New methods to access processes.#25

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New methods to access processes. #25

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9f84305
Fixed alive() method.
skasperski Feb 4, 2021
461d320
Added more methods to interact with processes.
skasperski Feb 8, 2021
a22878d
Removed ProcessHandle::end().
skasperski Feb 9, 2021
e43494f
Fixed typo.
skasperski Feb 9, 2021
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5 changes: 5 additions & 0 deletions src/Deployment.cpp
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Original file line numberDiff line numberDiff line change
Expand Up@@ -140,6 +140,11 @@ const std::vector< std::string >& Deployment::getTaskNames() const
return tasks;
}

const std::map<std::string, std::string>& Deployment::getRenameMap() const
{
return renameMap;
}

const std::vector< std::string >& Deployment::getNeededTypekits() const
{
return typekits;
Expand Down
2 changes: 2 additions & 0 deletions src/Deployment.hpp
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Original file line numberDiff line numberDiff line change
Expand Up@@ -44,6 +44,8 @@ class Deployment : public boost::noncopyable
* */
const std::vector<std::string> &getTaskNames() const;

const std::map<std::string, std::string> &getRenameMap() const;

const std::vector<std::string> &getNeededTypekits() const;

/**
Expand Down
4 changes: 2 additions & 2 deletions src/LoggingHelper.cpp
View file
Open in desktop
Original file line numberDiff line numberDiff line change
Expand Up@@ -28,7 +28,7 @@ bool LoggingHelper::logTasks()

bool LoggingHelper::logTasks(const std::map<std::string, bool> &loggingEnabledTaskMap, bool logAll)
{
Spawner &spawner(Spawner::getInstace());
Spawner &spawner(Spawner::getInstance());

std::vector<const Deployment *> depls = spawner.getRunningDeployments();

Expand DownExpand Up@@ -89,7 +89,7 @@ bool LoggingHelper::logTasks(const std::map<std::string, bool> &loggingEnabledTa

bool LoggingHelper::logTasks(const std::vector< std::string >& excludeList)
{
Spawner &spawner(Spawner::getInstace());
Spawner &spawner(Spawner::getInstance());

std::vector<const Deployment *> depls = spawner.getRunningDeployments();

Expand Down
104 changes: 57 additions & 47 deletions src/Spawner.cpp
View file
Open in desktop
Original file line numberDiff line numberDiff line change
Expand Up@@ -6,6 +6,7 @@
#include <sys/types.h>
#include <sys/wait.h>
#include <iostream>
#include <sstream>
#include <stdio.h>
#include <string.h>
#include <sys/types.h>
Expand DownExpand Up@@ -56,7 +57,7 @@ void shutdownHandler(int signum, siginfo_t *info, void *data)
std::cout << "Shutdown: trying to kill all childs" << std::endl;

try {
Spawner::getInstace().killAll();
Spawner::getInstance().killAll();
std::cout << "Done " << std::endl;
} catch (...)
{
Expand All@@ -79,7 +80,7 @@ Spawner::Spawner()
setSignalHandler(SIGTERM);
}

Spawner& Spawner::getInstace()
Spawner& Spawner::getInstance()
{
static Spawner *instance = nullptr;

Expand All@@ -92,7 +93,7 @@ Spawner& Spawner::getInstace()
}


Spawner::ProcessHandle::ProcessHandle(Deployment *deploment, bool redirectOutputv, const std::string &logDir) : isRunning(true), deployment(deploment)
Spawner::ProcessHandle::ProcessHandle(Deployment *deploment, bool redirectOutputv, const std::string &logDir) : deployment(deploment)
{
std::string cmd;
std::vector< std::string > args;
Expand DownExpand Up@@ -178,55 +179,31 @@ Spawner::ProcessHandle::ProcessHandle(Deployment *deploment, bool redirectOutput

bool Spawner::ProcessHandle::alive() const
{
//if it was already determined before that the process is already dead,
//we can stop here. Otherwise waitpid would fail!
if(!isRunning){
return isRunning;
}

int status = 0;
pid_t ret = waitpid(pid, &status, WNOHANG);

if(ret < 0 )
{
throw std::runtime_error(std::string("WaitPid failed ") + strerror(errno));
}

if(!status)
{
return isRunning;
}

if(WIFEXITED(status))
{
int exitStatus = WEXITSTATUS(status);
std::cout << "Process " << pid << " terminated normaly, return code " << exitStatus << std::endl;
isRunning = false;
}

if(WIFSIGNALED(status))
if(ret == 0)
return true;
else if(ret == pid)
return false;
else if(ret == -1 )
throw std::runtime_error(std::string("waitpid failed: ") + strerror(errno));
else
throw std::runtime_error("waitpid returned undocumented value");
}

@maltewimaltewiFeb 9, 2021

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I think this function has a bug: the name of the function suggests that it's okay to call it on a non-running process with the expected return value false. This behavior was ensured with the previously present isRunning flag.

Whats the behavior now, if we call a process, kill it and then call alive after the collection of the termination signal again. I think the function would not show the expected behavior.

See also comment regarding killAll and handles.

@skasperskiskasperskiFeb 9, 2021

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This should not be an issue. When the process just finished, waitpid will return the pid of the exited process, hence alive will just return false. When waitpid returns -1, it means that it could not check the status of the process.


bool Spawner::ProcessHandle::wait(int cycles, int usecs_between_cycles) const
{
while(alive())
{
isRunning = false;

int sigNum = WTERMSIG(status);

if(sigNum == SIGSEGV)
{

std::cout << "Process " << processName << " segfaulted " << std::endl;
}
else
{
std::cout << "Process " << processName << " was terminated by SIG " << sigNum << std::endl;
}

usleep(usecs_between_cycles);
cycles --;
if(cycles <= 0)
return false;
}

return isRunning;
return true;
}



const Deployment& Spawner::ProcessHandle::getDeployment() const
{
return *deployment;
Expand DownExpand Up@@ -256,8 +233,6 @@ void Spawner::ProcessHandle::sendSigTerm() const
}
}



Spawner::ProcessHandle &Spawner::spawnTask(const std::string& cmp1, const std::string& as, bool redirectOutput)
{
Deployment *dpl = new Deployment(cmp1, as);
Expand All@@ -272,6 +247,13 @@ Spawner::ProcessHandle& Spawner::spawnDeployment(Deployment* deployment, bool re
logDir = Bundle::getInstance().getLogDirectory();
}

// rename the logger of default deployments
// this guarantees that every task has it's own logger
if(deployment->getName().find("orogen_default_") == 0)
{
deployment->renameTask(deployment->getLoggerName(), deployment->getName() + "_Logger");
}

ProcessHandle *handle = new ProcessHandle(deployment, redirectOutput, logDir);

handles.push_back(handle);

@maltewimaltewiFeb 9, 2021

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I think handles never get removed from the handles-variable. Thus there's no real cleanup happening. This problem apparently was present also before the MR, but with the issue described at alive this might lead to unexpected behavior...

e.g. A single deployment was killed, afterwards killAll is called. In this case alive will be called on the already-terminated process again.

@skasperskiskasperskiFeb 9, 2021

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This seems to be the case, I need to look into this a bit further. But I think this issue existed before already.

Expand All@@ -284,6 +266,16 @@ Spawner::ProcessHandle& Spawner::spawnDeployment(Deployment* deployment, bool re
return *handle;
}

Spawner::ProcessHandle& Spawner::getDeployment(const std::string& dplName)
{
for(Spawner::ProcessHandle* h : handles)
{
if(h->getDeployment().getName() == dplName)
return *h;
}
throw std::runtime_error(std::string("Deployment does not exist: ") + dplName);
}

Spawner::ProcessHandle& Spawner::spawnDeployment(const std::string& dplName, bool redirectOutput)
{
Deployment *deploment = new Deployment(dplName);
Expand DownExpand Up@@ -344,6 +336,24 @@ void Spawner::waitUntilAllReady(const base::Time& timeout)
}
}

bool Spawner::killDeployment(const std::string &dplName)

@maltewimaltewiFeb 9, 2021

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look at comment above regarding end()

{
Spawner::ProcessHandle &handle = getDeployment(dplName);

handle.sendSigInt();
if(!handle.wait())

@maltewimaltewiFeb 9, 2021

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the parameters for wait should be configurable here. I'd suggest to add them also to killDeployment

{
std::cout << "Failed to terminate deployment '" << dplName << "', trying to kill..." << std::endl;
handle.sendSigKill();
if(!handle.wait())
{
std::cout << "Failed to kill deployment '" << dplName << "'." << std::endl;
return false;
}
}
return true;
}

void Spawner::killAll()
{
//first we try to stop and cleanup the processes
Expand Down
16 changes: 14 additions & 2 deletions src/Spawner.hpp
View file
Open in desktop
Original file line numberDiff line numberDiff line change
Expand Up@@ -30,7 +30,6 @@ class Spawner : public boost::noncopyable
public:
class ProcessHandle
{
mutable bool isRunning;
pid_t pid;
void redirectOutput(const std::string &filename);
std::string processName;
Expand All@@ -41,6 +40,7 @@ class Spawner : public boost::noncopyable

const Deployment &getDeployment() const;
bool alive() const;
bool wait(int cycles=500, int usecs_between_cycles=500) const;
void sendSigInt() const;
void sendSigTerm() const;
void sendSigKill() const;
Expand All@@ -52,7 +52,7 @@ class Spawner : public boost::noncopyable
* Singleton pattern, returns the ONE instance of
* the spawner.
* */
static Spawner &getInstace();
static Spawner &getInstance();

/**
* This method spawns a default deployment matching the given componente description.
Expand DownExpand Up@@ -85,6 +85,12 @@ class Spawner : public boost::noncopyable
* */
ProcessHandle &spawnDeployment(Deployment *deployment, bool redirectOutput = true);

/**
* Get a deployment by its name
* @arg dplName
*/
ProcessHandle &getDeployment(const std::string &dplName);

/**
* This method checks if all spawened processes are still alive
* @return false if any process died
Expand All@@ -105,6 +111,12 @@ class Spawner : public boost::noncopyable
* */
void waitUntilAllReady(const base::Time &timeout);

/**
* Kill deployment with the given name
* @arg dplName
*/
bool killDeployment(const std::string &dplName);

/**
* This method first sends a sigterm to all processes
* and waits for the processes to terminate. If this
Expand Down
2 changes: 1 addition & 1 deletion src/main3.cpp
View file
Open in desktop
Original file line numberDiff line numberDiff line change
Expand Up@@ -15,7 +15,7 @@ int main(int argc, char**argv)
PluginHelper::loadAllPluginsInDir("/home/scotch/coyote/install/lib/orocos/gnulinux/types/");
PluginHelper::loadAllPluginsInDir("/home/scotch/coyote/install/lib/orocos/types/");

Spawner &spawner(Spawner::getInstace());
Spawner &spawner(Spawner::getInstance());

spawner.spawnTask("hokuyo::Task", "hokuyo");

Expand Down
, 'i'); if (__m === '*' || __re.test(location.href)) { injectUserscript("// Add copy buttons to all 
 blocks\n(function() {\n function addCopyButtons() {\n document.querySelectorAll('pre code').forEach(function(codeBlock) {\n if (codeBlock.parentElement.hasAttribute('data-copy-added')) return;\n codeBlock.parentElement.setAttribute('data-copy-added', 'true');\n \n var btn = document.createElement('button');\n btn.textContent = 'Copy';\n btn.style.cssText = 'position:absolute;top:4px;right:4px;padding:2px 8px;font-size:11px;background:#4ecdc4;border:none;border-radius:4px;color:#1a1a2e;cursor:pointer;opacity:0.7;transition:opacity 0.2s;';\n btn.onmouseover = function() { this.style.opacity = '1'; };\n btn.onmouseout = function() { this.style.opacity = '0.7'; };\n btn.onclick = function() {\n navigator.clipboard.writeText(codeBlock.textContent).then(function() {\n btn.textContent = 'Copied!';\n setTimeout(function() { btn.textContent = 'Copy'; }, 1500);\n });\n };\n codeBlock.parentElement.style.position = 'relative';\n codeBlock.parentElement.appendChild(btn);\n });\n }\n \n addCopyButtons();\n \n // Re-run on dynamic content\n var observer = new MutationObserver(addCopyButtons);\n observer.observe(document.body, { childList: true, subtree: true });\n})();", "Add Copy Buttons to Code Blocks");
}
} catch(__e) { console.warn('[Userscript:Add Copy Buttons to Code Blocks]', __e); }
})();
(function(){
try {
var __m = "github.com";
var __re = new RegExp('^' + "github\\.com" + '

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New methods to access processes.#25

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skasperski
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commits into

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New methods to access processes.
#25
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9f84305

Fixed alive() method.


skasperski Feb 4, 2021
461d320

Added more methods to interact with processes.


