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Added terminal attachment/detachment

This commit is contained in:
pgdalmeida 2026-08-07 17:35:32 +02:00
parent 376e79536c
commit 4bc5e762e7
Signed by: pedro.almeida
GPG Key ID: D4A6C394DF13F1D7
10 changed files with 828 additions and 5 deletions
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1
CMakeLists.txt
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@ -44,6 +44,7 @@ pkg_check_modules(JXL REQUIRED IMPORTED_TARGET libjxl libjxl_threads)
add_library(fgc_core STATIC
src/core/Config.cpp
src/core/Paths.cpp
src/core/SingleInstance.cpp
src/core/Logger.cpp
src/core/Geometry.cpp
src/core/ScanGrid.cpp

29
README.md
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@ -47,6 +47,33 @@ Dependencies and the Vimba X SDK setup are in [docs/build-and-setup.md](docs/bui
## Run
On a tower the program must outlive the ssh session that started it, so **`scripts/fgc`** runs it
detached inside a tmux session:
```bash
scripts/fgc start --start # start detached; returns immediately
scripts/fgc attach # watch the dashboard — Ctrl-b d leaves it running
scripts/fgc status # running? since when? which PID?
scripts/fgc stop # SIGTERM -> clean camera/motor teardown
scripts/fgc peek # snapshot of the pane without attaching
```
Disconnecting from ssh while attached — or closing the laptop — is invisible to the program: tmux owns
the pty. **When attached, the dashboard's `q` key exits the program; `Ctrl-b d` is what detaches.**
From a dev box, `./deploy.sh --run` builds on the device and starts it this way; `--attach`, `--status`
and `--stop` drive it afterwards without re-syncing.
**Only one instance may run at a time.** The binary takes an exclusive `flock` on
`/run/user/<uid>/fire_gimbal_control.lock` (or `/tmp/fire_gimbal_control-<uid>.lock`) at startup and
exits with status 2 and `another instance is already running (PID N)` if it is taken — two instances
would fight over the serial port, the camera and the exposure store. The check is in the binary, so a
bare `./build/fire_gimbal_control` is refused too. Nothing needs cleaning up after a crash or a power
cut: the kernel drops the lock when the process dies. `--no-lock` bypasses it for a second mock-only
instance during development.
For development, or for a foreground run you intend to babysit, use `run.sh` directly:
```bash
# Real deployment (needs cameras, motor MCU on the configured serial port, MQTT broker):
scripts/run.sh --start
@ -83,6 +110,8 @@ cp config/config.example.ini config.ini # then edit
| `--mock-camera` | Use a simulated camera — no Vimba hardware needed. |
| `--mock-serial` | Use a simulated motor controller — no serial hardware needed. |
| `--tui` / `--no-tui` | Show the full-screen terminal dashboard / force the headless console (overrides `[UI] enable_tui`). |
| `--no-lock` | Skip the single-instance lock (dev only — for a second mock-only instance). |
| `--lock-file <path>` | Use a specific lockfile instead of the default per-uid path. |
| `--log-level <lvl>` | `trace`, `debug`, `info`, `warn`, `error`, or `off`. |
| `--trace <cats>` | Verbatim wire tracing; comma list of `serial,mqtt,camera,control,all,none`. |
| `-h, --help` | Print options and exit. |

