Server::Server() :
m_lockFileName(Config::Instance()->lockFileName),
m_pidFileName(Config::Instance()->pidFileName)
{
pid_t pid, sid, parent;
int lfp = -1;
struct stat sb;
/* already a daemon */
if(getppid() == 1) return;
if(m_lockFileName.size())
{
if (stat(m_lockFileName.c_str(), &sb) != -1)
{
syslog(LOG_INFO, "another process running?");
if( getProcIdByName(__progname) > 0)
{
syslog(LOG_ERR, "exit");
exit(EXIT_FAILURE);
}
else
{
::remove(m_lockFileName.c_str());
}
}
lfp = open(m_lockFileName.c_str(),O_RDWR|O_CREAT,0640);
if(lfp < 0)
{
syslog(LOG_ERR, "unable to create lock file %s, code=%d (%s). exit",
m_lockFileName.c_str(), errno, strerror(errno));
exit(EXIT_FAILURE);
}
}
if(getuid() == 0 || geteuid() == 0)
{
struct passwd *pw = getpwnam(Config::Instance()->asUser.c_str());
if(pw)
{
syslog(LOG_NOTICE, "setting user to %s",Config::Instance()->asUser.c_str());
if(setuid(pw->pw_uid))
syslog(LOG_ERR,"error set uid");
}
}
signal(SIGCHLD,child_handler);
signal(SIGUSR1,child_handler);
signal(SIGALRM,child_handler);
pid = fork();
if(pid < 0)
{
syslog(LOG_ERR, "unable to fork daemon, code=%d (%s). exit", errno, strerror(errno));
exit(EXIT_FAILURE);
}
if(pid > 0)
{
alarm(2);
pause();
exit(EXIT_FAILURE);
}
parent = getppid();
signal(SIGCHLD,SIG_DFL);
signal(SIGTSTP,SIG_IGN);
signal(SIGTTOU,SIG_IGN);
signal(SIGTTIN,SIG_IGN);
signal(SIGHUP, SIG_IGN);
signal(SIGTERM,SIG_DFL);
signal(SIGPIPE,SIG_IGN);
signal(SIGRTMIN,SIG_DFL);
umask(007);
sid = setsid();
if(sid < 0)
{
syslog(LOG_ERR, "unable to create a new session, code %d (%s)",
errno, strerror(errno));
// exit(EXIT_FAILURE);
}
if((chdir("/")) < 0)
{
syslog(LOG_ERR, "unable to change directory to %s, code %d (%s). exit",
"/", errno, strerror(errno));
// exit(EXIT_FAILURE);
}
if(!freopen("/dev/null", "r", stdin))
syslog(LOG_ERR, "unable to change stdin");
if(Config::Instance()->debug)
{
if(freopen(Config::Instance()->debug_file.c_str(), "w", stdout))
syslog(LOG_ERR, "unable to change stdout to:%s",Config::Instance()->debug_file.c_str());
if(!freopen(Config::Instance()->debug_file.c_str(), "w", stderr))
syslog(LOG_ERR, "unable to change stdin %s",Config::Instance()->debug_file.c_str());
printf("start\n");
}
else
{
if(freopen("/dev/null", "w", stdout))
syslog(LOG_ERR, "unable to change stdout");
if(!freopen("/dev/null", "w", stderr))
syslog(LOG_ERR, "unable to change stderr");
kill(parent, SIGUSR1);
}
struct sched_param param;
param.sched_priority = 49;
if(sched_setscheduler(0, SCHED_FIFO, ¶m) == -1)
{
syslog(LOG_ERR,"sched_setscheduler failed");
//exit(-1);
}
if(mlockall(MCL_CURRENT|MCL_FUTURE) == -1)
{
syslog(LOG_ERR,"mlockall failed");
//exit(-2);
}
writePid(m_pidFileName);
syslog(LOG_NOTICE, "staring: done");
}
Process::Process(std::string proc_name)
{
proc_id_ = getProcIdByName(proc_name);
proc_name_= proc_name;
ROS_INFO("%s process id is %i.\n", proc_name.c_str(), proc_id_);
}