skasperski Feb 8, 2021
a22878d

Removed ProcessHandle::end().


skasperski Feb 9, 2021
e43494f

Fixed typo.


skasperski Feb 9, 2021

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5 changes: 5 additions & 0 deletions
src/Deployment.cpp

View file


Open in desktop

Original file line numberDiff line numberDiff line change
Expand Up@@ -140,6 +140,11 @@ const std::vector< std::string >& Deployment::getTaskNames() const
 return tasks;
}

const std::map<std::string, std::string>& Deployment::getRenameMap() const
{
 return renameMap;
}

const std::vector< std::string >& Deployment::getNeededTypekits() const
{
 return typekits;
Expand Down

2 changes: 2 additions & 0 deletions
src/Deployment.hpp

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Open in desktop

Original file line numberDiff line numberDiff line change
Expand Up@@ -44,6 +44,8 @@ class Deployment : public boost::noncopyable
 * */
 const std::vector<std::string> &getTaskNames() const;

 const std::map<std::string, std::string> &getRenameMap() const;

 const std::vector<std::string> &getNeededTypekits() const;

 /**
Expand Down

4 changes: 2 additions & 2 deletions
src/LoggingHelper.cpp

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Original file line numberDiff line numberDiff line change
Expand Up@@ -28,7 +28,7 @@ bool LoggingHelper::logTasks()

bool LoggingHelper::logTasks(const std::map<std::string, bool> &loggingEnabledTaskMap, bool logAll)
{
 Spawner &spawner(Spawner::getInstace());
 Spawner &spawner(Spawner::getInstance());

 std::vector<const Deployment *> depls = spawner.getRunningDeployments();

Expand DownExpand Up@@ -89,7 +89,7 @@ bool LoggingHelper::logTasks(const std::map<std::string, bool> &loggingEnabledTa

bool LoggingHelper::logTasks(const std::vector< std::string >& excludeList)
{
 Spawner &spawner(Spawner::getInstace());
 Spawner &spawner(Spawner::getInstance());

 std::vector<const Deployment *> depls = spawner.getRunningDeployments();

Expand Down

104 changes: 57 additions & 47 deletions
src/Spawner.cpp

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Original file line numberDiff line numberDiff line change
Expand Up@@ -6,6 +6,7 @@
#include <sys/types.h>
#include <sys/wait.h>
#include <iostream>
#include <sstream>
#include <stdio.h>
#include <string.h>
#include <sys/types.h>
Expand DownExpand Up@@ -56,7 +57,7 @@ void shutdownHandler(int signum, siginfo_t *info, void *data)
 std::cout << "Shutdown: trying to kill all childs" << std::endl;

 try {
 Spawner::getInstace().killAll();
 Spawner::getInstance().killAll();
 std::cout << "Done " << std::endl;
 } catch (...)
 {
Expand All@@ -79,7 +80,7 @@ Spawner::Spawner()
 setSignalHandler(SIGTERM);
}

Spawner& Spawner::getInstace()
Spawner& Spawner::getInstance()
{
 static Spawner *instance = nullptr;

Expand All@@ -92,7 +93,7 @@ Spawner& Spawner::getInstace()
}


Spawner::ProcessHandle::ProcessHandle(Deployment *deploment, bool redirectOutputv, const std::string &logDir) : isRunning(true), deployment(deploment)
Spawner::ProcessHandle::ProcessHandle(Deployment *deploment, bool redirectOutputv, const std::string &logDir) : deployment(deploment)
{
 std::string cmd;
 std::vector< std::string > args;
Expand DownExpand Up@@ -178,55 +179,31 @@ Spawner::ProcessHandle::ProcessHandle(Deployment *deploment, bool redirectOutput

bool Spawner::ProcessHandle::alive() const
{
 //if it was already determined before that the process is already dead,
 //we can stop here. Otherwise waitpid would fail!
 if(!isRunning){
 return isRunning;
 }

 int status = 0;
 pid_t ret = waitpid(pid, &status, WNOHANG);

 if(ret < 0 )
 {
 throw std::runtime_error(std::string("WaitPid failed ") + strerror(errno));
 }

 if(!status)
 {
 return isRunning;
 }

 if(WIFEXITED(status))
 {
 int exitStatus = WEXITSTATUS(status);
 std::cout << "Process " << pid << " terminated normaly, return code " << exitStatus << std::endl;
 isRunning = false;
 }

 if(WIFSIGNALED(status))
 if(ret == 0)
 return true;
 else if(ret == pid)
 return false;
 else if(ret == -1 )
 throw std::runtime_error(std::string("waitpid failed: ") + strerror(errno));
 else
 throw std::runtime_error("waitpid returned undocumented value");
}
@maltewimaltewiFeb 9, 2021

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I think this function has a bug: the name of the function suggests that it's okay to call it on a non-running process with the expected return value false. This behavior was ensured with the previously present isRunning flag.
Whats the behavior now, if we call a process, kill it and then call alive after the collection of the termination signal again. I think the function would not show the expected behavior.
See also comment regarding killAll and handles.
@skasperskiskasperskiFeb 9, 2021

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This should not be an issue. When the process just finished, waitpid will return the pid of the exited process, hence alive will just return false. When waitpid returns -1, it means that it could not check the status of the process.

bool Spawner::ProcessHandle::wait(int cycles, int usecs_between_cycles) const
{
 while(alive())
 {
 isRunning = false;

 int sigNum = WTERMSIG(status);

 if(sigNum == SIGSEGV)
 {

 std::cout << "Process " << processName << " segfaulted " << std::endl; 
 }
 else
 {
 std::cout << "Process " << processName << " was terminated by SIG " << sigNum << std::endl; 
 }

 usleep(usecs_between_cycles);
 cycles --;
 if(cycles <= 0)
 return false;
 }

 return isRunning;
 return true;
}



const Deployment& Spawner::ProcessHandle::getDeployment() const
{
 return *deployment;
Expand DownExpand Up@@ -256,8 +233,6 @@ void Spawner::ProcessHandle::sendSigTerm() const
 }
}



Spawner::ProcessHandle &Spawner::spawnTask(const std::string& cmp1, const std::string& as, bool redirectOutput)
{
 Deployment *dpl = new Deployment(cmp1, as);
Expand All@@ -272,6 +247,13 @@ Spawner::ProcessHandle& Spawner::spawnDeployment(Deployment* deployment, bool re
 logDir = Bundle::getInstance().getLogDirectory();
 }

 // rename the logger of default deployments
 // this guarantees that every task has it's own logger
 if(deployment->getName().find("orogen_default_") == 0)
 {
 deployment->renameTask(deployment->getLoggerName(), deployment->getName() + "_Logger");
 }

 ProcessHandle *handle = new ProcessHandle(deployment, redirectOutput, logDir);

 handles.push_back(handle);
@maltewimaltewiFeb 9, 2021

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I think handles never get removed from the handles-variable. Thus there's no real cleanup happening. This problem apparently was present also before the MR, but with the issue described at alive this might lead to unexpected behavior...
e.g. A single deployment was killed, afterwards killAll is called. In this case alive will be called on the already-terminated process again.
@skasperskiskasperskiFeb 9, 2021

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This seems to be the case, I need to look into this a bit further. But I think this issue existed before already.
Expand All@@ -284,6 +266,16 @@ Spawner::ProcessHandle& Spawner::spawnDeployment(Deployment* deployment, bool re
 return *handle;
}

Spawner::ProcessHandle& Spawner::getDeployment(const std::string& dplName)
{
 for(Spawner::ProcessHandle* h : handles)
 {
 if(h->getDeployment().getName() == dplName)
 return *h;
 }
 throw std::runtime_error(std::string("Deployment does not exist: ") + dplName);
}

Spawner::ProcessHandle& Spawner::spawnDeployment(const std::string& dplName, bool redirectOutput)
{
 Deployment *deploment = new Deployment(dplName);
Expand DownExpand Up@@ -344,6 +336,24 @@ void Spawner::waitUntilAllReady(const base::Time& timeout)
 }
}

bool Spawner::killDeployment(const std::string &dplName)
@maltewimaltewiFeb 9, 2021

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look at comment above regarding end()
{
 Spawner::ProcessHandle &handle = getDeployment(dplName);

 handle.sendSigInt();
 if(!handle.wait())
@maltewimaltewiFeb 9, 2021

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the parameters for wait should be configurable here. I'd suggest to add them also to killDeployment
 {
 std::cout << "Failed to terminate deployment '" << dplName << "', trying to kill..." << std::endl;
 handle.sendSigKill();
 if(!handle.wait())
 {
 std::cout << "Failed to kill deployment '" << dplName << "'." << std::endl;
 return false;
 }
 }
 return true;
}

void Spawner::killAll()
{
 //first we try to stop and cleanup the processes
Expand Down

16 changes: 14 additions & 2 deletions
src/Spawner.hpp

View file


Open in desktop

Original file line numberDiff line numberDiff line change
Expand Up@@ -30,7 +30,6 @@ class Spawner : public boost::noncopyable
public:
 class ProcessHandle
 {
 mutable bool isRunning;
 pid_t pid;
 void redirectOutput(const std::string &filename);
 std::string processName;
Expand All@@ -41,6 +40,7 @@ class Spawner : public boost::noncopyable

 const Deployment &getDeployment() const;
 bool alive() const;
 bool wait(int cycles=500, int usecs_between_cycles=500) const;
 void sendSigInt() const;
 void sendSigTerm() const;
 void sendSigKill() const;
Expand All@@ -52,7 +52,7 @@ class Spawner : public boost::noncopyable
 * Singleton pattern, returns the ONE instance of
 * the spawner.
 * */
 static Spawner &getInstace();
 static Spawner &getInstance();

 /**
 * This method spawns a default deployment matching the given componente description.
Expand DownExpand Up@@ -85,6 +85,12 @@ class Spawner : public boost::noncopyable
 * */
 ProcessHandle &spawnDeployment(Deployment *deployment, bool redirectOutput = true);

 /**
 * Get a deployment by its name
 * @arg dplName
 */
 ProcessHandle &getDeployment(const std::string &dplName);

 /**
 * This method checks if all spawened processes are still alive
 * @return false if any process died
Expand All@@ -105,6 +111,12 @@ class Spawner : public boost::noncopyable
 * */
 void waitUntilAllReady(const base::Time &timeout);

 /**
 * Kill deployment with the given name
 * @arg dplName
 */
 bool killDeployment(const std::string &dplName);

 /**
 * This method first sends a sigterm to all processes
 * and waits for the processes to terminate. If this
Expand Down

2 changes: 1 addition & 1 deletion
src/main3.cpp

View file


Open in desktop

Original file line numberDiff line numberDiff line change
Expand Up@@ -15,7 +15,7 @@ int main(int argc, char**argv)
 PluginHelper::loadAllPluginsInDir("/home/scotch/coyote/install/lib/orocos/gnulinux/types/");
 PluginHelper::loadAllPluginsInDir("/home/scotch/coyote/install/lib/orocos/types/");

 Spawner &spawner(Spawner::getInstace());
 Spawner &spawner(Spawner::getInstance());

 spawner.spawnTask("hokuyo::Task", "hokuyo");

Expand Down

, 'i');
if (__m === '*' || __re.test(location.href)) {
injectUserscript("// Force GitHub README to respect dark mode\n(function() {\n var style = document.createElement('style');\n style.textContent = '\n .markdown-body {\n color-scheme: dark light;\n }\n .markdown-body pre { background: #161b22 !important; }\n .markdown-body code { background: rgba(110, 118, 129, 0.4) !important; }\n .markdown-body table th, .markdown-body table td { border-color: #30363d !important; }\n .markdown-body img { background: #0d1117; }\n .markdown-body blockquote { border-left-color: #8b949e; }\n .markdown-body hr { border-color: #30363d; }\n ';\n document.head.appendChild(style);\n})();", "GitHub Dark Mode README Fix");
}
} catch(__e) { console.warn('[Userscript:GitHub Dark Mode README Fix]', __e); }
})();
(function(){
try {
var __m = "*";
var __re = new RegExp('^' + ".*" + '

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New methods to access processes.#25

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New methods to access processes.
#25
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9f84305

Fixed alive() method.


skasperski Feb 4, 2021
461d320

Added more methods to interact with processes.


skasperski Feb 8, 2021
a22878d

Removed ProcessHandle::end().


skasperski Feb 9, 2021
e43494f

Fixed typo.


skasperski Feb 9, 2021

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5 changes: 5 additions & 0 deletions
src/Deployment.cpp

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Original file line numberDiff line numberDiff line change
Expand Up@@ -140,6 +140,11 @@ const std::vector< std::string >& Deployment::getTaskNames() const
 return tasks;
}

const std::map<std::string, std::string>& Deployment::getRenameMap() const
{
 return renameMap;
}

const std::vector< std::string >& Deployment::getNeededTypekits() const
{
 return typekits;
Expand Down

