iox-#2330 add notify systemd

.github/actions/install-iceoryx-deps-and-clang/action.yml

@@ -8,7 +8,7 @@ runs:
         sudo wget -O - https://apt.llvm.org/llvm-snapshot.gpg.key | sudo apt-key add -
         sudo add-apt-repository "deb http://apt.llvm.org/focal/ llvm-toolchain-focal-15 main"
         sudo apt-get update
-        sudo apt-get install -y libacl1-dev libncurses5-dev
+        sudo apt-get install -y libacl1-dev libncurses5-dev libsystemd-dev
         sudo apt-get install -y clang-format-15 clang-tidy-15 clang-tools-15 clang-15 lld
         sudo rm /usr/bin/clang
         sudo rm /usr/bin/clang++

iceoryx_meta/build_options.cmake

@@ -39,6 +39,7 @@ option(TOML_CONFIG "TOML support for RouDi with dynamic configuration" ON)
 option(IOX_EXPERIMENTAL_POSH "Export experimental posh features (no guarantees)" OFF)
 option(IOX_IGNORE_32_BIT_CHECK "Ignores the check for 32 bit systems! It is not recommended to turn this on in production systems" OFF)
 option(IOX_REPRODUCIBLE_BUILD "Create reproducible builds by omit setting the build timestamp in the version header" ON)
+option(USE_SYSTEMD "Build with systemd support" OFF)
 
 set(CMAKE_EXPORT_COMPILE_COMMANDS ON) # "Create compile_commands.json file"
 
@@ -99,4 +100,5 @@ function(show_config_options)
   message("          IOX_EXPERIMENTAL_POSH................: " ${IOX_EXPERIMENTAL_POSH})
   message("          IOX_IGNORE_32_BIT_CHECK..............: " ${IOX_IGNORE_32_BIT_CHECK})
   message("          IOX_REPRODUCIBLE_BUILD...............: " ${IOX_REPRODUCIBLE_BUILD})
+  message("          USE_SYSTEMD..........................: " ${USE_SYSTEMD})
 endfunction()

iceoryx_platform/cmake/IceoryxPackageHelper.cmake

@@ -207,7 +207,7 @@ Macro(iox_add_executable)
     if ( QNX )
         target_link_libraries(${IOX_TARGET} ${IOX_LIBS_QNX})
     elseif ( LINUX )
-        target_link_libraries(${IOX_TARGET} ${IOX_LIBS_LINUX})
+        target_link_libraries(${IOX_TARGET} ${IOX_LIBS_LINUX} systemd)
     elseif ( APPLE )
         target_link_libraries(${IOX_TARGET} ${IOX_LIBS_APPLE})
     elseif ( WIN32 )

iceoryx_posh/include/iceoryx_posh/internal/roudi/roudi.hpp

@@ -33,6 +33,7 @@
 #include "iox/smart_lock.hpp"
 
 #include <cstdint>
+#include <systemd/sd-daemon.h>
 #include <thread>
 
 namespace iox
@@ -51,6 +52,8 @@ class RouDi
           PortManager& portManager,
           const config::RouDiConfig& roudiConfig) noexcept;
 
+    static constexpr uint16_t SIZE_ERROR_MESSAGE = 4096;
+
     virtual ~RouDi() noexcept;
 
     /// @brief Triggers the discovery loop to run immediately instead of waiting for the next tick interval
@@ -129,6 +132,7 @@ class RouDi
   private:
     std::thread m_monitoringAndDiscoveryThread;
     std::thread m_handleRuntimeMessageThread;
+    std::thread listen_thread_watchdog; // 8
 
   protected:
     ProcessIntrospectionType m_processIntrospection;

iceoryx_posh/source/roudi/roudi.cpp

@@ -161,6 +161,15 @@ void RouDi::shutdown() noexcept
     // Postpone the IpcChannelThread in order to receive TERMINATION
     m_runHandleRuntimeMessageThread = false;
 
+    /*
+     * This is necessary to prevent the main thread from exiting before
+     * the 'listen_thread_watchdog' has finished, hence ensuring a
+     * proper termination of the entire application.
+     */
+    if (listen_thread_watchdog.joinable()) {
+        listen_thread_watchdog.join();
+    }
+
     if (m_handleRuntimeMessageThread.joinable())
     {
         IOX_LOG(DEBUG, "Joining 'IPC-msg-process' thread...");
@@ -254,6 +263,45 @@ void RouDi::processRuntimeMessages(runtime::IpcInterfaceCreator&& roudiIpcInterf
     IOX_LOG(INFO, "RouDi is ready for clients");
     fflush(stdout); // explicitly flush 'stdout' for 'launch_testing'
 
+    /*
+     * We get information about how they are running. If as a unit, then we launch
+     * watchdog and send a notification about the launch, otherwise we do nothing
+     */
+    const char* invocation_id = std::getenv("INVOCATION_ID");
+    if (invocation_id != nullptr)
+    {
+        IOX_LOG(WARN, "Run APP in unit(systemd)");
+        listen_thread_watchdog = std::thread([this] {
+            if (auto wdres = sd_notify(0, "READY=1") < 0)
+            {
+                std::array<char, SIZE_ERROR_MESSAGE> buf{};
+                strerror_r(-static_cast<int>(wdres), buf.data(), buf.size());
+                IOX_LOG(ERROR, "WatchDogError: " << std::string(buf.data()));
+                return;
+            }
+            IOX_LOG(DEBUG, "WatchDog READY=1");
+
+            IOX_LOG(INFO, "Start watchdog");
+            while (m_runHandleRuntimeMessageThread.load())
+            {
+                if (auto wdres = sd_notify(0, "WATCHDOG=1") < 0)
+                {
+                    std::array<char, SIZE_ERROR_MESSAGE> buf{};
+                    strerror_r(-static_cast<int>(wdres), buf.data(), buf.size());
+                    IOX_LOG(ERROR, "WatchDogError: " << std::string(buf.data()));
+                    return;
+                }
+                std::this_thread::sleep_for(std::chrono::seconds(1));
+            }
+        });
+        if (pthread_setname_np(listen_thread_watchdog.native_handle(), "watchdog") != 0)
+        {
+            std::array<char, SIZE_ERROR_MESSAGE> buf{};
+            strerror_r(errno, buf.data(), buf.size());
+            IOX_LOG(ERROR, "Can not set name for thread watchdog: " << std::string(buf.data()));
+        }
+    }
+
     while (m_runHandleRuntimeMessageThread)
     {
         // read RouDi's IPC channel