fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-18 08:33:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

posix shell: allow to run multiple instances

Browse Source
This commit is contained in:
Beat Küng
2018-08-08 21:09:39 +02:00
committed by Lorenz Meier
parent c0cac0594e
commit d05b268d19
11 changed files with 85 additions and 40 deletions
Download Patch File Download Diff File Expand all files Collapse all files
platforms/posix/src/main.cpp
+49 -22
View File
@@ -99,10 +99,11 @@ static void register_sig_handler();
static void set_cpu_scaling();
static int create_symlinks_if_needed(std::string &data_path);
static int create_dirs();
static int run_startup_bash_script(const std::string &commands_file, const std::string &absolute_binary_path);
static int run_startup_bash_script(const std::string &commands_file, const std::string &absolute_binary_path,
int instance);
static std::string get_absolute_binary_path(const std::string &argv0);
static void wait_to_exit();
static bool is_already_running();
static bool is_already_running(int instance);
static void print_usage();
static bool dir_exists(const std::string &path);
static bool file_exists(const std::string &name);
@@ -141,9 +142,23 @@ int main(int argc, char **argv)
absolute_binary_path = get_absolute_binary_path(full_binary_name);
}
if (is_client) {
if (!is_already_running()) {
if (is_client) {
int instance = 0;
if (argc >= 3 && strcmp(argv[1], "--instance") == 0) {
instance = strtoul(argv[2], nullptr, 10);
/* update argv so that "--instance <instance>" is not visible anymore */
argc -= 2;
for (int i = 1; i < argc; ++i) {
argv[i] = argv[i + 2];
}
}
PX4_DEBUG("instance: %i", instance);
if (!is_already_running(instance)) {
PX4_ERR("PX4 daemon not running yet");
return -1;
}
@@ -151,28 +166,24 @@ int main(int argc, char **argv)
/* Remove the path and prefix. */
argv[0] += path_length + strlen(prefix);
px4_daemon::Client client;
px4_daemon::Client client(instance);
client.generate_uuid();
client.register_sig_handler();
return client.process_args(argc, (const char **)argv);
} else {
if (is_already_running()) {
PX4_ERR("PX4 daemon already running");
return -1;
}
/* Server/daemon apps need to parse the command line arguments. */
std::string data_path = "";
std::string commands_file = "etc/init.d/rcS";
std::string test_data_path = "";
int instance = 0;
int myoptind = 1;
int ch;
const char *myoptarg = nullptr;
while ((ch = px4_getopt(argc, argv, "hdt:s:", &myoptind, &myoptarg)) != EOF) {
while ((ch = px4_getopt(argc, argv, "hdt:s:i:", &myoptind, &myoptarg)) != EOF) {
switch (ch) {
case 'h':
print_usage();
@@ -190,6 +201,10 @@ int main(int argc, char **argv)
commands_file = myoptarg;
break;
case 'i':
instance = strtoul(myoptarg, nullptr, 10);
break;
default:
PX4_ERR("unrecognized flag");
print_usage();
@@ -197,10 +212,19 @@ int main(int argc, char **argv)
}
}
PX4_DEBUG("instance: %i", instance);
if (myoptind < argc) {
data_path = argv[myoptind];
}
if (is_already_running(instance)) {
// allow running multiple instances, but the server is only started for the first
PX4_INFO("PX4 daemon already running for instance %i", instance);
return -1;
}
int ret = create_symlinks_if_needed(data_path);
if (ret != PX4_OK) {
@@ -223,7 +247,7 @@ int main(int argc, char **argv)
register_sig_handler();
set_cpu_scaling();
px4_daemon::Server server;
px4_daemon::Server server(instance);
server.start();
ret = create_dirs();
@@ -237,7 +261,7 @@ int main(int argc, char **argv)
px4::init_once();
px4::init(argc, argv, "px4");
ret = run_startup_bash_script(commands_file, absolute_binary_path);
ret = run_startup_bash_script(commands_file, absolute_binary_path, instance);
// We now block here until we need to exit.
if (pxh_off) {
@@ -432,11 +456,12 @@ std::string get_absolute_binary_path(const std::string &argv0)
return pwd() + "/" + base;
}
int run_startup_bash_script(const std::string &commands_file, const std::string &absolute_binary_path)
int run_startup_bash_script(const std::string &commands_file, const std::string &absolute_binary_path,
int instance)
{
std::string bash_command("bash ");
bash_command += commands_file;
bash_command += commands_file + ' ' + std::to_string(instance);
// Update the PATH variable to include the absolute_binary_path
// (required for the px4-alias.sh script and px4-* commands).
@@ -506,24 +531,26 @@ void print_usage()
{
printf("Usage for Server/daemon process: \n");
printf("\n");
printf(" px4 [-h|-d] [-s <startup_file>] [-d <test_data_directory>] [<rootfs_directory>]\n");
printf(" px4 [-h|-d] [-s <startup_file>] [-t <test_data_directory>] [<rootfs_directory>] [-i <instance>]\n");
printf("\n");
printf(" <startup_file> bash start script to be used as startup (default=etc/init.d/rcS)\n");
printf(" -s <startup_file> bash start script to be used as startup (default=etc/init.d/rcS)\n");
printf(" <rootfs_directory> directory where startup files and mixers are located,\n");
printf(" (if not given, CWD is used)\n");
printf(" -h help/usage information\n");
printf(" -d daemon mode, don't start pxh shell\n");
printf(" -i <instance> px4 instance id to run multiple instances [0...N], default=0\n");
printf(" -h help/usage information\n");
printf(" -d daemon mode, don't start pxh shell\n");
printf("\n");
printf("Usage for client: \n");
printf("\n");
printf(" px4-MODULE command using symlink.\n");
printf(" px4-MODULE [--instance <instance>] command using symlink.\n");
printf(" e.g.: px4-commander status\n");
}
bool is_already_running()
bool is_already_running(int instance)
{
const std::string file_lock_path = std::string(LOCK_FILE_PATH) + '-' + std::to_string(instance);
struct flock fl;
int fd = open(LOCK_FILE_PATH, O_RDWR | O_CREAT, 0666);
int fd = open(file_lock_path.c_str(), O_RDWR | O_CREAT, 0666);
if (fd < 0) {
return false;