iceoryx_posh  2.0.2
roudi_app.hpp
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4 // Licensed under the Apache License, Version 2.0 (the "License");
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16 // SPDX-License-Identifier: Apache-2.0
17 #ifndef IOX_POSH_ROUDI_ROUDI_APP_HPP
18 #define IOX_POSH_ROUDI_ROUDI_APP_HPP
19 
20 #include "iceoryx_hoofs/log/logcommon.hpp"
21 #include "iceoryx_hoofs/posix_wrapper/semaphore.hpp"
22 #include "iceoryx_posh/iceoryx_posh_config.hpp"
23 #include "iceoryx_posh/mepoo/mepoo_config.hpp"
24 #include "iceoryx_posh/roudi/cmd_line_args.hpp"
25 
26 #include <cstdint>
27 #include <cstdio>
28 
29 namespace iox
30 {
31 namespace roudi
32 {
34 class RouDiApp
35 {
36  public:
38  static void roudiSigHandler(int32_t signal) noexcept;
39 
43  RouDiApp(const config::CmdLineArgs_t& cmdLineArgs, const RouDiConfig_t& config) noexcept;
44 
45  virtual ~RouDiApp() noexcept {};
46 
49  virtual uint8_t run() noexcept = 0;
50 
51  protected:
53  void registerSigHandler() noexcept;
54 
56  bool waitForSignal() noexcept;
57 
58  iox::log::LogLevel m_logLevel{iox::log::LogLevel::kWarn};
59  roudi::MonitoringMode m_monitoringMode{roudi::MonitoringMode::ON};
60  bool m_run{true};
61  RouDiConfig_t m_config;
62 
63  posix::Semaphore m_semaphore =
64  std::move(posix::Semaphore::create(posix::CreateUnnamedSingleProcessSemaphore, 0u)
65  .or_else([](posix::SemaphoreError&) {
66  errorHandler(Error::kROUDI_APP__FAILED_TO_CREATE_SEMAPHORE, nullptr, ErrorLevel::FATAL);
67  })
68  .value());
69  version::CompatibilityCheckLevel m_compatibilityCheckLevel{version::CompatibilityCheckLevel::PATCH};
70  units::Duration m_processKillDelay{roudi::PROCESS_DEFAULT_KILL_DELAY};
71 
72  private:
73  bool checkAndOptimizeConfig(const RouDiConfig_t& config) noexcept;
74 };
75 
76 } // namespace roudi
77 } // namespace iox
78 
79 #endif // IOX_POSH_ROUDI_ROUDI_APP_HPP
base class for RouDi daemons
Definition: roudi_app.hpp:35
void registerSigHandler() noexcept
Tells the OS which signals shall be hooked.
RouDiApp(const config::CmdLineArgs_t &cmdLineArgs, const RouDiConfig_t &config) noexcept
C'tor with command line parser, which has already parsed the command line parameters.
bool waitForSignal() noexcept
waits for the next signal to RouDi daemon
virtual uint8_t run() noexcept=0
interface to start the execution of the RouDi daemon
static void roudiSigHandler(int32_t signal) noexcept
Method passed to the OS signal handler.
MonitoringMode
Controls process alive monitoring. Upon timeout, a monitored process is removed and its resources are...
Definition: iceoryx_posh_types.hpp:243
Definition: cmd_line_args.hpp:30