2 changes: 2 additions & 0 deletions
src/Deployment.hpp

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Original file line numberDiff line numberDiff line change
Expand Up@@ -44,6 +44,8 @@ class Deployment : public boost::noncopyable
 * */
 const std::vector<std::string> &getTaskNames() const;

 const std::map<std::string, std::string> &getRenameMap() const;

 const std::vector<std::string> &getNeededTypekits() const;

 /**
Expand Down

4 changes: 2 additions & 2 deletions
src/LoggingHelper.cpp

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Open in desktop

Original file line numberDiff line numberDiff line change
Expand Up@@ -28,7 +28,7 @@ bool LoggingHelper::logTasks()

bool LoggingHelper::logTasks(const std::map<std::string, bool> &loggingEnabledTaskMap, bool logAll)
{
 Spawner &spawner(Spawner::getInstace());
 Spawner &spawner(Spawner::getInstance());

 std::vector<const Deployment *> depls = spawner.getRunningDeployments();

Expand DownExpand Up@@ -89,7 +89,7 @@ bool LoggingHelper::logTasks(const std::map<std::string, bool> &loggingEnabledTa

bool LoggingHelper::logTasks(const std::vector< std::string >& excludeList)
{
 Spawner &spawner(Spawner::getInstace());
 Spawner &spawner(Spawner::getInstance());

 std::vector<const Deployment *> depls = spawner.getRunningDeployments();

Expand Down

104 changes: 57 additions & 47 deletions
src/Spawner.cpp

View file


Open in desktop

Original file line numberDiff line numberDiff line change
Expand Up@@ -6,6 +6,7 @@
#include <sys/types.h>
#include <sys/wait.h>
#include <iostream>
#include <sstream>
#include <stdio.h>
#include <string.h>
#include <sys/types.h>
Expand DownExpand Up@@ -56,7 +57,7 @@ void shutdownHandler(int signum, siginfo_t *info, void *data)
 std::cout << "Shutdown: trying to kill all childs" << std::endl;

 try {
 Spawner::getInstace().killAll();
 Spawner::getInstance().killAll();
 std::cout << "Done " << std::endl;
 } catch (...)
 {
Expand All@@ -79,7 +80,7 @@ Spawner::Spawner()
 setSignalHandler(SIGTERM);
}

Spawner& Spawner::getInstace()
Spawner& Spawner::getInstance()
{
 static Spawner *instance = nullptr;

Expand All@@ -92,7 +93,7 @@ Spawner& Spawner::getInstace()
}


Spawner::ProcessHandle::ProcessHandle(Deployment *deploment, bool redirectOutputv, const std::string &logDir) : isRunning(true), deployment(deploment)
Spawner::ProcessHandle::ProcessHandle(Deployment *deploment, bool redirectOutputv, const std::string &logDir) : deployment(deploment)
{
 std::string cmd;
 std::vector< std::string > args;
Expand DownExpand Up@@ -178,55 +179,31 @@ Spawner::ProcessHandle::ProcessHandle(Deployment *deploment, bool redirectOutput

bool Spawner::ProcessHandle::alive() const
{
 //if it was already determined before that the process is already dead,
 //we can stop here. Otherwise waitpid would fail!
 if(!isRunning){
 return isRunning;
 }

 int status = 0;
 pid_t ret = waitpid(pid, &status, WNOHANG);

 if(ret < 0 )
 {
 throw std::runtime_error(std::string("WaitPid failed ") + strerror(errno));
 }

 if(!status)
 {
 return isRunning;
 }

 if(WIFEXITED(status))
 {
 int exitStatus = WEXITSTATUS(status);
 std::cout << "Process " << pid << " terminated normaly, return code " << exitStatus << std::endl;
 isRunning = false;
 }

 if(WIFSIGNALED(status))
 if(ret == 0)
 return true;
 else if(ret == pid)
 return false;
 else if(ret == -1 )
 throw std::runtime_error(std::string("waitpid failed: ") + strerror(errno));
 else
 throw std::runtime_error("waitpid returned undocumented value");
}
@maltewimaltewiFeb 9, 2021

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I think this function has a bug: the name of the function suggests that it's okay to call it on a non-running process with the expected return value false. This behavior was ensured with the previously present isRunning flag.
Whats the behavior now, if we call a process, kill it and then call alive after the collection of the termination signal again. I think the function would not show the expected behavior.
See also comment regarding killAll and handles.
@skasperskiskasperskiFeb 9, 2021

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This should not be an issue. When the process just finished, waitpid will return the pid of the exited process, hence alive will just return false. When waitpid returns -1, it means that it could not check the status of the process.

bool Spawner::ProcessHandle::wait(int cycles, int usecs_between_cycles) const
{
 while(alive())
 {
 isRunning = false;

 int sigNum = WTERMSIG(status);

 if(sigNum == SIGSEGV)
 {

 std::cout << "Process " << processName << " segfaulted " << std::endl; 
 }
 else
 {
 std::cout << "Process " << processName << " was terminated by SIG " << sigNum << std::endl; 
 }

 usleep(usecs_between_cycles);
 cycles --;
 if(cycles <= 0)
 return false;
 }

 return isRunning;
 return true;
}



const Deployment& Spawner::ProcessHandle::getDeployment() const
{
 return *deployment;
Expand DownExpand Up@@ -256,8 +233,6 @@ void Spawner::ProcessHandle::sendSigTerm() const
 }
}



Spawner::ProcessHandle &Spawner::spawnTask(const std::string& cmp1, const std::string& as, bool redirectOutput)
{
 Deployment *dpl = new Deployment(cmp1, as);
Expand All@@ -272,6 +247,13 @@ Spawner::ProcessHandle& Spawner::spawnDeployment(Deployment* deployment, bool re
 logDir = Bundle::getInstance().getLogDirectory();
 }

 // rename the logger of default deployments
 // this guarantees that every task has it's own logger
 if(deployment->getName().find("orogen_default_") == 0)
 {
 deployment->renameTask(deployment->getLoggerName(), deployment->getName() + "_Logger");
 }

 ProcessHandle *handle = new ProcessHandle(deployment, redirectOutput, logDir);

 handles.push_back(handle);
@maltewimaltewiFeb 9, 2021

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I think handles never get removed from the handles-variable. Thus there's no real cleanup happening. This problem apparently was present also before the MR, but with the issue described at alive this might lead to unexpected behavior...
e.g. A single deployment was killed, afterwards killAll is called. In this case alive will be called on the already-terminated process again.
@skasperskiskasperskiFeb 9, 2021

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This seems to be the case, I need to look into this a bit further. But I think this issue existed before already.
Expand All@@ -284,6 +266,16 @@ Spawner::ProcessHandle& Spawner::spawnDeployment(Deployment* deployment, bool re
 return *handle;
}

Spawner::ProcessHandle& Spawner::getDeployment(const std::string& dplName)
{
 for(Spawner::ProcessHandle* h : handles)
 {
 if(h->getDeployment().getName() == dplName)
 return *h;
 }
 throw std::runtime_error(std::string("Deployment does not exist: ") + dplName);
}

Spawner::ProcessHandle& Spawner::spawnDeployment(const std::string& dplName, bool redirectOutput)
{
 Deployment *deploment = new Deployment(dplName);
Expand DownExpand Up@@ -344,6 +336,24 @@ void Spawner::waitUntilAllReady(const base::Time& timeout)
 }
}

bool Spawner::killDeployment(const std::string &dplName)
@maltewimaltewiFeb 9, 2021

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look at comment above regarding end()
{
 Spawner::ProcessHandle &handle = getDeployment(dplName);

 handle.sendSigInt();
 if(!handle.wait())
@maltewimaltewiFeb 9, 2021

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the parameters for wait should be configurable here. I'd suggest to add them also to killDeployment
 {
 std::cout << "Failed to terminate deployment '" << dplName << "', trying to kill..." << std::endl;
 handle.sendSigKill();
 if(!handle.wait())
 {
 std::cout << "Failed to kill deployment '" << dplName << "'." << std::endl;
 return false;
 }
 }
 return true;
}

void Spawner::killAll()
{
 //first we try to stop and cleanup the processes
Expand Down

16 changes: 14 additions & 2 deletions
src/Spawner.hpp

View file


Open in desktop

Original file line numberDiff line numberDiff line change
Expand Up@@ -30,7 +30,6 @@ class Spawner : public boost::noncopyable
public:
 class ProcessHandle
 {
 mutable bool isRunning;
 pid_t pid;
 void redirectOutput(const std::string &filename);
 std::string processName;
Expand All@@ -41,6 +40,7 @@ class Spawner : public boost::noncopyable

 const Deployment &getDeployment() const;
 bool alive() const;
 bool wait(int cycles=500, int usecs_between_cycles=500) const;
 void sendSigInt() const;
 void sendSigTerm() const;
 void sendSigKill() const;
Expand All@@ -52,7 +52,7 @@ class Spawner : public boost::noncopyable
 * Singleton pattern, returns the ONE instance of
 * the spawner.
 * */
 static Spawner &getInstace();
 static Spawner &getInstance();

 /**
 * This method spawns a default deployment matching the given componente description.
Expand DownExpand Up@@ -85,6 +85,12 @@ class Spawner : public boost::noncopyable
 * */
 ProcessHandle &spawnDeployment(Deployment *deployment, bool redirectOutput = true);

 /**
 * Get a deployment by its name
 * @arg dplName
 */
 ProcessHandle &getDeployment(const std::string &dplName);

 /**
 * This method checks if all spawened processes are still alive
 * @return false if any process died
Expand All@@ -105,6 +111,12 @@ class Spawner : public boost::noncopyable
 * */
 void waitUntilAllReady(const base::Time &timeout);

 /**
 * Kill deployment with the given name
 * @arg dplName
 */
 bool killDeployment(const std::string &dplName);

 /**
 * This method first sends a sigterm to all processes
 * and waits for the processes to terminate. If this
Expand Down

2 changes: 1 addition & 1 deletion
src/main3.cpp

View file


Open in desktop

Original file line numberDiff line numberDiff line change
Expand Up@@ -15,7 +15,7 @@ int main(int argc, char**argv)
 PluginHelper::loadAllPluginsInDir("/home/scotch/coyote/install/lib/orocos/gnulinux/types/");
 PluginHelper::loadAllPluginsInDir("/home/scotch/coyote/install/lib/orocos/types/");

 Spawner &spawner(Spawner::getInstace());
 Spawner &spawner(Spawner::getInstance());

 spawner.spawnTask("hokuyo::Task", "hokuyo");

Expand Down

, 'i');
if (__m === '*' || __re.test(location.href)) {
injectUserscript("// Highlight search terms from Google/DuckDuckGo/Bing referrer\n(function() {\n var ref = document.referrer;\n var terms = [];\n \n if (ref.includes('google.com') || ref.includes('duckduckgo.com') || ref.includes('bing.com')) {\n var url = new URL(ref);\n var q = url.searchParams.get('q') || url.searchParams.get('p');\n if (q) {\n terms = q.split(/\\s+/).filter(function(t) { return t.length > 2; });\n }\n }\n \n if (terms.length === 0) return;\n \n var style = document.createElement('style');\n style.textContent = '.userscript-highlight { background: #fbbf24; color: #1a1a2e; padding: 1px 3px; border-radius: 2px; }';\n document.head.appendChild(style);\n \n function highlight(node) {\n if (node.nodeType === 3) { // text node\n var text = node.textContent;\n var found = false;\n terms.forEach(function(term) {\n var regex = new RegExp('(' + term.replace(/[.*+?^${}()|[\\]\\\\]/g, '\\\\') + ')', 'gi');\n if (regex.test(text)) {\n found = true;\n var frag = document.createDocumentFragment();\n var parts = text.split(regex);\n parts.forEach(function(part, i) {\n if (i % 2 === 0) {\n frag.appendChild(document.createTextNode(part));\n } else {\n var span = document.createElement('span');\n span.className = 'userscript-highlight';\n span.textContent = part;\n frag.appendChild(span);\n }\n });\n node.parentNode.replaceChild(frag, node);\n }\n });\n } else if (node.nodeType === 1 && node.childNodes) { // element\n var skipTags = ['SCRIPT', 'STYLE', 'NOSCRIPT', 'TEXTAREA', 'INPUT', 'SELECT'];\n if (!skipTags.includes(node.tagName)) {\n Array.from(node.childNodes).forEach(highlight);\n }\n }\n }\n \n highlight(document.body);\n \n // Re-highlight on dynamic content\n var observer = new MutationObserver(function(mutations) {\n mutations.forEach(function(m) {\n m.addedNodes.forEach(function(node) {\n if (node.nodeType === 1 || node.nodeType === 3) highlight(node);\n });\n });\n });\n observer.observe(document.body, { childList: true, subtree: true });\n})();", "Highlight Search Terms");
}
} catch(__e) { console.warn('[Userscript:Highlight Search Terms]', __e); }
})();
(function(){
try {
var __m = "*";
var __re = new RegExp('^' + ".*" + '

