Add Multinode support

Bump to version 1.0.0 as it is now feature comparable
with its Polyscope 5 sister

Author: urrsk

.github/workflows/build-and-test.yml

@@ -27,7 +27,7 @@ jobs:
         working-directory: external-control-backend/tests
         run: pytest
 
-  build:
+  build-frontend-and-test:
     runs-on: ubuntu-latest
 
     steps:
@@ -65,9 +65,9 @@ jobs:
         path: target/external-control-*.urcapx
         if-no-files-found: error
 
-  deploy:
+  upload-urcapx:
     runs-on: ubuntu-latest
-    needs: [backend-test, build]  # Only runs if both jobs succeed
+    needs: [backend-test, build-frontend-and-test]  # Only runs if both jobs succeed
 
     steps:
     - name: Download build artifacts

external-control-backend/Dockerfile

@@ -1,17 +1,20 @@
-FROM python:3.13-slim
+FROM python:3.13-alpine
+
+# # Create necessary directories and set permissions
+RUN mkdir -p /tmp && chmod 777 /tmp
 
 # Install Flask
 COPY requirements.txt ./
 RUN pip install --no-cache-dir -r requirements.txt
 
 # Copy the application into the image
-COPY src/* .
+COPY src/ ./
 
 # Tell Flask where to load the application from
 ENV FLASK_APP simple_rest_api.py
 
 # Expose Flask's default port
 EXPOSE 5000
 
-# Run the REST service
-ENTRYPOINT ["flask", "run", "--host", "0.0.0.0", "--port", "5000"]
+# Run the REST service with Flask development server
+ENTRYPOINT ["python", "simple_rest_api.py"]

external-control-backend/requirements.txt

@@ -1,4 +1,3 @@
 # Flask Framework
 Flask>=2.2
-flask-cors>=3.0.10
-Werkzeug>=2.2
+flask-cors>=3.0.10

external-control-backend/src/simple_rest_api.py

@@ -4,13 +4,28 @@
 import request_program
 import socket
 import time
+import logging
+import sys
+
+# Configure logging
+logging.basicConfig(
+    level=logging.INFO,
+    format='%(asctime)s - %(name)s - %(levelname)s - %(message)s',
+    stream=sys.stdout
+)
+logger = logging.getLogger(__name__)
 
 command = "request_program\n"
 
 # Create a simple rest api with Flask (https://flask.palletsprojects.com/en/2.0.x/)
 app = Flask(__name__)
 CORS(app)
 
+# Log startup message
+logger.info("Starting Flask application...")
+logger.info(f"Server hostname: {socket.gethostname()}")
+logger.info(f"Server IP: {socket.gethostbyname(socket.gethostname())}")
+
 # Simple in-memory cache: {(port, robotIP): (timestamp, program)}
 program_cache = {}
 CACHE_TTL = 2  # seconds
@@ -55,21 +70,30 @@ def store_in_cache(cache_key, now, json_str, valid):
 
 @app.route('/<int:port>/<robotIP>/', methods=["GET"])
 def read_params(port, robotIP):
+    logger.info(f"Received request for port {port} and robot IP {robotIP}")
     cache_key = (port, robotIP)
     now = time.time()
     cached_resp = get_cached_response(cache_key, now)
     if cached_resp:
+        logger.info(f"Returning cached response for port {port} and robot IP {robotIP}")
         return cached_resp
     status = None
     try:
+        logger.info(f"Connecting to robot at {robotIP}:{port}")
         con = request_program.RequestProgram(port, robotIP)
         program = con.send_command(command)
         valid = bool(program and program.strip())
         status = "ok"
+        logger.info(f"Successfully retrieved program from robot at {robotIP}:{port}")
     except Exception as e:
         program = ''
         valid = False
         status = str(e)
+        logger.error(f"Error connecting to robot at {robotIP}:{port}: {str(e)}")
     json_str = build_json_response(program, valid, status)
     store_in_cache(cache_key, now, json_str, valid)
     return flask.Response(json_str, mimetype='application/json')
+
+if __name__ == '__main__':
+    logger.info("Flask application is ready to serve requests")
+    app.run(host='0.0.0.0', port=5000)

external-control-frontend/package-lock.json

@@ -11,7 +11,7 @@
     "generatepath": "generate-manifest-constants ../manifest.yaml"
   },
   "private": true,
-  "license": "Apache-2.0",
+  "license": "BSD-3-Clause",
   "dependencies": {
     "@angular/animations": "17.1.2",
     "@angular/cdk": "17.1.2",

external-control-frontend/package.json

@@ -16,6 +16,7 @@ import {
 import { ExternalControlProgramNode } from './external-control-program.node';
 import { URCAP_ID, VENDOR_ID } from 'src/generated/contribution-constants';
 import { ExternalControlApplicationNode } from '../external-control-application/external-control-application.node';
+import { v4 as uuidv4 } from 'uuid';
 
 const createProgramNodeLabel = async (node: ExternalControlProgramNode): Promise<AdvancedTranslatedProgramLabel> => {
     const api = new ProgramBehaviorAPI(self);
@@ -38,22 +39,35 @@ const createProgramNode = async (): Promise<ExternalControlProgramNode> => {
     const applicationNode = await api.applicationService.getApplicationNode('universal-robots-external-control-external-control-application') as ExternalControlApplicationNode;
     return ({
         type: 'universal-robots-external-control-external-control-program',
-        version: '1.0.0',
+        version: '1.1.0',
         lockChildren: false,
         allowsChildren: false,
+        parameters: {
+            nodeHash: uuidv4()
+        }
     });
 };
 
 export const fetchBackendJson = async (port: number, robotIP: string, api: ProgramBehaviorAPI): Promise<any> => {
     const url = api.getContainerContributionURL(VENDOR_ID, URCAP_ID, 'external-control-backend', 'rest-api');
     const backendUrl = `${location.protocol}//${url}/${port}/${robotIP}`;
+    console.log("backendUrl", backendUrl);
     const response = await fetch(backendUrl);
+    console.log("response", response);
     if (!response.ok) {
         throw new Error(`Backend error: ${response.status}`);
     }
     return await response.json();
 };
 
