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[Do Not Review] V4 Soft Stop Investigation #6

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[Do Not Review] V4 Soft Stop Investigation #6

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9ee2f5e
Add logs for ReverseInterface reconnection
vinnysenthil Apr 30, 2025
77b66b1
Add more logs on TCPSocket response
vinnysenthil Apr 30, 2025
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4 changes: 4 additions & 0 deletions ur_robot_driver/src/comm/tcp_socket.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -178,10 +178,14 @@ bool TCPSocket::read(uint8_t* buf, const size_t buf_len, size_t& read)
if (res == 0)
{
state_ = SocketState::Disconnected;
LOG_ERROR("Received TCPSocket res=0");
return false;
}
else if (res < 0)
{
LOG_ERROR("Received TCPSocket res=%d", res);
return false;
}

read = static_cast<size_t>(res);
return true;
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3 changes: 3 additions & 0 deletions ur_robot_driver/src/ur/ur_driver.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -218,6 +218,7 @@ void UrDriver::startWatchdog()

if (keepalive == std::string(""))
{
LOG_INFO("Received empty keepalive, marking reverse interface as inactive");
reverse_interface_active_ = false;
}
}
Expand All @@ -229,7 +230,9 @@ void UrDriver::startWatchdog()
// when trying to bind the socket.
// TODO: It would probably make sense to keep the same instance alive for the complete runtime
// instead of killing it all the time.
LOG_INFO("Destroying existing reverse interface connection");
reverse_interface_->~ReverseInterface();
LOG_INFO("Creating new reverse interface connection");
reverse_interface_.reset(new comm::ReverseInterface(reverse_port_));
reverse_interface_active_ = true;
}
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