66
deploy.sh
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@ -7,11 +7,20 @@
#
# Usage:
# ./deploy.sh rsync + remote configure + build
# ./deploy.sh --run ... then run the app over ssh (RUN_ARGS, ctrl-c to stop)
# ./deploy.sh --run ... then start the app on the device, detached, and return
# ./deploy.sh --run --home ... and run the endstop-finding home sequence at startup
# ./deploy.sh --run --attach ... start it, then attach straight away (the usual one)
# ./deploy.sh --attach attach to the app already running (no sync, no build)
# ./deploy.sh --status is it running on the device?
# ./deploy.sh --stop shut the running app down cleanly
# ./deploy.sh --clean wipe the remote build dir first (fresh configure)
# ./deploy.sh --check-deps only check the remote build dependencies
# ./deploy.sh --run --force skip the placeholder-config guard before running
# ./deploy.sh --run --foreground run attached to this terminal instead (debugging)
#
# --run starts the app inside a tmux session on the device (scripts/fgc), so it
# survives this ssh connection closing — reattach later with --attach. Only one
# instance can run at a time; the binary itself enforces that with a lockfile.
#
# Flags combine, e.g. ./deploy.sh --clean --run
#
@ -40,6 +49,8 @@ RUN=0
CHECK_DEPS=0
FORCE=0
HOME_INIT=0
FOREGROUND=0
SESSION_CMD=""
for arg in "$@"; do
case "$arg" in
--clean) CLEAN=1 ;;
@ -47,10 +58,35 @@ for arg in "$@"; do
--home|--init) HOME_INIT=1 ;;
--check-deps) CHECK_DEPS=1 ;;
--force) FORCE=1 ;;
--foreground) FOREGROUND=1 ;;
--attach) SESSION_CMD="attach" ;;
--status) SESSION_CMD="status" ;;
--stop) SESSION_CMD="stop" ;;
*) echo "unknown option: $arg" >&2; exit 1 ;;
esac
done
if [[ "$SESSION_CMD" == "attach" && "$FOREGROUND" == "1" ]]; then
echo "error: --attach and --foreground are contradictory (--foreground never detaches)" >&2
exit 1
fi
if [[ -n "$SESSION_CMD" && "$SESSION_CMD" != "attach" && "$RUN" == "1" ]]; then
echo "error: --$SESSION_CMD cannot be combined with --run" >&2
exit 1
fi
# Talk to the app already on the device — no sync, no build. `--run --attach` is
# the exception: there the attach happens at the very end, after the build and
# start, so fall through to those instead of exiting here.
if [[ -n "$SESSION_CMD" ]] && [[ "$SESSION_CMD" != "attach" || "$RUN" != "1" ]]; then
# -t only for attach: it needs a real tty for the dashboard. status/stop
# produce plain output and should stay pipeable.
TTY_FLAG=(); [[ "$SESSION_CMD" == "attach" ]] && TTY_FLAG=(-t)
# shellcheck disable=SC2029
exec ssh "${TTY_FLAG[@]}" "$REMOTE_HOST" \
"cd '$REMOTE_DIR' && exec scripts/fgc $SESSION_CMD"
fi
# Homing is opt-in: append --init only when --home is passed, so a plain run
# brings up the TUI without driving the endstop-finding sequence.
if [[ $HOME_INIT -eq 1 && "$RUN_ARGS" != *--init* ]]; then
@ -204,9 +240,29 @@ if [[ "$RUN" == "1" ]]; then
fi
fi
echo ">> running on $REMOTE_HOST (ctrl-c to stop)"
# -t for a real tty so the capture loop's logs stream and ctrl-c propagates.
# cwd = REMOTE_DIR so ./config.ini and the output dir resolve.
if [[ "$FOREGROUND" == "1" ]]; then
echo ">> running on $REMOTE_HOST, attached to this terminal (ctrl-c to stop)"
# -t for a real tty so the capture loop's logs stream and ctrl-c propagates.
# cwd = REMOTE_DIR so ./config.ini and the output dir resolve.
# shellcheck disable=SC2029
ssh -t "$REMOTE_HOST" "$RESOLVE_VIMBA_ENV cd '$REMOTE_DIR' && exec ./build/fire_gimbal_control $RUN_ARGS"
exit
fi
echo ">> starting on $REMOTE_HOST, detached"