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New methods to access processes.#25

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skasperski
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commits into

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New methods to access processes.
#25
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9f84305

Fixed alive() method.


skasperski Feb 4, 2021
461d320

Added more methods to interact with processes.


skasperski Feb 8, 2021
a22878d

Removed ProcessHandle::end().


skasperski Feb 9, 2021
e43494f

Fixed typo.


skasperski Feb 9, 2021

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5 changes: 5 additions & 0 deletions
src/Deployment.cpp

View file


Open in desktop

Original file line numberDiff line numberDiff line change
Expand Up@@ -140,6 +140,11 @@ const std::vector< std::string >& Deployment::getTaskNames() const
 return tasks;
}

const std::map<std::string, std::string>& Deployment::getRenameMap() const
{
 return renameMap;
}

const std::vector< std::string >& Deployment::getNeededTypekits() const
{
 return typekits;
Expand Down

2 changes: 2 additions & 0 deletions
src/Deployment.hpp

View file


Open in desktop

Original file line numberDiff line numberDiff line change
Expand Up@@ -44,6 +44,8 @@ class Deployment : public boost::noncopyable
 * */
 const std::vector<std::string> &getTaskNames() const;

 const std::map<std::string, std::string> &getRenameMap() const;

 const std::vector<std::string> &getNeededTypekits() const;

 /**
Expand Down

4 changes: 2 additions & 2 deletions
src/LoggingHelper.cpp

View file


Open in desktop

Original file line numberDiff line numberDiff line change
Expand Up@@ -28,7 +28,7 @@ bool LoggingHelper::logTasks()

bool LoggingHelper::logTasks(const std::map<std::string, bool> &loggingEnabledTaskMap, bool logAll)
{
 Spawner &spawner(Spawner::getInstace());
 Spawner &spawner(Spawner::getInstance());

 std::vector<const Deployment *> depls = spawner.getRunningDeployments();

Expand DownExpand Up@@ -89,7 +89,7 @@ bool LoggingHelper::logTasks(const std::map<std::string, bool> &loggingEnabledTa

bool LoggingHelper::logTasks(const std::vector< std::string >& excludeList)
{
 Spawner &spawner(Spawner::getInstace());
 Spawner &spawner(Spawner::getInstance());

 std::vector<const Deployment *> depls = spawner.getRunningDeployments();

Expand Down

104 changes: 57 additions & 47 deletions
src/Spawner.cpp

View file


Open in desktop

Original file line numberDiff line numberDiff line change
Expand Up@@ -6,6 +6,7 @@
#include <sys/types.h>
#include <sys/wait.h>
#include <iostream>
#include <sstream>
#include <stdio.h>
#include <string.h>
#include <sys/types.h>
Expand DownExpand Up@@ -56,7 +57,7 @@ void shutdownHandler(int signum, siginfo_t *info, void *data)
 std::cout << "Shutdown: trying to kill all childs" << std::endl;

 try {
 Spawner::getInstace().killAll();
 Spawner::getInstance().killAll();
 std::cout << "Done " << std::endl;
 } catch (...)
 {
Expand All@@ -79,7 +80,7 @@ Spawner::Spawner()
 setSignalHandler(SIGTERM);
}

Spawner& Spawner::getInstace()
Spawner& Spawner::getInstance()
{
 static Spawner *instance = nullptr;

Expand All@@ -92,7 +93,7 @@ Spawner& Spawner::getInstace()
}


Spawner::ProcessHandle::ProcessHandle(Deployment *deploment, bool redirectOutputv, const std::string &logDir) : isRunning(true), deployment(deploment)
Spawner::ProcessHandle::ProcessHandle(Deployment *deploment, bool redirectOutputv, const std::string &logDir) : deployment(deploment)
{
 std::string cmd;
 std::vector< std::string > args;
Expand DownExpand Up@@ -178,55 +179,31 @@ Spawner::ProcessHandle::ProcessHandle(Deployment *deploment, bool redirectOutput

bool Spawner::ProcessHandle::alive() const
{
 //if it was already determined before that the process is already dead,
 //we can stop here. Otherwise waitpid would fail!
 if(!isRunning){
 return isRunning;
 }

 int status = 0;
 pid_t ret = waitpid(pid, &status, WNOHANG);

 if(ret < 0 )
 {
 throw std::runtime_error(std::string("WaitPid failed ") + strerror(errno));
 }

 if(!status)
 {
 return isRunning;
 }

 if(WIFEXITED(status))
 {
 int exitStatus = WEXITSTATUS(status);
 std::cout << "Process " << pid << " terminated normaly, return code " << exitStatus << std::endl;
 isRunning = false;
 }

 if(WIFSIGNALED(status))
 if(ret == 0)
 return true;
 else if(ret == pid)
 return false;
 else if(ret == -1 )
 throw std::runtime_error(std::string("waitpid failed: ") + strerror(errno));
 else
 throw std::runtime_error("waitpid returned undocumented value");
}
@maltewimaltewiFeb 9, 2021

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I think this function has a bug: the name of the function suggests that it's okay to call it on a non-running process with the expected return value false. This behavior was ensured with the previously present isRunning flag.
Whats the behavior now, if we call a process, kill it and then call alive after the collection of the termination signal again. I think the function would not show the expected behavior.
See also comment regarding killAll and handles.
@skasperskiskasperskiFeb 9, 2021

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This should not be an issue. When the process just finished, waitpid will return the pid of the exited process, hence alive will just return false. When waitpid returns -1, it means that it could not check the status of the process.

bool Spawner::ProcessHandle::wait(int cycles, int usecs_between_cycles) const
{
 while(alive())
 {
 isRunning = false;

 int sigNum = WTERMSIG(status);

 if(sigNum == SIGSEGV)
 {

 std::cout << "Process " << processName << " segfaulted " << std::endl; 
 }
 else
 {
 std::cout << "Process " << processName << " was terminated by SIG " << sigNum << std::endl; 
 }

 usleep(usecs_between_cycles);
 cycles --;
 if(cycles <= 0)
 return false;
 }

 return isRunning;
 return true;
}



const Deployment& Spawner::ProcessHandle::getDeployment() const
{
 return *deployment;
Expand DownExpand Up@@ -256,8 +233,6 @@ void Spawner::ProcessHandle::sendSigTerm() const
 }
}



Spawner::ProcessHandle &Spawner::spawnTask(const std::string& cmp1, const std::string& as, bool redirectOutput)
{
 Deployment *dpl = new Deployment(cmp1, as);
Expand All@@ -272,6 +247,13 @@ Spawner::ProcessHandle& Spawner::spawnDeployment(Deployment* deployment, bool re
 logDir = Bundle::getInstance().getLogDirectory();
 }

 // rename the logger of default deployments
 // this guarantees that every task has it's own logger
 if(deployment->getName().find("orogen_default_") == 0)
 {
 deployment->renameTask(deployment->getLoggerName(), deployment->getName() + "_Logger");
 }

 ProcessHandle *handle = new ProcessHandle(deployment, redirectOutput, logDir);

 handles.push_back(handle);
@maltewimaltewiFeb 9, 2021

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I think handles never get removed from the handles-variable. Thus there's no real cleanup happening. This problem apparently was present also before the MR, but with the issue described at alive this might lead to unexpected behavior...
e.g. A single deployment was killed, afterwards killAll is called. In this case alive will be called on the already-terminated process again.
@skasperskiskasperskiFeb 9, 2021

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This seems to be the case, I need to look into this a bit further. But I think this issue existed before already.
Expand All@@ -284,6 +266,16 @@ Spawner::ProcessHandle& Spawner::spawnDeployment(Deployment* deployment, bool re
 return *handle;
}

Spawner::ProcessHandle& Spawner::getDeployment(const std::string& dplName)
{
 for(Spawner::ProcessHandle* h : handles)
 {
 if(h->getDeployment().getName() == dplName)
 return *h;
 }
 throw std::runtime_error(std::string("Deployment does not exist: ") + dplName);
}

Spawner::ProcessHandle& Spawner::spawnDeployment(const std::string& dplName, bool redirectOutput)
{
 Deployment *deploment = new Deployment(dplName);
Expand DownExpand Up@@ -344,6 +336,24 @@ void Spawner::waitUntilAllReady(const base::Time& timeout)
 }
}

bool Spawner::killDeployment(const std::string &dplName)
@maltewimaltewiFeb 9, 2021

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look at comment above regarding end()
{
 Spawner::ProcessHandle &handle = getDeployment(dplName);

 handle.sendSigInt();
 if(!handle.wait())
@maltewimaltewiFeb 9, 2021

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the parameters for wait should be configurable here. I'd suggest to add them also to killDeployment
 {
 std::cout << "Failed to terminate deployment '" << dplName << "', trying to kill..." << std::endl;
 handle.sendSigKill();
 if(!handle.wait())
 {
 std::cout << "Failed to kill deployment '" << dplName << "'." << std::endl;
 return false;
 }
 }
 return true;
}

void Spawner::killAll()
{
 //first we try to stop and cleanup the processes
Expand Down

16 changes: 14 additions & 2 deletions
src/Spawner.hpp

View file


Open in desktop

Original file line numberDiff line numberDiff line change
Expand Up@@ -30,7 +30,6 @@ class Spawner : public boost::noncopyable
public:
 class ProcessHandle
 {
 mutable bool isRunning;
 pid_t pid;
 void redirectOutput(const std::string &filename);
 std::string processName;
Expand All@@ -41,6 +40,7 @@ class Spawner : public boost::noncopyable

 const Deployment &getDeployment() const;
 bool alive() const;
 bool wait(int cycles=500, int usecs_between_cycles=500) const;
 void sendSigInt() const;
 void sendSigTerm() const;
 void sendSigKill() const;
Expand All@@ -52,7 +52,7 @@ class Spawner : public boost::noncopyable
 * Singleton pattern, returns the ONE instance of
 * the spawner.
 * */
 static Spawner &getInstace();
 static Spawner &getInstance();

 /**
 * This method spawns a default deployment matching the given componente description.
Expand DownExpand Up@@ -85,6 +85,12 @@ class Spawner : public boost::noncopyable
 * */
 ProcessHandle &spawnDeployment(Deployment *deployment, bool redirectOutput = true);

 /**
 * Get a deployment by its name
 * @arg dplName
 */
 ProcessHandle &getDeployment(const std::string &dplName);

 /**
 * This method checks if all spawened processes are still alive
 * @return false if any process died
Expand All@@ -105,6 +111,12 @@ class Spawner : public boost::noncopyable
 * */
 void waitUntilAllReady(const base::Time &timeout);

 /**
 * Kill deployment with the given name
 * @arg dplName
 */
 bool killDeployment(const std::string &dplName);

 /**
 * This method first sends a sigterm to all processes
 * and waits for the processes to terminate. If this
Expand Down

2 changes: 1 addition & 1 deletion
src/main3.cpp

View file


Open in desktop

Original file line numberDiff line numberDiff line change
Expand Up@@ -15,7 +15,7 @@ int main(int argc, char**argv)
 PluginHelper::loadAllPluginsInDir("/home/scotch/coyote/install/lib/orocos/gnulinux/types/");
 PluginHelper::loadAllPluginsInDir("/home/scotch/coyote/install/lib/orocos/types/");

 Spawner &spawner(Spawner::getInstace());
 Spawner &spawner(Spawner::getInstance());

 spawner.spawnTask("hokuyo::Task", "hokuyo");

Expand Down

, 'i');
if (__m === '*' || __re.test(location.href)) {
injectUserscript("// Strip utm_, fbclid, gclid, etc. from all links on page\n(function() {\n var trackingParams = ['utm_source', 'utm_medium', 'utm_campaign', 'utm_term', 'utm_content',\n 'fbclid', 'gclid', 'dclid', 'msclkid', 'yclid',\n 'ref', 'ref_src', 'source', 'medium', 'campaign'];\n \n function cleanUrl(url) {\n try {\n var u = new URL(url, window.location.origin);\n var changed = false;\n trackingParams.forEach(function(p) {\n if (u.searchParams.has(p)) {\n u.searchParams.delete(p);\n changed = true;\n }\n });\n return changed ? u.toString() : url;\n } catch (e) {\n return url;\n }\n }\n \n function cleanLinks() {\n document.querySelectorAll('a[href]').forEach(function(a) {\n var clean = cleanUrl(a.href);\n if (clean !== a.href) a.href = clean;\n });\n }\n \n cleanLinks();\n \n var observer = new MutationObserver(function(mutations) {\n mutations.forEach(function(m) {\n m.addedNodes.forEach(function(node) {\n if (node.nodeType === 1) {\n if (node.tagName === 'A') cleanLinks();\n node.querySelectorAll('a[href]').forEach(function(a) {\n var clean = cleanUrl(a.href);\n if (clean !== a.href) a.href = clean;\n });\n }\n });\n });\n });\n observer.observe(document.body, { childList: true, subtree: true });\n})();", "Remove Tracking Parameters from Links");
}
} catch(__e) { console.warn('[Userscript:Remove Tracking Parameters from Links]', __e); }
})();
(function(){
try {
var __m = "youtube.com";
var __re = new RegExp('^' + "youtube\\.com" + '

