_response = is_server_running()
+ status_file.write(running_response.data)
+ return response
@app.route("/is_server_running", methods=["GET"])
@@ -85,5 +94,36 @@ def is_server_running(): # handle a message
else:
return create_response({"running": False})
+def recover_from_state(running: bool):
+ """Recovers the socat server to the given state
+
+ Args:
+ running (bool): Whether the server should be running or not
+ """
+ if running:
+ result = subprocess.Popen(SOCAT_COMMAND, stdout=subprocess.PIPE, stderr=subprocess.PIPE)
+ try:
+ # wait 0.2 seconds for errors
+ _, stderr = result.communicate(timeout=0.2)
+ if result.returncode != 0:
+ logger.error(f"Failed to recover socat server. Error message {stderr}")
+ except subprocess.TimeoutExpired: # If timeout expired the server is running
+ logger.info("Recovered socat server to running state")
+ else:
+ result = subprocess.run(STOP_SOCAT_COOMAND, capture_output=True, shell=True)
+ if result.returncode == 0:
+ logger.info("Recovered socat server to stopped state")
+ else:
+ logger.error(f"Failed to stop socat server during recovery. Error message {result.stderr}")
+
if __name__ == '__main__':
- serve(app, host='0.0.0.0', port=52762)
\ No newline at end of file
+ if os.path.exists(STATUS_FILENAME):
+ logger.info("Loading socat state from file")
+ with open(STATUS_FILENAME, "rb") as status_file:
+ bytes_data = status_file.read()
+ try:
+ data = json.loads(bytes_data.decode("utf-8"))
+ recover_from_state(data["running"])
+ except Exception as e:
+ logger.error(f"Failed to load socat server state from file. Error: {e}")
+ serve(app, host='0.0.0.0', port=52762)
diff --git a/tool-comm-forwarder-frontend/src/app/components/tool-comm-forwarder-application/tool-comm-forwarder-application.component.html b/tool-comm-forwarder-frontend/src/app/components/tool-comm-forwarder-application/tool-comm-forwarder-application.component.html
index 40c1dbc..8328432 100644
--- a/tool-comm-forwarder-frontend/src/app/components/tool-comm-forwarder-application/tool-comm-forwarder-application.component.html
+++ b/tool-comm-forwarder-frontend/src/app/components/tool-comm-forwarder-application/tool-comm-forwarder-application.component.html
@@ -22,5 +22,6 @@
diff --git a/tool-comm-forwarder-frontend/src/assets/i18n/en.json b/tool-comm-forwarder-frontend/src/assets/i18n/en.json
index 9a5abbe..143e56e 100644
--- a/tool-comm-forwarder-frontend/src/assets/i18n/en.json
+++ b/tool-comm-forwarder-frontend/src/assets/i18n/en.json
@@ -3,7 +3,7 @@
"nodes": {
"universal-robots-tool-comm-forwarder-tool-comm-forwarder-application": {
"title": "Tool Communication Forwarder",
- "supportiveText": "URCap to forward toool communication to the network",
+ "supportiveText": "URCap to forward tool communication to the network",
"description": {
"line1": "URCapX to support relaying the RS-485 communication device in a UR robot to a remote PC.",
"line2": "It starts a socat server to relay the tool communication device to the network socket on port 54321."
@@ -14,7 +14,8 @@
"start": "Start",
"stop": "Stop"
},
- "server-running-text": "Socat server is running on port 54321 forwarding tool communication to the network."
+ "server-running-text": "Socat server is running on port 54321 forwarding tool communication to the network. This state is persisted and remains unchanged after a restart.",
+ "server-stopped-text": "Socat server not running. This state is persisted and remains unchanged after a restart."
}
}
}