# No -t and no RESOLVE_VIMBA_ENV here: scripts/fgc puts the app in a tmux
# session on the device and resolves the Vimba environment inside the pane,
# so it neither needs this ssh session's tty nor inherits its environment.
# This ssh call returns as soon as the app is up (or reports why it isn't).
# shellcheck disable=SC2029
ssh -t "$REMOTE_HOST" "$RESOLVE_VIMBA_ENV cd '$REMOTE_DIR' && exec ./build/fire_gimbal_control $RUN_ARGS"
ssh "$REMOTE_HOST" "cd '$REMOTE_DIR' && exec scripts/fgc start $RUN_ARGS"
if [[ "$SESSION_CMD" == "attach" ]]; then
echo ">> attaching (Ctrl-b d detaches and leaves it running; 'q' quits the app)"
# shellcheck disable=SC2029
exec ssh -t "$REMOTE_HOST" "cd '$REMOTE_DIR' && exec scripts/fgc attach"
fi
echo ">> attach with: ./deploy.sh --attach (Ctrl-b d detaches, 'q' quits the app)"
echo ">> stop with: ./deploy.sh --stop"
fi

75
docs/deployment.md
View File

@ -141,8 +141,80 @@ Watch for: `Loaded config`, `Serial controller started`, `Opened camera ...`, `M
`Saved .../RGB/<timestamp>.jxl` after the first capture. Type `exit` (or Ctrl-D) to stop. To validate without
cameras first: add `--mock-camera --mock-serial --no-mqtt`.
This run is attached to your terminal and dies with the ssh session — fine for a first check, not for
leaving it running. For that, use section 6b.
### 6b. Running detached (`scripts/fgc`)
The tower is operated over ssh, so the program has to survive the connection closing. `scripts/fgc` runs
it inside a tmux session, which owns the pty:
```bash
cd /opt/fire_gimbal_control
scripts/fgc start --start # starts detached, returns as soon as it is up
scripts/fgc status # running? since when? which PID?
scripts/fgc attach # the dashboard — Ctrl-b d detaches, leaves it running
scripts/fgc stop # SIGTERM -> the same clean teardown as `exit`
scripts/fgc peek # snapshot of the pane without attaching
```
**`Ctrl-b d` detaches. The dashboard's own `q` key exits the program.** That is the one thing to get
right while attached.
`scripts/fgc stop` sends SIGTERM and waits up to 30s; the program handles it with the same shutdown path
as the `exit` command (stop capture, close the camera, save the exposure store). Do **not** `kill -9` —
an unclean exit leaves the camera wedged for the next run. If it will not stop, attach and look at why.
`scripts/fgc start` refuses if a run is already up, and prints the previous run's last output if it died
rather than silently discarding it.
Quitting the dashboard with `q` while attached ends the tmux session too, so you land straight back in
your shell — `exit` then closes ssh. A run that *fails* is the exception: its pane is kept so you can read
why (`remain-on-exit failed`), and `fgc status` shows it until `fgc stop` or the next `fgc start` clears it.
A kept pane has **no process behind it** — keys and Ctrl-C do nothing, which reads as a hung ssh session.
`Ctrl-b d` still detaches (tmux, not the pane, handles it); the session's status line spells that out along
the bottom of the screen. As a last resort `Enter ~ .` closes the ssh client itself from your end.
> **Why `_run` waits on the app instead of `exec`ing it.** When the app is itself the pane's process, tmux
> never records an exit status for it — `#{pane_dead_status}` comes back empty and the process lingers as a
> zombie — so `remain-on-exit failed` cannot tell success from failure and keeps *every* finished pane,
> including a clean `q`. That is what used to strand an operator on a frozen dead pane. Interposing a shell
> that reaps the child and exits with its status gives tmux a real status. Measured on the device: 3/3 panes
> kept when exec'd, 4/4 sessions closed cleanly when parented. The wrapper forwards SIGTERM/SIGINT/SIGHUP,
> so `fgc stop` still reaches the app and runs the full teardown.
### 6c. The single-instance lock
Two instances would fight over the motor's serial port, the camera, and the exposure store. The binary
prevents that itself: at startup it takes an exclusive `flock` on
- `/run/user/<uid>/fire_gimbal_control.lock` when that directory exists, else
- `/tmp/fire_gimbal_control-<uid>.lock`
and, if it is already held, exits with status **2** and:
```
Cannot start: another instance is already running (PID 1234); attach to it with: scripts/fgc attach
```
The path is derived from the uid and not from `$XDG_RUNTIME_DIR` on purpose: that variable is set in an
interactive ssh shell but not in a non-interactive `ssh host cmd` one, and a lock the two launch routes
disagree about would exclude nothing.