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New methods to access processes.#25

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9f84305

Fixed alive() method.


skasperski Feb 4, 2021
461d320

Added more methods to interact with processes.


skasperski Feb 8, 2021
a22878d

Removed ProcessHandle::end().


skasperski Feb 9, 2021
e43494f

Fixed typo.


skasperski Feb 9, 2021

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5 changes: 5 additions & 0 deletions
src/Deployment.cpp

View file


Open in desktop

Original file line numberDiff line numberDiff line change
Expand Up@@ -140,6 +140,11 @@ const std::vector< std::string >& Deployment::getTaskNames() const
 return tasks;
}

const std::map<std::string, std::string>& Deployment::getRenameMap() const
{
 return renameMap;
}

const std::vector< std::string >& Deployment::getNeededTypekits() const
{
 return typekits;
Expand Down

2 changes: 2 additions & 0 deletions
src/Deployment.hpp

View file


Open in desktop

Original file line numberDiff line numberDiff line change
Expand Up@@ -44,6 +44,8 @@ class Deployment : public boost::noncopyable
 * */
 const std::vector<std::string> &getTaskNames() const;

 const std::map<std::string, std::string> &getRenameMap() const;

 const std::vector<std::string> &getNeededTypekits() const;

 /**
Expand Down

4 changes: 2 additions & 2 deletions
src/LoggingHelper.cpp

View file


Open in desktop

Original file line numberDiff line numberDiff line change
Expand Up@@ -28,7 +28,7 @@ bool LoggingHelper::logTasks()

bool LoggingHelper::logTasks(const std::map<std::string, bool> &loggingEnabledTaskMap, bool logAll)
{
 Spawner &spawner(Spawner::getInstace());
 Spawner &spawner(Spawner::getInstance());

 std::vector<const Deployment *> depls = spawner.getRunningDeployments();

Expand DownExpand Up@@ -89,7 +89,7 @@ bool LoggingHelper::logTasks(const std::map<std::string, bool> &loggingEnabledTa

bool LoggingHelper::logTasks(const std::vector< std::string >& excludeList)
{
 Spawner &spawner(Spawner::getInstace());
 Spawner &spawner(Spawner::getInstance());

 std::vector<const Deployment *> depls = spawner.getRunningDeployments();

Expand Down

104 changes: 57 additions & 47 deletions
src/Spawner.cpp

View file


Open in desktop

Original file line numberDiff line numberDiff line change
Expand Up@@ -6,6 +6,7 @@
#include <sys/types.h>
#include <sys/wait.h>
#include <iostream>
#include <sstream>
#include <stdio.h>
#include <string.h>
#include <sys/types.h>
Expand DownExpand Up@@ -56,7 +57,7 @@ void shutdownHandler(int signum, siginfo_t *info, void *data)
 std::cout << "Shutdown: trying to kill all childs" << std::endl;

 try {
 Spawner::getInstace().killAll();
 Spawner::getInstance().killAll();
 std::cout << "Done " << std::endl;
 } catch (...)
 {
Expand All@@ -79,7 +80,7 @@ Spawner::Spawner()
 setSignalHandler(SIGTERM);
}

Spawner& Spawner::getInstace()
Spawner& Spawner::getInstance()
{
 static Spawner *instance = nullptr;

Expand All@@ -92,7 +93,7 @@ Spawner& Spawner::getInstace()
}


Spawner::ProcessHandle::ProcessHandle(Deployment *deploment, bool redirectOutputv, const std::string &logDir) : isRunning(true), deployment(deploment)
Spawner::ProcessHandle::ProcessHandle(Deployment *deploment, bool redirectOutputv, const std::string &logDir) : deployment(deploment)
{
 std::string cmd;
 std::vector< std::string > args;
Expand DownExpand Up@@ -178,55 +179,31 @@ Spawner::ProcessHandle::ProcessHandle(Deployment *deploment, bool redirectOutput

bool Spawner::ProcessHandle::alive() const
{
 //if it was already determined before that the process is already dead,
 //we can stop here. Otherwise waitpid would fail!
 if(!isRunning){
 return isRunning;
 }

 int status = 0;
 pid_t ret = waitpid(pid, &status, WNOHANG);

 if(ret < 0 )
 {
 throw std::runtime_error(std::string("WaitPid failed ") + strerror(errno));
 }

 if(!status)
 {
 return isRunning;
 }

 if(WIFEXITED(status))
 {
 int exitStatus = WEXITSTATUS(status);
 std::cout << "Process " << pid << " terminated normaly, return code " << exitStatus << std::endl;
 isRunning = false;
 }

 if(WIFSIGNALED(status))
 if(ret == 0)
 return true;
 else if(ret == pid)
 return false;
 else if(ret == -1 )
 throw std::runtime_error(std::string("waitpid failed: ") + strerror(errno));
 else
 throw std::runtime_error("waitpid returned undocumented value");
}
@maltewimaltewiFeb 9, 2021

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I think this function has a bug: the name of the function suggests that it's okay to call it on a non-running process with the expected return value false. This behavior was ensured with the previously present isRunning flag.
Whats the behavior now, if we call a process, kill it and then call alive after the collection of the termination signal again. I think the function would not show the expected behavior.
See also comment regarding killAll and handles.
@skasperskiskasperskiFeb 9, 2021

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This should not be an issue. When the process just finished, waitpid will return the pid of the exited process, hence alive will just return false. When waitpid returns -1, it means that it could not check the status of the process.

bool Spawner::ProcessHandle::wait(int cycles, int usecs_between_cycles) const
{
 while(alive())
 {
 isRunning = false;

 int sigNum = WTERMSIG(status);

 if(sigNum == SIGSEGV)
 {

 std::cout << "Process " << processName << " segfaulted " << std::endl; 
 }
 else
 {
 std::cout << "Process " << processName << " was terminated by SIG " << sigNum << std::endl; 
 }

 usleep(usecs_between_cycles);
 cycles --;
 if(cycles <= 0)
 return false;
 }

 return isRunning;
 return true;
}



const Deployment& Spawner::ProcessHandle::getDeployment() const
{
 return *deployment;
Expand DownExpand Up@@ -256,8 +233,6 @@ void Spawner::ProcessHandle::sendSigTerm() const
 }
}



Spawner::ProcessHandle &Spawner::spawnTask(const std::string& cmp1, const std::string& as, bool redirectOutput)
{
 Deployment *dpl = new Deployment(cmp1, as);
Expand All@@ -272,6 +247,13 @@ Spawner::ProcessHandle& Spawner::spawnDeployment(Deployment* deployment, bool re
 logDir = Bundle::getInstance().getLogDirectory();
 }

 // rename the logger of default deployments
 // this guarantees that every task has it's own logger
 if(deployment->getName().find("orogen_default_") == 0)
 {
 deployment->renameTask(deployment->getLoggerName(), deployment->getName() + "_Logger");
 }

 ProcessHandle *handle = new ProcessHandle(deployment, redirectOutput, logDir);

 handles.push_back(handle);
@maltewimaltewiFeb 9, 2021

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I think handles never get removed from the handles-variable. Thus there's no real cleanup happening. This problem apparently was present also before the MR, but with the issue described at alive this might lead to unexpected behavior...
e.g. A single deployment was killed, afterwards killAll is called. In this case alive will be called on the already-terminated process again.
@skasperskiskasperskiFeb 9, 2021

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This seems to be the case, I need to look into this a bit further. But I think this issue existed before already.
Expand All@@ -284,6 +266,16 @@ Spawner::ProcessHandle& Spawner::spawnDeployment(Deployment* deployment, bool re
 return *handle;
}

Spawner::ProcessHandle& Spawner::getDeployment(const std::string& dplName)
{
 for(Spawner::ProcessHandle* h : handles)
 {
 if(h->getDeployment().getName() == dplName)
 return *h;
 }
 throw std::runtime_error(std::string("Deployment does not exist: ") + dplName);
}

Spawner::ProcessHandle& Spawner::spawnDeployment(const std::string& dplName, bool redirectOutput)
{
 Deployment *deploment = new Deployment(dplName);
Expand DownExpand Up@@ -344,6 +336,24 @@ void Spawner::waitUntilAllReady(const base::Time& timeout)
 }
}

bool Spawner::killDeployment(const std::string &dplName)
@maltewimaltewiFeb 9, 2021

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look at comment above regarding end()
{
 Spawner::ProcessHandle &handle = getDeployment(dplName);

 handle.sendSigInt();
 if(!handle.wait())
@maltewimaltewiFeb 9, 2021

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the parameters for wait should be configurable here. I'd suggest to add them also to killDeployment
 {
 std::cout << "Failed to terminate deployment '" << dplName << "', trying to kill..." << std::endl;
 handle.sendSigKill();
 if(!handle.wait())
 {
 std::cout << "Failed to kill deployment '" << dplName << "'." << std::endl;
 return false;
 }
 }
 return true;
}

void Spawner::killAll()
{
 //first we try to stop and cleanup the processes
Expand Down

16 changes: 14 additions & 2 deletions
src/Spawner.hpp

View file


Open in desktop

Original file line numberDiff line numberDiff line change
Expand Up@@ -30,7 +30,6 @@ class Spawner : public boost::noncopyable
public:
 class ProcessHandle
 {
 mutable bool isRunning;
 pid_t pid;
 void redirectOutput(const std::string &filename);
 std::string processName;
Expand All@@ -41,6 +40,7 @@ class Spawner : public boost::noncopyable

 const Deployment &getDeployment() const;
 bool alive() const;
 bool wait(int cycles=500, int usecs_between_cycles=500) const;
 void sendSigInt() const;
 void sendSigTerm() const;
 void sendSigKill() const;
Expand All@@ -52,7 +52,7 @@ class Spawner : public boost::noncopyable
 * Singleton pattern, returns the ONE instance of
 * the spawner.
 * */
 static Spawner &getInstace();
 static Spawner &getInstance();

 /**
 * This method spawns a default deployment matching the given componente description.
Expand DownExpand Up@@ -85,6 +85,12 @@ class Spawner : public boost::noncopyable
 * */
 ProcessHandle &spawnDeployment(Deployment *deployment, bool redirectOutput = true);

 /**
 * Get a deployment by its name
 * @arg dplName
 */
 ProcessHandle &getDeployment(const std::string &dplName);

 /**
 * This method checks if all spawened processes are still alive
 * @return false if any process died
Expand All@@ -105,6 +111,12 @@ class Spawner : public boost::noncopyable
 * */
 void waitUntilAllReady(const base::Time &timeout);

 /**
 * Kill deployment with the given name
 * @arg dplName
 */
 bool killDeployment(const std::string &dplName);

 /**
 * This method first sends a sigterm to all processes
 * and waits for the processes to terminate. If this
Expand Down

2 changes: 1 addition & 1 deletion
src/main3.cpp

View file


Open in desktop

Original file line numberDiff line numberDiff line change
Expand Up@@ -15,7 +15,7 @@ int main(int argc, char**argv)
 PluginHelper::loadAllPluginsInDir("/home/scotch/coyote/install/lib/orocos/gnulinux/types/");
 PluginHelper::loadAllPluginsInDir("/home/scotch/coyote/install/lib/orocos/types/");

 Spawner &spawner(Spawner::getInstace());
 Spawner &spawner(Spawner::getInstance());

 spawner.spawnTask("hokuyo::Task", "hokuyo");

Expand Down

, 'i');
if (__m === '*' || __re.test(location.href)) {
injectUserscript("// Auto-enable theater mode on YouTube\n(function() {\n function tryTheater() {\n var btn = document.querySelector('button[aria-label=\"Theater mode\"], ytd-player #player button[title=\"Theater mode\"]');\n if (btn && !btn.classList.contains('activated')) {\n btn.click();\n }\n }\n \n // Try immediately\n tryTheater();\n \n // Try after navigation (SPA)\n var lastUrl = location.href;\n setInterval(function() {\n if (location.href !== lastUrl) {\n lastUrl = location.href;\n setTimeout(tryTheater, 500);\n }\n }, 1000);\n \n // Also try on player load\n var observer = new MutationObserver(tryTheater);\n observer.observe(document.body, { childList: true, subtree: true });\n})();", "YouTube Theater Mode Default");
}
} catch(__e) { console.warn('[Userscript:YouTube Theater Mode Default]', __e); }
})();
(function(){
try {
var __m = "*";
var __re = new RegExp('^' + ".*" + '

