Shutdown service

snap/hooks/install

@@ -1,5 +1,13 @@
 #!/bin/sh -e
 
+# Define a function to log messages
+log() {
+  local message="$1"
+  # Log the message with logger
+  logger -t "${SNAP_NAME}" "install hook: $message"
+}
+
+
 # Parameters are 'unset'.
 # Default configuration values is left to the launch file.
 snapctl set driver.mecanum=True
@@ -14,22 +22,22 @@ snapctl set ros-domain-id=0
 snapctl set fastdds-default-profiles-file="fastdds.xml"
 
 if ! snapctl is-connected ros-humble-ros-base; then
-  logger -t ${SNAP_NAME} "Plug 'ros-humble-ros-base' isn't connected, \
-    please run: snap connect ${SNAP_NAME}:ros-humble-ros-base ros-humble-ros-base:ros-humble-ros-base"
+  log "Plug 'ros-humble-ros-base' isn't connected, please run:"
+  log "sudo snap connect ${SNAP_NAME}:ros-humble-ros-base ros-humble-ros-base:ros-humble-ros-base"
 fi
 
 if ! snapctl is-connected shm-plug; then
-  logger -t ${SNAP_NAME} "Plug 'shm-plug' isn't connected, \
-    please run: snap connect ${SNAP_NAME}:shm-plug ${SNAP_NAME}:shm-slot"
+  log "Plug 'shm-plug' isn't connected, please run:"
+  log "sudo snap connect ${SNAP_NAME}:shm-plug ${SNAP_NAME}:shm-slot"
 fi
 
 if ! snapctl is-connected raw-usb; then
-  logger -t ${SNAP_NAME} "Plug 'raw-usb' isn't connected, \
-    please run: snap connect ${SNAP_NAME}:raw-usb"
+  log "Plug 'raw-usb' isn't connected, please run:"
+  log "sudo snap connect ${SNAP_NAME}:raw-usb"
 fi
 
 # copy meshes to shared folder
-logger -t ${SNAP_NAME} "copy meshes to '${SNAP_COMMON}/ros2_ws/'"
+log "copy meshes to '${SNAP_COMMON}/ros2_ws/'"
 mkdir -p ${SNAP_COMMON}/ros2_ws
 cp -r $SNAP/opt/ros/snap/share/rosbot_xl_description ${SNAP_COMMON}/ros2_ws/rosbot_xl_description
 cp -r $SNAP/opt/ros/snap/share/ros_components_description ${SNAP_COMMON}/ros2_ws/ros_components_description

snap/local/db_server_launcher.sh

@@ -0,0 +1,88 @@
+#!/bin/bash
+# place in /usr/local/sbin
+
+# Define a function to log messages
+log() {
+    local message="$1"
+    # Log the message with logger
+    logger -t "${SNAP_NAME}" "db_server_launcher: $message"
+    # Echo the message to standard error
+    echo >&2 "$message"
+}
+
+SERVER_IP=192.168.77.2
+SERVER_PORT=3000
+
+fifo_path="/tmp/response"
+rm -f "$fifo_path"
+mkfifo "$fifo_path"
+
+# Define a path for the shutdown flag file
+SHUTDOWN_FLAG="/tmp/shutdown_flag"
+rm -f "$SHUTDOWN_FLAG"  # Ensure it does not exist initially
+
+handleRequest() {
+    while read -r line; do
+        echo "$line"
+        trline=$(echo "$line" | tr -d '[\r\n]')
+
+        [ -z "$trline" ] && break
+
+        HEADLINE_REGEX='(.*?)\s(.*?)\sHTTP.*?'
+
+        if [[ "$trline" =~ $HEADLINE_REGEX ]]; then
+            REQUEST=$(echo "$trline" | sed -E "s/$HEADLINE_REGEX/\1 \2/")
+        fi
+    done
+
+    case "$REQUEST" in
+    "GET /ping")
+        RESPONSE="HTTP/1.1 200 OK\r\nContent-Type: text/html\r\n\r\npong"
+        ;;
+    "GET /shutdown")
+        RESPONSE="HTTP/1.1 200 OK\r\nContent-Type: text/html\r\n\r\nshutting down"
+        touch "$SHUTDOWN_FLAG"  # Create the flag file to signal shutdown
+        ;;
+    *)
+        RESPONSE="HTTP/1.1 404 NotFound\r\nContent-Type: text/html\r\n\r\nNot Found"
+        ;;
+    esac
+
+    echo -e "$RESPONSE" >"$fifo_path"
+}
+
+# check if we can start db-server
+
+# Send a GET request to the server's /ping endpoint
+status=$(curl --silent --max-time 1 "http://$SERVER_IP:$SERVER_PORT/ping")
+if [ $? -eq 0 ]; then
+    log "Received response: $status"
+fi
+
+# Check the response
+if [[ "$status" == "pong" ]]; then
+  log "Legacy server running on port 3000. To turn it off run:"
+  log "sudo systemctl stop db-server.service && sudo systemctl disable db-server.service"
+  log "After that start the service:"
+  log "sudo snap start --enable ${SNAP_NAME}.db-server"
+
+  snapctl stop --disable ${SNAP_NAME}.db-server 2>&1 || true
+fi
+
+log "Listening on $SERVER_IP:$SERVER_PORT..."
+
+while true; do
+    # Handle requests
+    cat "$fifo_path" | nc -lN -s $SERVER_IP -p $SERVER_PORT | handleRequest
+
+    if [ -f "$SHUTDOWN_FLAG" ]; then
+        log "shutting down..."
+
+        dbus-send --system --print-reply --dest=org.freedesktop.login1 \
+        /org/freedesktop/login1 org.freedesktop.login1.Manager.PowerOff boolean:true
+
+        break
+    fi
+
+    sleep 1
+done

snap/snapcraft.yaml

@@ -61,6 +61,12 @@ apps:
     slots: [shm-slot]
     extensions: [ros2-humble-ros-base]
 
+  db-server:
+    command: usr/bin/db_server_launcher.sh
+    daemon: simple
+    install-mode: enable
+    plugs: [network, network-bind, shutdown]
+
   rosbot-xl:
     command: usr/bin/launcher.sh
     command-chain: [usr/bin/check_daemon_running.sh, usr/bin/ros_setup.sh]
@@ -137,10 +143,12 @@ parts:
     stage-packages:
       - ros-humble-teleop-twist-keyboard
 
-  # apt-dependencies:
-  #   plugin: nil
-  #   stage-packages:
-  #     - ros-humble-rmw-cyclonedds-cpp
+  apt-deppendencies:
+    plugin: nil
+    stage-packages:
+      - dbus
+      - curl
+      - netcat
 
   pip3-dependencies:
     plugin: python