From 47a0dbf7eacf97713f3792deb6928b40950ab021 Mon Sep 17 00:00:00 2001
From: Roni Kreinin <rkreinin@clearpathrobotics.com>
Date: Fri, 24 Jan 2025 16:38:05 -0500
Subject: [PATCH] Wait for TCP connection

---
 clearpath_robot/scripts/vcan | 11 +++++++++--
 1 file changed, 9 insertions(+), 2 deletions(-)

diff --git a/clearpath_robot/scripts/vcan b/clearpath_robot/scripts/vcan
index 1b50f46..a40dad6 100644
--- a/clearpath_robot/scripts/vcan
+++ b/clearpath_robot/scripts/vcan
@@ -59,10 +59,17 @@ echo "Device: $dev";
 echo "Virtual CAN: $vcan";
 echo "Baud Rate: $baud";
 
-socat TCP4-LISTEN:$port,range=192.168.131.1/24,reuseaddr pty,link=$dev &
-sleep 1
+# Start socket listener
+socat -d -d TCP4-LISTEN:$port,range=192.168.131.1/24,reuseaddr pty,link=$dev > /tmp/socat_log.txt 2>&1 &
+
+# Wait for client to connect to socket
+tail -f /tmp/socat_log.txt | grep -m 1 --line-buffered "starting data transfer"
 
+echo "TCP Socket connected"
+
+# Start slcand
 slcand -o -c -F -$baud $dev $vcan &
+
 sleep 1
 
 ip link set $vcan txqueuelen 100