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127 lines
3.6 KiB
C++
127 lines
3.6 KiB
C++
/****************************************************************************
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*
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* Copyright (C) 2016, 2018 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file server.h
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*
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* The server (also called daemon) opens a socket for clients to connect to.
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*
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* Once a client connects it will send a command and close its side of the connection.
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* The server will return the stdout of the executing command, as well as the return
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* value to the client.
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*
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* There should only every be one server running, therefore the static instance.
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* The Singleton implementation is not complete, but it should be obvious not
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* to instantiate multiple servers.
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*
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* @author Julian Oes <julian@oes.ch>
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* @author Beat Küng <beat-kueng@gmx.net>
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* @author Mara Bos <m-ou.se@m-ou.se>
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*/
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#pragma once
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#include <stdio.h>
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#include <stdint.h>
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#include <stdbool.h>
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#include <pthread.h>
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#include <map>
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#include "sock_protocol.h"
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namespace px4_daemon
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{
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class Server
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{
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public:
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Server(int instance_id = 0);
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~Server();
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/**
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* Start the server. This will spawn a thread with a
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* while loop waiting for clients sending commands.
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*
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* @return 0 if started successfully
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*/
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int start();
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struct CmdThreadSpecificData {
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FILE *thread_stdout; // stdout of this thread
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bool is_atty; // whether file descriptor refers to a terminal
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};
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static bool is_running()
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{
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return _instance != nullptr;
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}
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static pthread_key_t get_pthread_key()
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{
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return _instance->_key;
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}
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private:
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static void *_server_main_trampoline(void *arg);
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void _server_main();
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void _lock()
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{
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pthread_mutex_lock(&_mutex);
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}
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void _unlock()
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{
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pthread_mutex_unlock(&_mutex);
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}
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static void *_handle_client(void *arg);
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static void _cleanup(int fd);
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pthread_t _server_main_pthread;
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std::map<int, pthread_t> _fd_to_thread;
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pthread_mutex_t _mutex; ///< Protects _fd_to_thread.
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pthread_key_t _key;
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int _instance_id; ///< instance ID for running multiple instances of the px4 server
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int _fd;
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static void _pthread_key_destructor(void *arg);
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static Server *_instance;
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};
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} // namespace px4_daemon
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