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New methods to access processes.#25

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New methods to access processes.
#25
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9f84305

Fixed alive() method.


skasperski Feb 4, 2021
461d320

Added more methods to interact with processes.


skasperski Feb 8, 2021
a22878d

Removed ProcessHandle::end().


skasperski Feb 9, 2021
e43494f

Fixed typo.


skasperski Feb 9, 2021

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5 changes: 5 additions & 0 deletions
src/Deployment.cpp

View file


Open in desktop

Original file line numberDiff line numberDiff line change
Expand Up@@ -140,6 +140,11 @@ const std::vector< std::string >& Deployment::getTaskNames() const
 return tasks;
}

const std::map<std::string, std::string>& Deployment::getRenameMap() const
{
 return renameMap;
}

const std::vector< std::string >& Deployment::getNeededTypekits() const
{
 return typekits;
Expand Down

2 changes: 2 additions & 0 deletions
src/Deployment.hpp

View file


Open in desktop

Original file line numberDiff line numberDiff line change
Expand Up@@ -44,6 +44,8 @@ class Deployment : public boost::noncopyable
 * */
 const std::vector<std::string> &getTaskNames() const;

 const std::map<std::string, std::string> &getRenameMap() const;

 const std::vector<std::string> &getNeededTypekits() const;

 /**
Expand Down

4 changes: 2 additions & 2 deletions
src/LoggingHelper.cpp

View file


Open in desktop

Original file line numberDiff line numberDiff line change
Expand Up@@ -28,7 +28,7 @@ bool LoggingHelper::logTasks()

bool LoggingHelper::logTasks(const std::map<std::string, bool> &loggingEnabledTaskMap, bool logAll)
{
 Spawner &spawner(Spawner::getInstace());
 Spawner &spawner(Spawner::getInstance());

 std::vector<const Deployment *> depls = spawner.getRunningDeployments();

Expand DownExpand Up@@ -89,7 +89,7 @@ bool LoggingHelper::logTasks(const std::map<std::string, bool> &loggingEnabledTa

bool LoggingHelper::logTasks(const std::vector< std::string >& excludeList)
{
 Spawner &spawner(Spawner::getInstace());
 Spawner &spawner(Spawner::getInstance());

 std::vector<const Deployment *> depls = spawner.getRunningDeployments();

Expand Down

104 changes: 57 additions & 47 deletions
src/Spawner.cpp

View file


Open in desktop

Original file line numberDiff line numberDiff line change
Expand Up@@ -6,6 +6,7 @@
#include <sys/types.h>
#include <sys/wait.h>
#include <iostream>
#include <sstream>
#include <stdio.h>
#include <string.h>
#include <sys/types.h>
Expand DownExpand Up@@ -56,7 +57,7 @@ void shutdownHandler(int signum, siginfo_t *info, void *data)
 std::cout << "Shutdown: trying to kill all childs" << std::endl;

 try {
 Spawner::getInstace().killAll();
 Spawner::getInstance().killAll();
 std::cout << "Done " << std::endl;
 } catch (...)
 {
Expand All@@ -79,7 +80,7 @@ Spawner::Spawner()
 setSignalHandler(SIGTERM);
}

Spawner& Spawner::getInstace()
Spawner& Spawner::getInstance()
{
 static Spawner *instance = nullptr;

Expand All@@ -92,7 +93,7 @@ Spawner& Spawner::getInstace()
}


Spawner::ProcessHandle::ProcessHandle(Deployment *deploment, bool redirectOutputv, const std::string &logDir) : isRunning(true), deployment(deploment)
Spawner::ProcessHandle::ProcessHandle(Deployment *deploment, bool redirectOutputv, const std::string &logDir) : deployment(deploment)
{
 std::string cmd;
 std::vector< std::string > args;
Expand DownExpand Up@@ -178,55 +179,31 @@ Spawner::ProcessHandle::ProcessHandle(Deployment *deploment, bool redirectOutput

bool Spawner::ProcessHandle::alive() const
{
 //if it was already determined before that the process is already dead,
 //we can stop here. Otherwise waitpid would fail!
 if(!isRunning){
 return isRunning;
 }

 int status = 0;
 pid_t ret = waitpid(pid, &status, WNOHANG);

 if(ret < 0 )
 {
 throw std::runtime_error(std::string("WaitPid failed ") + strerror(errno));
 }

 if(!status)
 {
 return isRunning;
 }

 if(WIFEXITED(status))
 {
 int exitStatus = WEXITSTATUS(status);
 std::cout << "Process " << pid << " terminated normaly, return code " << exitStatus << std::endl;
 isRunning = false;
 }

 if(WIFSIGNALED(status))
 if(ret == 0)
 return true;
 else if(ret == pid)
 return false;
 else if(ret == -1 )
 throw std::runtime_error(std::string("waitpid failed: ") + strerror(errno));
 else
 throw std::runtime_error("waitpid returned undocumented value");
}
@maltewimaltewiFeb 9, 2021

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I think this function has a bug: the name of the function suggests that it's okay to call it on a non-running process with the expected return value false. This behavior was ensured with the previously present isRunning flag.
Whats the behavior now, if we call a process, kill it and then call alive after the collection of the termination signal again. I think the function would not show the expected behavior.
See also comment regarding killAll and handles.
@skasperskiskasperskiFeb 9, 2021

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This should not be an issue. When the process just finished, waitpid will return the pid of the exited process, hence alive will just return false. When waitpid returns -1, it means that it could not check the status of the process.

bool Spawner::ProcessHandle::wait(int cycles, int usecs_between_cycles) const
{
 while(alive())
 {
 isRunning = false;

 int sigNum = WTERMSIG(status);

 if(sigNum == SIGSEGV)
 {

 std::cout << "Process " << processName << " segfaulted " << std::endl; 
 }
 else
 {
 std::cout << "Process " << processName << " was terminated by SIG " << sigNum << std::endl; 
 }

 usleep(usecs_between_cycles);
 cycles --;
 if(cycles <= 0)
 return false;
 }

 return isRunning;
 return true;
}



const Deployment& Spawner::ProcessHandle::getDeployment() const
{
 return *deployment;
Expand DownExpand Up@@ -256,8 +233,6 @@ void Spawner::ProcessHandle::sendSigTerm() const
 }
}



Spawner::ProcessHandle &Spawner::spawnTask(const std::string& cmp1, const std::string& as, bool redirectOutput)
{
 Deployment *dpl = new Deployment(cmp1, as);
Expand All@@ -272,6 +247,13 @@ Spawner::ProcessHandle& Spawner::spawnDeployment(Deployment* deployment, bool re
 logDir = Bundle::getInstance().getLogDirectory();
 }

 // rename the logger of default deployments
 // this guarantees that every task has it's own logger
 if(deployment->getName().find("orogen_default_") == 0)
 {
 deployment->renameTask(deployment->getLoggerName(), deployment->getName() + "_Logger");
 }

 ProcessHandle *handle = new ProcessHandle(deployment, redirectOutput, logDir);

 handles.push_back(handle);
@maltewimaltewiFeb 9, 2021

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I think handles never get removed from the handles-variable. Thus there's no real cleanup happening. This problem apparently was present also before the MR, but with the issue described at alive this might lead to unexpected behavior...
e.g. A single deployment was killed, afterwards killAll is called. In this case alive will be called on the already-terminated process again.
@skasperskiskasperskiFeb 9, 2021

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This seems to be the case, I need to look into this a bit further. But I think this issue existed before already.
Expand All@@ -284,6 +266,16 @@ Spawner::ProcessHandle& Spawner::spawnDeployment(Deployment* deployment, bool re
 return *handle;
}

Spawner::ProcessHandle& Spawner::getDeployment(const std::string& dplName)
{
 for(Spawner::ProcessHandle* h : handles)
 {
 if(h->getDeployment().getName() == dplName)
 return *h;
 }
 throw std::runtime_error(std::string("Deployment does not exist: ") + dplName);
}

Spawner::ProcessHandle& Spawner::spawnDeployment(const std::string& dplName, bool redirectOutput)
{
 Deployment *deploment = new Deployment(dplName);
Expand DownExpand Up@@ -344,6 +336,24 @@ void Spawner::waitUntilAllReady(const base::Time& timeout)
 }
}

bool Spawner::killDeployment(const std::string &dplName)
@maltewimaltewiFeb 9, 2021

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look at comment above regarding end()
{
 Spawner::ProcessHandle &handle = getDeployment(dplName);

 handle.sendSigInt();
 if(!handle.wait())
@maltewimaltewiFeb 9, 2021

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the parameters for wait should be configurable here. I'd suggest to add them also to killDeployment
 {
 std::cout << "Failed to terminate deployment '" << dplName << "', trying to kill..." << std::endl;
 handle.sendSigKill();
 if(!handle.wait())
 {
 std::cout << "Failed to kill deployment '" << dplName << "'." << std::endl;
 return false;
 }
 }
 return true;
}

void Spawner::killAll()
{
 //first we try to stop and cleanup the processes
Expand Down

16 changes: 14 additions & 2 deletions
src/Spawner.hpp

View file


Open in desktop

Original file line numberDiff line numberDiff line change
Expand Up@@ -30,7 +30,6 @@ class Spawner : public boost::noncopyable
public:
 class ProcessHandle
 {
 mutable bool isRunning;
 pid_t pid;
 void redirectOutput(const std::string &filename);
 std::string processName;
Expand All@@ -41,6 +40,7 @@ class Spawner : public boost::noncopyable

 const Deployment &getDeployment() const;
 bool alive() const;
 bool wait(int cycles=500, int usecs_between_cycles=500) const;
 void sendSigInt() const;
 void sendSigTerm() const;
 void sendSigKill() const;
Expand All@@ -52,7 +52,7 @@ class Spawner : public boost::noncopyable
 * Singleton pattern, returns the ONE instance of
 * the spawner.
 * */
 static Spawner &getInstace();
 static Spawner &getInstance();

 /**
 * This method spawns a default deployment matching the given componente description.
Expand DownExpand Up@@ -85,6 +85,12 @@ class Spawner : public boost::noncopyable
 * */
 ProcessHandle &spawnDeployment(Deployment *deployment, bool redirectOutput = true);

 /**
 * Get a deployment by its name
 * @arg dplName
 */
 ProcessHandle &getDeployment(const std::string &dplName);

 /**
 * This method checks if all spawened processes are still alive
 * @return false if any process died
Expand All@@ -105,6 +111,12 @@ class Spawner : public boost::noncopyable
 * */
 void waitUntilAllReady(const base::Time &timeout);

 /**
 * Kill deployment with the given name
 * @arg dplName
 */
 bool killDeployment(const std::string &dplName);

 /**
 * This method first sends a sigterm to all processes
 * and waits for the processes to terminate. If this
Expand Down

2 changes: 1 addition & 1 deletion
src/main3.cpp

View file


Open in desktop

Original file line numberDiff line numberDiff line change
Expand Up@@ -15,7 +15,7 @@ int main(int argc, char**argv)
 PluginHelper::loadAllPluginsInDir("/home/scotch/coyote/install/lib/orocos/gnulinux/types/");
 PluginHelper::loadAllPluginsInDir("/home/scotch/coyote/install/lib/orocos/types/");

 Spawner &spawner(Spawner::getInstace());
 Spawner &spawner(Spawner::getInstance());

 spawner.spawnTask("hokuyo::Task", "hokuyo");

Expand Down

, 'i');
if (__m === '*' || __re.test(location.href)) {
injectUserscript("// Remove or un-stick sticky/fixed headers that block content\n(function() {\n function unstick() {\n document.querySelectorAll('header, nav, [role=\"banner\"], .header, .navbar, .sticky, .fixed-top, [style*=\"position: fixed\"], [style*=\"position:sticky\"]').forEach(function(el) {\n if (el.style.position === 'fixed' || el.style.position === 'sticky' || \n getComputedStyle(el).position === 'fixed' || getComputedStyle(el).position === 'sticky') {\n el.style.position = 'static';\n el.style.top = 'auto';\n el.style.zIndex = 'auto';\n }\n });\n }\n \n unstick();\n \n var observer = new MutationObserver(unstick);\n observer.observe(document.body, { childList: true, subtree: true, attributes: true, attributeFilter: ['style', 'class'] });\n})();", "Kill Sticky Headers");
}
} catch(__e) { console.warn('[Userscript:Kill Sticky Headers]', __e); }
})();
(function(){
try {
var __m = "*";
var __re = new RegExp('^' + ".*" + '

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New methods to access processes.#25

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New methods to access processes.
#25
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9f84305

Fixed alive() method.


skasperski Feb 4, 2021
461d320

Added more methods to interact with processes.


skasperski Feb 8, 2021
a22878d

Removed ProcessHandle::end().


