Question on developing custom services
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I've developed, deployed and tested a mocap-server on the Sentinel dev drone by using voxl-cross to build a deb package. I'm still fairly new to software development so I've been learning a lot just by reading the source code in the sdk.
I have this mocap-server working, but I've only run it as an executable and I was wondering how to get it running as a background service and how to use a config file to replace some of the variable values I'm hard-coding in like socket addresses. Can someone point me to some example code or recommend the simplest service in the sdk to try to learn how that works on voxl2 (both for setting up a program as a background service and integrating config files)?
Also, generally speaking when I just kill power to the drone is that bypassing the ability of the services that are running to "close cleanly"? I have zmq pub/sub sockets to get mocap data from the host pc to the drone so if I do get it running as a background service I want to make sure I tear down the sockets and context every time before I power down. Would systemctl stop <service-name> be caught by a signal handler or would I have to figure out a different way to close cleanly? If that's already being done for another service/program in the sdk can someone point me to that?
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I've developed, deployed and tested a mocap-server on the Sentinel dev drone by using voxl-cross to build a deb package. I'm still fairly new to software development so I've been learning a lot just by reading the source code in the sdk.
I have this mocap-server working, but I've only run it as an executable and I was wondering how to get it running as a background service and how to use a config file to replace some of the variable values I'm hard-coding in like socket addresses. Can someone point me to some example code or recommend the simplest service in the sdk to try to learn how that works on voxl2 (both for setting up a program as a background service and integrating config files)?
Also, generally speaking when I just kill power to the drone is that bypassing the ability of the services that are running to "close cleanly"? I have zmq pub/sub sockets to get mocap data from the host pc to the drone so if I do get it running as a background service I want to make sure I tear down the sockets and context every time before I power down. Would systemctl stop <service-name> be caught by a signal handler or would I have to figure out a different way to close cleanly? If that's already being done for another service/program in the sdk can someone point me to that?
@josephmlullo Here is an example of how voxl-camera-server uses a systemd service to run as a background service on boot:
Our make_package.sh script installs this file into
/etc/systemd/system/: https://gitlab.com/voxl-public/voxl-sdk/services/voxl-camera-server/-/blob/master/make_package.sh?ref_type=heads#L149and the service can be enabled on boot with:
systemctl enable voxl-camera-serverHere is an example of how we generate a config file using a one-time "configure" script that all of our services have: https://gitlab.com/voxl-public/voxl-sdk/services/voxl-vision-hub/-/blob/master/scripts/voxl-configure-vision-hub?ref_type=heads
This allows us to generate a JSON file that lives in
/etc/modalaithat the service can then read from at run-time -
@josephmlullo Here is an example of how voxl-camera-server uses a systemd service to run as a background service on boot:
Our make_package.sh script installs this file into
/etc/systemd/system/: https://gitlab.com/voxl-public/voxl-sdk/services/voxl-camera-server/-/blob/master/make_package.sh?ref_type=heads#L149and the service can be enabled on boot with:
systemctl enable voxl-camera-serverHere is an example of how we generate a config file using a one-time "configure" script that all of our services have: https://gitlab.com/voxl-public/voxl-sdk/services/voxl-vision-hub/-/blob/master/scripts/voxl-configure-vision-hub?ref_type=heads
This allows us to generate a JSON file that lives in
/etc/modalaithat the service can then read from at run-time
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