+export const isThisNodeTheFirstUrcapNodeInTree = async (node: ExternalControlProgramNode, api: ProgramBehaviorAPI): Promise<boolean> => {
+    const listOfUrcapNodesInTree = (await api.programTreeService.getContributedNodeInstancesForURCap())
+    const filteredListOfUrcapNodesInTree = listOfUrcapNodesInTree.filter(node => !node.node.isSuppressed && node.node.type === 'universal-robots-external-control-external-control-program')
+    const sortedListOfUrcapNodesInTree = filteredListOfUrcapNodesInTree.sort((a, b) => a.node.parameters?.nodeHash.localeCompare(b.node.parameters.nodeHash))
+
+    return sortedListOfUrcapNodesInTree.length > 0 && sortedListOfUrcapNodesInTree[0].node.parameters?.nodeHash === node.parameters?.nodeHash;
+}
+
 const generateScriptCodeBefore = async (node: ExternalControlProgramNode, ScriptContext: ScriptContext): Promise<ScriptBuilder> => {
     const api = new ProgramBehaviorAPI(self);
     const applicationNode = await api.applicationService.getApplicationNode('universal-robots-external-control-external-control-application') as ExternalControlApplicationNode;
@@ -73,17 +87,26 @@ const generateScriptCodeBefore = async (node: ExternalControlProgramNode, Script
 const generateScriptCodeAfter = (node: ExternalControlProgramNode): OptionalPromise<ScriptBuilder> => new ScriptBuilder();
 
 const generatePreambleScriptCode = async (node: ExternalControlProgramNode, ScriptContext: ScriptContext): Promise<ScriptBuilder> => {
+    console.log('generatePreambleScriptCode');
     const api = new ProgramBehaviorAPI(self);
-    const applicationNode = await api.applicationService.getApplicationNode('universal-robots-external-control-external-control-application') as ExternalControlApplicationNode;
-    const port = applicationNode.port;
-    const robotIP = applicationNode.robotIP;
+    
     const builder = new ScriptBuilder();
-    try {
-        const json = await fetchBackendJson(port, robotIP, api);
-        builder.addRaw(json.preamble || '');
-    } catch (e) {
+    
+    if (await isThisNodeTheFirstUrcapNodeInTree(node, api)) {
+        // Fetch the preamble from the backend
+        const applicationNode = await api.applicationService.getApplicationNode('universal-robots-external-control-external-control-application') as ExternalControlApplicationNode;
+        const port = applicationNode.port;
+        const robotIP = applicationNode.robotIP;
+        try {
+            const json = await fetchBackendJson(port, robotIP, api);
+            builder.addRaw(json.preamble || '');
+        } catch (e) {
+            builder.addRaw('');
+        }
+    } else {
         builder.addRaw('');
     }
+
     return builder;
 };
 
@@ -105,7 +128,21 @@ const allowChildInsert = (node: ProgramNode, childType: string): OptionalPromise
 
 const allowedInsert = (insertionContext: InsertionContext): OptionalPromise<boolean> => true;
 
-const nodeUpgrade = (loadedNode: ProgramNode): ProgramNode => loadedNode;
+const nodeUpgrade = (loadedNode: ProgramNode): ProgramNode => {
+    const upgradedNode = { ...loadedNode };
+    
+    // Ensure parameters object exists
+    if (!upgradedNode.parameters) {
+        upgradedNode.parameters = {};
+    }
+    
+    // Add nodeHash if missing
+    if (!upgradedNode.parameters.nodeHash) {
+        upgradedNode.parameters.nodeHash = uuidv4();
+    }
+    
+    return upgradedNode;
+};
 
 const behaviors: ProgramBehaviors = {
     programNodeLabel: createProgramNodeLabel,

external-control-frontend/src/app/components/external-control-program/external-control-program.behavior.worker.ts

@@ -47,7 +47,7 @@ export class ExternalControlProgramComponent implements OnChanges,
         this.cd.detectChanges();
       });
     }
-    if (changes?.presenterAPI.isFirstChange() && this.presenterAPI) {
+    if (changes?.presenterAPI?.firstChange && this.presenterAPI) {
       const applicationNode =
           await this.presenterAPI.applicationService.getApplicationNode(
               'universal-robots-external-control-external-control-application') as

external-control-frontend/src/app/components/external-control-program/external-control-program.component.ts

@@ -4,4 +4,7 @@ export interface ExternalControlProgramNode extends ProgramNode {
     type: 'universal-robots-external-control-external-control-program';
     lockChildren?: boolean;
     allowsChildren?: boolean;
+    parameters: {
+        nodeHash: string;
+    }
 }

external-control-frontend/src/app/components/external-control-program/external-control-program.node.ts

@@ -3,7 +3,7 @@ metadata:
   urcapID: external-control
   vendorName: Universal Robots
   urcapName: "external-control"
-  version: 0.1.0
+  version: 1.0.0
   contactInfo: Energivej 51, 5260 Odense S, Denmark
   description: Enable External Control for e.g. the ROS2 driver
   copyright: Copyright (c) 2024 Universal Robots. All rights reserved.