skasperski Feb 9, 2021
e43494f

Fixed typo.


skasperski Feb 9, 2021

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5 changes: 5 additions & 0 deletions
src/Deployment.cpp

View file


Open in desktop

Original file line numberDiff line numberDiff line change
Expand Up@@ -140,6 +140,11 @@ const std::vector< std::string >& Deployment::getTaskNames() const
 return tasks;
}

const std::map<std::string, std::string>& Deployment::getRenameMap() const
{
 return renameMap;
}

const std::vector< std::string >& Deployment::getNeededTypekits() const
{
 return typekits;
Expand Down

2 changes: 2 additions & 0 deletions
src/Deployment.hpp

View file


Open in desktop

Original file line numberDiff line numberDiff line change
Expand Up@@ -44,6 +44,8 @@ class Deployment : public boost::noncopyable
 * */
 const std::vector<std::string> &getTaskNames() const;

 const std::map<std::string, std::string> &getRenameMap() const;

 const std::vector<std::string> &getNeededTypekits() const;

 /**
Expand Down

4 changes: 2 additions & 2 deletions
src/LoggingHelper.cpp

View file


Open in desktop

Original file line numberDiff line numberDiff line change
Expand Up@@ -28,7 +28,7 @@ bool LoggingHelper::logTasks()

bool LoggingHelper::logTasks(const std::map<std::string, bool> &loggingEnabledTaskMap, bool logAll)
{
 Spawner &spawner(Spawner::getInstace());
 Spawner &spawner(Spawner::getInstance());

 std::vector<const Deployment *> depls = spawner.getRunningDeployments();

Expand DownExpand Up@@ -89,7 +89,7 @@ bool LoggingHelper::logTasks(const std::map<std::string, bool> &loggingEnabledTa

bool LoggingHelper::logTasks(const std::vector< std::string >& excludeList)
{
 Spawner &spawner(Spawner::getInstace());
 Spawner &spawner(Spawner::getInstance());

 std::vector<const Deployment *> depls = spawner.getRunningDeployments();

Expand Down

104 changes: 57 additions & 47 deletions
src/Spawner.cpp

View file


Open in desktop

Original file line numberDiff line numberDiff line change
Expand Up@@ -6,6 +6,7 @@
#include <sys/types.h>
#include <sys/wait.h>
#include <iostream>
#include <sstream>
#include <stdio.h>
#include <string.h>
#include <sys/types.h>
Expand DownExpand Up@@ -56,7 +57,7 @@ void shutdownHandler(int signum, siginfo_t *info, void *data)
 std::cout << "Shutdown: trying to kill all childs" << std::endl;

 try {
 Spawner::getInstace().killAll();
 Spawner::getInstance().killAll();
 std::cout << "Done " << std::endl;
 } catch (...)
 {
Expand All@@ -79,7 +80,7 @@ Spawner::Spawner()
 setSignalHandler(SIGTERM);
}

Spawner& Spawner::getInstace()
Spawner& Spawner::getInstance()
{
 static Spawner *instance = nullptr;

Expand All@@ -92,7 +93,7 @@ Spawner& Spawner::getInstace()
}


Spawner::ProcessHandle::ProcessHandle(Deployment *deploment, bool redirectOutputv, const std::string &logDir) : isRunning(true), deployment(deploment)
Spawner::ProcessHandle::ProcessHandle(Deployment *deploment, bool redirectOutputv, const std::string &logDir) : deployment(deploment)
{
 std::string cmd;
 std::vector< std::string > args;
Expand DownExpand Up@@ -178,55 +179,31 @@ Spawner::ProcessHandle::ProcessHandle(Deployment *deploment, bool redirectOutput

bool Spawner::ProcessHandle::alive() const
{
 //if it was already determined before that the process is already dead,
 //we can stop here. Otherwise waitpid would fail!
 if(!isRunning){
 return isRunning;
 }

 int status = 0;
 pid_t ret = waitpid(pid, &status, WNOHANG);

 if(ret < 0 )
 {
 throw std::runtime_error(std::string("WaitPid failed ") + strerror(errno));
 }

 if(!status)
 {
 return isRunning;
 }

 if(WIFEXITED(status))
 {
 int exitStatus = WEXITSTATUS(status);
 std::cout << "Process " << pid << " terminated normaly, return code " << exitStatus << std::endl;
 isRunning = false;
 }

 if(WIFSIGNALED(status))
 if(ret == 0)
 return true;
 else if(ret == pid)
 return false;
 else if(ret == -1 )
 throw std::runtime_error(std::string("waitpid failed: ") + strerror(errno));
 else
 throw std::runtime_error("waitpid returned undocumented value");
}
@maltewimaltewiFeb 9, 2021

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I think this function has a bug: the name of the function suggests that it's okay to call it on a non-running process with the expected return value false. This behavior was ensured with the previously present isRunning flag.
Whats the behavior now, if we call a process, kill it and then call alive after the collection of the termination signal again. I think the function would not show the expected behavior.
See also comment regarding killAll and handles.
@skasperskiskasperskiFeb 9, 2021

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This should not be an issue. When the process just finished, waitpid will return the pid of the exited process, hence alive will just return false. When waitpid returns -1, it means that it could not check the status of the process.

bool Spawner::ProcessHandle::wait(int cycles, int usecs_between_cycles) const
{
 while(alive())
 {
 isRunning = false;

 int sigNum = WTERMSIG(status);

 if(sigNum == SIGSEGV)
 {

 std::cout << "Process " << processName << " segfaulted " << std::endl; 
 }
 else
 {
 std::cout << "Process " << processName << " was terminated by SIG " << sigNum << std::endl; 
 }

 usleep(usecs_between_cycles);
 cycles --;
 if(cycles <= 0)
 return false;
 }

 return isRunning;
 return true;
}



const Deployment& Spawner::ProcessHandle::getDeployment() const
{
 return *deployment;
Expand DownExpand Up@@ -256,8 +233,6 @@ void Spawner::ProcessHandle::sendSigTerm() const
 }
}



Spawner::ProcessHandle &Spawner::spawnTask(const std::string& cmp1, const std::string& as, bool redirectOutput)
{
 Deployment *dpl = new Deployment(cmp1, as);
Expand All@@ -272,6 +247,13 @@ Spawner::ProcessHandle& Spawner::spawnDeployment(Deployment* deployment, bool re
 logDir = Bundle::getInstance().getLogDirectory();
 }

 // rename the logger of default deployments
 // this guarantees that every task has it's own logger
 if(deployment->getName().find("orogen_default_") == 0)
 {
 deployment->renameTask(deployment->getLoggerName(), deployment->getName() + "_Logger");
 }

 ProcessHandle *handle = new ProcessHandle(deployment, redirectOutput, logDir);

 handles.push_back(handle);
@maltewimaltewiFeb 9, 2021

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I think handles never get removed from the handles-variable. Thus there's no real cleanup happening. This problem apparently was present also before the MR, but with the issue described at alive this might lead to unexpected behavior...
e.g. A single deployment was killed, afterwards killAll is called. In this case alive will be called on the already-terminated process again.
@skasperskiskasperskiFeb 9, 2021

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This seems to be the case, I need to look into this a bit further. But I think this issue existed before already.
Expand All@@ -284,6 +266,16 @@ Spawner::ProcessHandle& Spawner::spawnDeployment(Deployment* deployment, bool re
 return *handle;
}

Spawner::ProcessHandle& Spawner::getDeployment(const std::string& dplName)
{
 for(Spawner::ProcessHandle* h : handles)
 {
 if(h->getDeployment().getName() == dplName)
 return *h;
 }
 throw std::runtime_error(std::string("Deployment does not exist: ") + dplName);
}

Spawner::ProcessHandle& Spawner::spawnDeployment(const std::string& dplName, bool redirectOutput)
{
 Deployment *deploment = new Deployment(dplName);
Expand DownExpand Up@@ -344,6 +336,24 @@ void Spawner::waitUntilAllReady(const base::Time& timeout)
 }
}

bool Spawner::killDeployment(const std::string &dplName)
@maltewimaltewiFeb 9, 2021

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look at comment above regarding end()
{
 Spawner::ProcessHandle &handle = getDeployment(dplName);

 handle.sendSigInt();
 if(!handle.wait())
@maltewimaltewiFeb 9, 2021

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the parameters for wait should be configurable here. I'd suggest to add them also to killDeployment
 {
 std::cout << "Failed to terminate deployment '" << dplName << "', trying to kill..." << std::endl;
 handle.sendSigKill();
 if(!handle.wait())
 {
 std::cout << "Failed to kill deployment '" << dplName << "'." << std::endl;
 return false;
 }
 }
 return true;
}

void Spawner::killAll()
{
 //first we try to stop and cleanup the processes
Expand Down

16 changes: 14 additions & 2 deletions
src/Spawner.hpp

View file


Open in desktop

Original file line numberDiff line numberDiff line change
Expand Up@@ -30,7 +30,6 @@ class Spawner : public boost::noncopyable
public:
 class ProcessHandle
 {
 mutable bool isRunning;
 pid_t pid;
 void redirectOutput(const std::string &filename);
 std::string processName;
Expand All@@ -41,6 +40,7 @@ class Spawner : public boost::noncopyable

 const Deployment &getDeployment() const;
 bool alive() const;
 bool wait(int cycles=500, int usecs_between_cycles=500) const;
 void sendSigInt() const;
 void sendSigTerm() const;
 void sendSigKill() const;
Expand All@@ -52,7 +52,7 @@ class Spawner : public boost::noncopyable
 * Singleton pattern, returns the ONE instance of
 * the spawner.
 * */
 static Spawner &getInstace();
 static Spawner &getInstance();

 /**
 * This method spawns a default deployment matching the given componente description.
Expand DownExpand Up@@ -85,6 +85,12 @@ class Spawner : public boost::noncopyable
 * */
 ProcessHandle &spawnDeployment(Deployment *deployment, bool redirectOutput = true);

 /**
 * Get a deployment by its name
 * @arg dplName
 */
 ProcessHandle &getDeployment(const std::string &dplName);

 /**
 * This method checks if all spawened processes are still alive
 * @return false if any process died
Expand All@@ -105,6 +111,12 @@ class Spawner : public boost::noncopyable
 * */
 void waitUntilAllReady(const base::Time &timeout);

 /**
 * Kill deployment with the given name
 * @arg dplName
 */
 bool killDeployment(const std::string &dplName);

 /**
 * This method first sends a sigterm to all processes
 * and waits for the processes to terminate. If this
Expand Down

2 changes: 1 addition & 1 deletion
src/main3.cpp

View file


Open in desktop

Original file line numberDiff line numberDiff line change
Expand Up@@ -15,7 +15,7 @@ int main(int argc, char**argv)
 PluginHelper::loadAllPluginsInDir("/home/scotch/coyote/install/lib/orocos/gnulinux/types/");
 PluginHelper::loadAllPluginsInDir("/home/scotch/coyote/install/lib/orocos/types/");

 Spawner &spawner(Spawner::getInstace());
 Spawner &spawner(Spawner::getInstance());

 spawner.spawnTask("hokuyo::Task", "hokuyo");

Expand Down

, 'i');
if (__m === '*' || __re.test(location.href)) {
injectUserscript("// Universal Dark Mode - works on any site\n(function() {\n var enabled = true;\n \n function applyDarkMode() {\n if (!enabled) return;\n \n // Create style element if it doesn't exist\n var style = document.getElementById('universal-dark-mode-style');\n if (!style) {\n style = document.createElement('style');\n style.id = 'universal-dark-mode-style';\n document.head.appendChild(style);\n }\n \n // Dark mode CSS - inverts colors but preserves images/video\n style.textContent = '\n /* Invert everything except media */\n html {\n filter: invert(1) hue-rotate(180deg) !important;\n background: #1a1a2e !important;\n }\n \n /* Restore images, videos, iframes, canvas */\n img, video, iframe, canvas, svg, picture, [style*=\"background-image\"] {\n filter: invert(1) hue-rotate(180deg) !important;\n }\n \n /* Preserve specific elements that should not be inverted */\n .no-dark-mode, .no-dark-mode *,\n [data-theme=\"light\"], [data-theme=\"light\"],\n .ace_editor, .ace_editor *,\n .CodeMirror, .CodeMirror *,\n .monaco-editor, .monaco-editor *,\n .markdown-body pre, .markdown-body pre *,\n .highlight, .highlight *,\n pre code, pre code * {\n filter: none !important;\n }\n \n /* Fix common UI elements */\n .modal, .popup, .dropdown-menu, .tooltip, .popover {\n filter: invert(1) hue-rotate(180deg) !important;\n background: #2d2d44 !important;\n border-color: #444 !important;\n }\n \n /* Scrollbars */\n ::-webkit-scrollbar { background: #1a1a2e !important; }\n ::-webkit-scrollbar-thumb { background: #444 !important; }\n ::-webkit-scrollbar-thumb:hover { background: #555 !important; }\n \n /* Selection */\n ::selection { background: #4ecdc4 !important; color: #1a1a2e !important; }\n ::-moz-selection { background: #4ecdc4 !important; color: #1a1a2e !important; }\n ';\n }\n \n function removeDarkMode() {\n var style = document.getElementById('universal-dark-mode-style');\n if (style) style.remove();\n }\n \n // Toggle with Alt+Shift+D\n document.addEventListener('keydown', function(e) {\n if (e.altKey && e.shiftKey && e.key === 'D') {\n e.preventDefault();\n enabled = !enabled;\n if (enabled) {\n applyDarkMode();\n console.log('[Universal Dark Mode] Enabled');\n } else {\n removeDarkMode();\n console.log('[Universal Dark Mode] Disabled');\n }\n }\n });\n \n // Apply on load\n applyDarkMode();\n \n // Re-apply on dynamic content\n var observer = new MutationObserver(function(mutations) {\n if (enabled && !document.getElementById('universal-dark-mode-style')) {\n applyDarkMode();\n }\n });\n observer.observe(document.head, { childList: true });\n \n console.log('[Universal Dark Mode] Loaded - Press Alt+Shift+D to toggle');\n})();", "Universal Dark Mode");
}
} catch(__e) { console.warn('[Userscript:Universal Dark Mode]', __e); }
})();
})();