Because the check lives in the binary, it covers every route in — `scripts/fgc`, systemd, or a bare
`./fire_gimbal_control`. Nothing needs cleaning up after a crash or a power cut: the kernel releases an
`flock` when the holder dies, so a leftover lockfile with a dead PID in it never blocks a launch. Use
`--no-lock` only to run a second mock-only instance during development, and `--lock-file <path>` to
point at a different lockfile.
## 7. Install the systemd service
An **alternative** to section 6b, not a companion to it: systemd gives you start-at-boot and
restart-on-crash, but no attachable dashboard — you get `journalctl` instead. Pick one. If you run both by
accident the second one to start fails on the single-instance lock (section 6c), so the failure is loud
rather than a pair of processes corrupting each other's state.
```bash
sudo cp scripts/fire-gimbal-control.service /etc/systemd/system/
sudoedit /etc/systemd/system/fire-gimbal-control.service
@ -202,3 +274,6 @@ If `CMakeLists.txt` or options changed, re-run the `cmake -B build ...` configur
| `No camera found` / Vimba startup error | SDK installed, GenTL path set, `ldconfig`, NIC subnet, camera IDs in config |
| `MQTT connect failed` (degraded mode) | broker reachable, credentials env, firewall |
| Runs but no images | capture started (`--start` or `start` command), `output_dir` writable by `ggs` |
| `another instance is already running` (exit 2) | `scripts/fgc status`; a systemd unit and a tmux session both running (section 6c) |
| Program dies when ssh disconnects | started with `run.sh`/`--foreground` instead of `scripts/fgc start` (section 6b) |
| `No camera found` only when started via `scripts/fgc` | GenTL path not resolved in the pane — check `scripts/fgc peek`, and `/etc/profile.d/*Vimba*GenTL*.sh` or `VIMBA_CTI_PATH` |

67
include/fgc/SingleInstance.h Normal file
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@ -0,0 +1,67 @@
#pragma once
#include <string>
namespace fgc {
// Refuses to let two copies of the program run at once. Two instances would
// fight over the motor's serial port, the camera, and the exposure store, so
// the second launch has to fail loudly rather than half-work.
//
// The mechanism is an advisory flock(2) on a lockfile holding the owner's PID.
// The lock lives in the binary (not the launcher script) so every route in -
// scripts/fgc, systemd, or a bare ./fire_gimbal_control over ssh - is guarded.
//
// There is deliberately no stale-lock cleanup: the kernel drops an flock when
// the holding process dies, including a SIGKILL or a power cut, so a lockfile
// left behind with a dead PID in it never blocks the next launch. The PID
// written inside is purely for the "already running as PID N" message.
//
// auto lock = SingleInstance::acquire(SingleInstance::defaultLockPath());
// if (!lock) { std::cerr << lock.error() << "\n"; return 2; }
// ... lock stays in scope for the lifetime of the run ...
class SingleInstance {
public:
// Default lockfile: /run/user/<uid>/fire_gimbal_control.lock when that
// directory exists, else /tmp/fire_gimbal_control-<uid>.lock. Derived from
// the uid rather than $XDG_RUNTIME_DIR so it is identical whether the
// program was launched from an interactive shell, a non-interactive
// `ssh host cmd`, or a tmux pane - see the note in the .cpp.
static std::string defaultLockPath();
// Try to take the lock. Never blocks. On failure the returned object is
// falsey and error() says why (including the holder's PID when we could
// read it). Always check before use.
static SingleInstance acquire(const std::string& path);
// A default-constructed instance holds nothing; useful as a placeholder
// when locking is disabled (--no-lock).
