Run.h

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/*
 * SPDX-FileCopyrightText: 2006-2021 Istituto Italiano di Tecnologia (IIT)
 * SPDX-FileCopyrightText: 2006-2010 RobotCub Consortium
 * SPDX-License-Identifier: BSD-3-Clause
 */
 
#ifndef YARP_RUN_RUN_H
#define YARP_RUN_RUN_H
 
#include <cstring>
#include <yarp/run/api.h>
#include <yarp/os/RpcServer.h>
#include <yarp/os/Property.h>
 
 
class YarpRunInfoVector;
class ZombieHunterThread;
 
 
/*
 * Typical YARP applications consist of several intercommunicating modules distributed on different machines.
 * If a yarprun server is running on each machine, distributed applications can be remotely launched,
 * monitored and terminated by yarprun commands.
 *
 * - To run a yarprun server on a machine:
 *      $ yarprun --server /SERVERPORT
 *
 * /SERVERPORT must be unique and identifies the remote machine.
 *
 * - The basic command to run a command/application on a remote machine is:
 *      $ yarprun --on /SERVERPORT --as TAG --cmd COMMAND [ARGLIST]
 *
 * /SERVERPORT is the name of the server that actually runs the command
 * TAG identifies the application process set, and must be unique
 * COMMAND is the application that has to be executed, followed by the optional argument list
 *
 * Some options can be added to the basic format of yarprun:
 *      $ yarprun --on /SERVERPORT1 --as TAG --cmd COMMAND [ARGLIST] --stdio /SERVERPORT2
 *
 * opens a remote shell window where the stdin, stdout and stderr of the application will be redirected.
 * /SERVERPORT2 specifies the machine where the IO shell will be executed, and can be either a remote machine or
 * be equal to /SERVERPORT1 itself.
 *
 * If --stdio is specified, there are two useful sub-options (linux only):
 * - --hold keep the stdio window open even if the command is terminated or aborted.
 * - --geometry WxH+X+Y set the stdio window size and position. Example: --geometry 320x240+80+20
 *
 * Other yarprun commands:
 *
 * - To terminate an application, the yarprun syntax is:
 *      $ yarprun --on /SERVERPORT --sigterm TAG
 *
 * - To send a signal to an application (usually SIGKILL) use:
 *      $ yarprun --on /SERVERPORT --kill TAG SIGNUM
 *
 * - To terminate all the applications managed by a yarprun server, use:
 *      $ yarprun --on /SERVERPORT --sigtermall
 *
 * - To check if an application is still running on a yarprun server, use:
 *      $ yarprun --on /SERVERPORT --isrunning TAG
 *
 * - To get a report of applications running on a yarprun server, use:
 *      $ yarprun --on /SERVERPORT --ps
 *
 * - To shutdown a yarprun server, use:
 *      $ yarprun --on /SERVERPORT --exit
 *
 */
 
namespace yarp::run {
 
class YARP_run_API Run
{
public:
    // API
 
    static int start(const std::string &node, yarp::os::Property &command, std::string &keyv);
    static int sigterm(const std::string &node, const std::string &keyv);
    static int sigterm(const std::string &node);
    static int kill(const std::string &node, const std::string &keyv, int s);
    // static int ps(const std::string &node, std::string** &processes, int &num_processes);
    static bool isRunning(const std::string &node, std::string &keyv);
 
    // end API
 
    static int client(yarp::os::Property& config);
 
#ifndef DOXYGEN_SHOULD_SKIP_THIS
 
    static int main(int argc, char *argv[]);
    static yarp::os::RpcServer *pServerPort;
 
    static bool mStresstest;
 
    static bool mLogged;
YARP_WARNING_PUSH
YARP_DISABLE_DLL_INTERFACE_WARNING
    static std::string mLoggerPort;
 
#if defined(_WIN32)
    static YarpRunInfoVector mProcessVector;
    static YarpRunInfoVector mStdioVector;
#else
    static YarpRunInfoVector *mProcessVector;
    static YarpRunInfoVector *mStdioVector;
    static ZombieHunterThread *mBraveZombieHunter;
    static void CleanZombie(int pid);
#endif
YARP_WARNING_POP
    static yarp::os::Bottle sendMsg(yarp::os::Bottle& msg, std::string target, int RETRY=20, double DELAY=0.5);
 
protected:
    static void Help(const char* msg="");
    static int server();
    static int executeCmdAndStdio(yarp::os::Bottle& msg, yarp::os::Bottle& result);
    static int executeCmdStdout(yarp::os::Bottle& msg, yarp::os::Bottle& result, std::string& loggerName);
    static int executeCmd(yarp::os::Bottle& msg, yarp::os::Bottle& result);
    static int userStdio(yarp::os::Bottle& msg, yarp::os::Bottle& result);
 
    static inline bool IS_PARENT_OF(int pid){ return pid>0; }
    static inline bool IS_NEW_PROCESS(int pid){ return !pid; }
    static inline bool IS_INVALID(int pid){ return pid<0; }
 
YARP_SUPPRESS_DLL_INTERFACE_WARNING
    static std::string mPortName;
    static int mProcCNT;
 
#if !defined(_WIN32)
    static void cleanBeforeExec();
    static void writeToPipe(int fd, std::string str);
    static int readFromPipe(int fd, char* &data, int& buffsize);
#endif
 
    static void cmdcpy(char* &dst, const char* src)
    {
        dst=new char[(strlen(src)/8+2)*16];
        strcpy(dst, src);
    }
 
    static void cmdclean(char **cmd)
    {
        while (*cmd)
        {
            delete [] *cmd++;
        }
    }
 
#endif /*DOXYGEN_SHOULD_SKIP_THIS*/
};
 
} // namespace yarp::run
 
 
#endif // YARP_RUN_RUN_H