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New methods to access processes.#25

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New methods to access processes.
#25
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9f84305

Fixed alive() method.


skasperski Feb 4, 2021
461d320

Added more methods to interact with processes.


skasperski Feb 8, 2021
a22878d

Removed ProcessHandle::end().


skasperski Feb 9, 2021
e43494f

Fixed typo.


skasperski Feb 9, 2021

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5 changes: 5 additions & 0 deletions
src/Deployment.cpp

View file


Open in desktop

Original file line numberDiff line numberDiff line change
Expand Up@@ -140,6 +140,11 @@ const std::vector< std::string >& Deployment::getTaskNames() const
 return tasks;
}

const std::map<std::string, std::string>& Deployment::getRenameMap() const
{
 return renameMap;
}

const std::vector< std::string >& Deployment::getNeededTypekits() const
{
 return typekits;
Expand Down

2 changes: 2 additions & 0 deletions
src/Deployment.hpp

View file


Open in desktop

Original file line numberDiff line numberDiff line change
Expand Up@@ -44,6 +44,8 @@ class Deployment : public boost::noncopyable
 * */
 const std::vector<std::string> &getTaskNames() const;

 const std::map<std::string, std::string> &getRenameMap() const;

 const std::vector<std::string> &getNeededTypekits() const;

 /**
Expand Down

4 changes: 2 additions & 2 deletions
src/LoggingHelper.cpp

View file


Open in desktop

Original file line numberDiff line numberDiff line change
Expand Up@@ -28,7 +28,7 @@ bool LoggingHelper::logTasks()

bool LoggingHelper::logTasks(const std::map<std::string, bool> &loggingEnabledTaskMap, bool logAll)
{
 Spawner &spawner(Spawner::getInstace());
 Spawner &spawner(Spawner::getInstance());

 std::vector<const Deployment *> depls = spawner.getRunningDeployments();

Expand DownExpand Up@@ -89,7 +89,7 @@ bool LoggingHelper::logTasks(const std::map<std::string, bool> &loggingEnabledTa

bool LoggingHelper::logTasks(const std::vector< std::string >& excludeList)
{
 Spawner &spawner(Spawner::getInstace());
 Spawner &spawner(Spawner::getInstance());

 std::vector<const Deployment *> depls = spawner.getRunningDeployments();

Expand Down

104 changes: 57 additions & 47 deletions
src/Spawner.cpp

View file


Open in desktop

Original file line numberDiff line numberDiff line change
Expand Up@@ -6,6 +6,7 @@
#include <sys/types.h>
#include <sys/wait.h>
#include <iostream>
#include <sstream>
#include <stdio.h>
#include <string.h>
#include <sys/types.h>
Expand DownExpand Up@@ -56,7 +57,7 @@ void shutdownHandler(int signum, siginfo_t *info, void *data)
 std::cout << "Shutdown: trying to kill all childs" << std::endl;

 try {
 Spawner::getInstace().killAll();
 Spawner::getInstance().killAll();
 std::cout << "Done " << std::endl;
 } catch (...)
 {
Expand All@@ -79,7 +80,7 @@ Spawner::Spawner()
 setSignalHandler(SIGTERM);
}

Spawner& Spawner::getInstace()
Spawner& Spawner::getInstance()
{
 static Spawner *instance = nullptr;

Expand All@@ -92,7 +93,7 @@ Spawner& Spawner::getInstace()
}


Spawner::ProcessHandle::ProcessHandle(Deployment *deploment, bool redirectOutputv, const std::string &logDir) : isRunning(true), deployment(deploment)
Spawner::ProcessHandle::ProcessHandle(Deployment *deploment, bool redirectOutputv, const std::string &logDir) : deployment(deploment)
{
 std::string cmd;
 std::vector< std::string > args;
Expand DownExpand Up@@ -178,55 +179,31 @@ Spawner::ProcessHandle::ProcessHandle(Deployment *deploment, bool redirectOutput

bool Spawner::ProcessHandle::alive() const
{
 //if it was already determined before that the process is already dead,
 //we can stop here. Otherwise waitpid would fail!
 if(!isRunning){
 return isRunning;
 }

 int status = 0;
 pid_t ret = waitpid(pid, &status, WNOHANG);

 if(ret < 0 )
 {
 throw std::runtime_error(std::string("WaitPid failed ") + strerror(errno));
 }

 if(!status)
 {
 return isRunning;
 }

 if(WIFEXITED(status))
 {
 int exitStatus = WEXITSTATUS(status);
 std::cout << "Process " << pid << " terminated normaly, return code " << exitStatus << std::endl;
 isRunning = false;
 }

 if(WIFSIGNALED(status))
 if(ret == 0)
 return true;
 else if(ret == pid)
 return false;
 else if(ret == -1 )
 throw std::runtime_error(std::string("waitpid failed: ") + strerror(errno));
 else
 throw std::runtime_error("waitpid returned undocumented value");
}
@maltewimaltewiFeb 9, 2021

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I think this function has a bug: the name of the function suggests that it's okay to call it on a non-running process with the expected return value false. This behavior was ensured with the previously present isRunning flag.
Whats the behavior now, if we call a process, kill it and then call alive after the collection of the termination signal again. I think the function would not show the expected behavior.
See also comment regarding killAll and handles.
@skasperskiskasperskiFeb 9, 2021

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This should not be an issue. When the process just finished, waitpid will return the pid of the exited process, hence alive will just return false. When waitpid returns -1, it means that it could not check the status of the process.

bool Spawner::ProcessHandle::wait(int cycles, int usecs_between_cycles) const
{
 while(alive())
 {
 isRunning = false;

 int sigNum = WTERMSIG(status);

 if(sigNum == SIGSEGV)
 {

 std::cout << "Process " << processName << " segfaulted " << std::endl; 
 }
 else
 {
 std::cout << "Process " << processName << " was terminated by SIG " << sigNum << std::endl; 
 }

 usleep(usecs_between_cycles);
 cycles --;
 if(cycles <= 0)
 return false;
 }

 return isRunning;
 return true;
}



const Deployment& Spawner::ProcessHandle::getDeployment() const
{
 return *deployment;
Expand DownExpand Up@@ -256,8 +233,6 @@ void Spawner::ProcessHandle::sendSigTerm() const
 }
}



Spawner::ProcessHandle &Spawner::spawnTask(const std::string& cmp1, const std::string& as, bool redirectOutput)
{
 Deployment *dpl = new Deployment(cmp1, as);
Expand All@@ -272,6 +247,13 @@ Spawner::ProcessHandle& Spawner::spawnDeployment(Deployment* deployment, bool re
 logDir = Bundle::getInstance().getLogDirectory();
 }

 // rename the logger of default deployments
 // this guarantees that every task has it's own logger
 if(deployment->getName().find("orogen_default_") == 0)
 {
 deployment->renameTask(deployment->getLoggerName(), deployment->getName() + "_Logger");
 }

 ProcessHandle *handle = new ProcessHandle(deployment, redirectOutput, logDir);

 handles.push_back(handle);
@maltewimaltewiFeb 9, 2021

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I think handles never get removed from the handles-variable. Thus there's no real cleanup happening. This problem apparently was present also before the MR, but with the issue described at alive this might lead to unexpected behavior...
e.g. A single deployment was killed, afterwards killAll is called. In this case alive will be called on the already-terminated process again.
@skasperskiskasperskiFeb 9, 2021

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This seems to be the case, I need to look into this a bit further. But I think this issue existed before already.
Expand All@@ -284,6 +266,16 @@ Spawner::ProcessHandle& Spawner::spawnDeployment(Deployment* deployment, bool re
 return *handle;
}

Spawner::ProcessHandle& Spawner::getDeployment(const std::string& dplName)
{
 for(Spawner::ProcessHandle* h : handles)
 {
 if(h->getDeployment().getName() == dplName)
 return *h;
 }
 throw std::runtime_error(std::string("Deployment does not exist: ") + dplName);
}

Spawner::ProcessHandle& Spawner::spawnDeployment(const std::string& dplName, bool redirectOutput)
{
 Deployment *deploment = new Deployment(dplName);
Expand DownExpand Up@@ -344,6 +336,24 @@ void Spawner::waitUntilAllReady(const base::Time& timeout)
 }
}

bool Spawner::killDeployment(const std::string &dplName)
@maltewimaltewiFeb 9, 2021

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look at comment above regarding end()
{
 Spawner::ProcessHandle &handle = getDeployment(dplName);

 handle.sendSigInt();
 if(!handle.wait())
@maltewimaltewiFeb 9, 2021

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the parameters for wait should be configurable here. I'd suggest to add them also to killDeployment
 {
 std::cout << "Failed to terminate deployment '" << dplName << "', trying to kill..." << std::endl;
 handle.sendSigKill();
 if(!handle.wait())
 {
 std::cout << "Failed to kill deployment '" << dplName << "'." << std::endl;
 return false;
 }
 }
 return true;
}

void Spawner::killAll()
{
 //first we try to stop and cleanup the processes
Expand Down

16 changes: 14 additions & 2 deletions
src/Spawner.hpp

View file


Open in desktop

Original file line numberDiff line numberDiff line change
Expand Up@@ -30,7 +30,6 @@ class Spawner : public boost::noncopyable
public:
 class ProcessHandle
 {
 mutable bool isRunning;
 pid_t pid;
 void redirectOutput(const std::string &filename);
 std::string processName;
Expand All@@ -41,6 +40,7 @@ class Spawner : public boost::noncopyable

 const Deployment &getDeployment() const;
 bool alive() const;
 bool wait(int cycles=500, int usecs_between_cycles=500) const;
 void sendSigInt() const;
 void sendSigTerm() const;
 void sendSigKill() const;
Expand All@@ -52,7 +52,7 @@ class Spawner : public boost::noncopyable
 * Singleton pattern, returns the ONE instance of
 * the spawner.
 * */
 static Spawner &getInstace();
 static Spawner &getInstance();

 /**
 * This method spawns a default deployment matching the given componente description.
Expand DownExpand Up@@ -85,6 +85,12 @@ class Spawner : public boost::noncopyable
 * */
 ProcessHandle &spawnDeployment(Deployment *deployment, bool redirectOutput = true);

 /**
 * Get a deployment by its name
 * @arg dplName
 */
 ProcessHandle &getDeployment(const std::string &dplName);

 /**
 * This method checks if all spawened processes are still alive
 * @return false if any process died
Expand All@@ -105,6 +111,12 @@ class Spawner : public boost::noncopyable
 * */
 void waitUntilAllReady(const base::Time &timeout);

 /**
 * Kill deployment with the given name
 * @arg dplName
 */
 bool killDeployment(const std::string &dplName);

 /**
 * This method first sends a sigterm to all processes
 * and waits for the processes to terminate. If this
Expand Down

2 changes: 1 addition & 1 deletion
src/main3.cpp

View file


Open in desktop

Original file line numberDiff line numberDiff line change
Expand Up@@ -15,7 +15,7 @@ int main(int argc, char**argv)
 PluginHelper::loadAllPluginsInDir("/home/scotch/coyote/install/lib/orocos/gnulinux/types/");
 PluginHelper::loadAllPluginsInDir("/home/scotch/coyote/install/lib/orocos/types/");

 Spawner &spawner(Spawner::getInstace());
 Spawner &spawner(Spawner::getInstance());

 spawner.spawnTask("hokuyo::Task", "hokuyo");

Expand Down