SingleInstance() = default;
~SingleInstance();
SingleInstance(SingleInstance&& other) noexcept;
SingleInstance& operator=(SingleInstance&& other) noexcept;
SingleInstance(const SingleInstance&) = delete;
SingleInstance& operator=(const SingleInstance&) = delete;
bool held() const { return fd_ >= 0; }
explicit operator bool() const { return held(); }
// Human-readable reason the acquire failed; empty when held().
const std::string& error() const { return error_; }
// PID of the process holding the lock, or 0 if unknown. Only meaningful
// after a failed acquire.
int holderPid() const { return holder_pid_; }
const std::string& path() const { return path_; }
// Release early (also done by the destructor). Safe to call twice.
void release();
private:
int fd_ = -1;
int holder_pid_ = 0;
std::string path_;
std::string error_;
};
} // namespace fgc

20
main.cpp
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@ -2,6 +2,7 @@
#include "fgc/Config.h"
#include "fgc/Logger.h"
#include "fgc/Paths.h"
#include "fgc/SingleInstance.h"
#include <iostream>
@ -25,6 +26,9 @@ int main(int argc, char* argv[]) {
"use a simulated ambient temp/humidity sensor (implies enable_env)")
("tui", po::bool_switch(), "show the full-screen terminal dashboard")
("no-tui", po::bool_switch(), "force the headless line console (overrides config)")
("no-lock", po::bool_switch(),
"skip the single-instance lock (dev only: for a second mock-only instance)")
("lock-file", po::value<std::string>(), "path to the single-instance lockfile")
("log-level", po::value<std::string>(), "trace|debug|info|warn|error|off")
("trace", po::value<std::string>(),
"verbatim wire trace, comma list: serial,mqtt,camera,control,all,none");
@ -61,6 +65,22 @@ int main(int argc, char* argv[]) {
}
LOG_INFO << "Loaded config: " << *cfg_path;
// Only one instance may run: a second would fight the first over the motor's
// serial port, the camera, and the exposure store. The lock is held for the
// whole run and released when this scope ends (or the process dies).
SingleInstance lock;
if (!vm["no-lock"].as<bool>()) {
const std::string lock_path = vm.count("lock-file")
? paths::expandUser(vm["lock-file"].as<std::string>())
: SingleInstance::defaultLockPath();
lock = SingleInstance::acquire(lock_path);
if (!lock) {
std::cerr << "Cannot start: " << lock.error() << "\n";
return 2; // distinct from 1 so scripts/fgc can tell this apart
}
LOG_INFO << "Single-instance lock held: " << lock.path();
}
RuntimeOptions opts;
opts.init = vm["init"].as<bool>();
opts.start = vm["start"].as<bool>();

342
scripts/fgc Executable file
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@ -0,0 +1,342 @@
#!/usr/bin/env bash
#
# fgc — run fire_gimbal_control detached from the terminal, in a tmux session.
#
# The tower is operated over ssh. Launched directly, the program is a child of
# the ssh session's shell and dies with it — mid-scan, and with the camera torn
# down uncleanly (which wedges it for the next run). Here tmux owns the pty, so
# disconnecting is invisible to the program.
#
# scripts/fgc start [args...] start it detached (args go to the binary)
# scripts/fgc attach open the dashboard; Ctrl-b d to leave it running
# scripts/fgc status is it running, since when, as which PID
# scripts/fgc stop clean shutdown (camera + motor teardown)
# scripts/fgc peek print what the pane shows right now
# scripts/fgc restart [args...] stop, then start
#
# Detaching is Ctrl-b d. NOTE: the dashboard's own `q` key *exits the program*,
# it does not detach — that is the one thing to get right when attached.
#
# Only one instance may run. The binary enforces that itself with a lockfile
# (see src/core/SingleInstance.cpp), so a bare ./build/fire_gimbal_control is
# refused too, not just a second `fgc start`.
#
# Env: FGC_SESSION overrides the tmux session name (default "fgc").
set -euo pipefail
here="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
repo="$(cd "$here/.." && pwd)"
session="${FGC_SESSION:-fgc}"
target="=$session" # "=" makes tmux match the name exactly, not as a prefix
die() { echo "fgc: $*" >&2; exit 1; }
need_tmux() {
command -v tmux >/dev/null 2>&1 || die "tmux is not installed (apt-get install tmux)"
}
session_exists() { tmux has-session -t "$target" 2>/dev/null; }
# "1" if the pane's program has exited, "0" if alive, "" if there is no session.
# remain-on-exit keeps a finished pane around, so a session existing is not on
# its own proof that the program is running.
pane_dead() { tmux list-panes -t "$target" -F '#{pane_dead}' 2>/dev/null | head -1; }
running() { [[ "$(pane_dead)" == "0" ]]; }
# PID of the pane's process: the `_run` wrapper shell, which forwards signals to
# the app and reports its exit status to tmux. For the app's own PID use
# app_pid() — the lockfile is written by the program itself.
pane_pid() { tmux list-panes -t "$target" -F '#{pane_pid}' 2>/dev/null | head -1; }
# PID of fire_gimbal_control itself, from the lockfile it writes at startup.
app_pid() {
local f; f="$(lock_path)"
[[ -e "$f" ]] || return 1
local p; read -r p <"$f" 2>/dev/null || return 1
[[ -n "$p" ]] && echo "$p"
}
# capture-pane needs a pane target; a session name alone gets "can't find pane".
# %N pane ids are unambiguous, so resolve one rather than guessing at "fgc:0.0".
pane_id() { tmux list-panes -t "$target" -F '#{pane_id}' 2>/dev/null | head -1; }
# Mirrors SingleInstance::defaultLockPath(). Kept env-independent for the same
# reason it is there: $XDG_RUNTIME_DIR is absent in a non-interactive ssh shell.
lock_path() {
local uid; uid="$(id -u)"
if [[ -d "/run/user/$uid" ]]; then
echo "/run/user/$uid/fire_gimbal_control.lock"
else
echo "/tmp/fire_gimbal_control-$uid.lock"
fi
}
# Is the lock actually held right now? Asked by trying to take it, not by
# checking whether the recorded PID exists: with remain-on-exit set, tmux does
# not reap the pane's process until the pane is destroyed, so a finished run
# leaves a zombie that `kill -0` happily reports as alive. The lock itself is
# the only thing that answers the question, and the kernel drops it on death.
lock_held() {
local f="$1"
[[ -e "$f" ]] || return 1
! flock -n "$f" true 2>/dev/null
}
# Vimba X needs the GenTL transport-layer dir on GENICAM_GENTL64_PATH or
# VmbStartup() fails with "Could not start Vimba X API". The SDK installs that
# via /etc/profile.d, which non-interactive ssh shells don't source. Resolving it
# *here* — i.e. inside the pane, at launch — rather than in the caller's shell
# matters: a tmux server left over from an earlier, differently-configured ssh
# session would otherwise hand the new session its stale environment.
resolve_vimba_env() {
local s d
# The SDK's profile.d script reads GENICAM_GENTL64_PATH before setting it, so
# sourcing it under `set -u` aborts with "unbound variable" and the app never
# launches. Relax nounset for the duration of the source only.
set +u
for s in /etc/profile.d/*Vimba*GenTL*.sh; do
[[ -f "$s" ]] && . "$s"
done
set -u
if [[ -z "${GENICAM_GENTL64_PATH:-}" ]]; then
for d in "${VIMBA_CTI_PATH:-}" /opt/VimbaX/cti /opt/VimbaX_*/cti; do
if [[ -n "$d" && -d "$d" ]]; then export GENICAM_GENTL64_PATH="$d"; break; fi
done
fi
}
cmd_start() {
need_tmux
if running; then
die "already running (session '$session') — use 'fgc attach', or 'fgc restart'"
fi
if session_exists; then
# A dead pane left over by remain-on-exit from a previous run. Clear it,
# but say so — it is the only trace of how that run ended.
echo "fgc: clearing the finished session from a previous run" >&2
tmux kill-session -t "$target" 2>/dev/null || true
fi
# tmux hands the command to `sh -c`, so quote each forwarded argument rather
# than relying on the split surviving the round trip. No `exec` here, and no
# exec in `_run` either — see the comment there for why the wrapper shell has
# to stay in place. `fgc stop` signals the wrapper, which forwards.
local launch
launch="$(printf '%q ' "$here/fgc" _run "$@")"
# remain-on-exit=failed, not =on: a *failed* start must leave its output on
# screen rather than destroying the session and looking like nothing
# happened, but a clean exit must take the session with it. With =on, quitting
# the dashboard left an operator staring at a frozen dead pane with no process
# behind it — keys and Ctrl-C did nothing, and it read as a hung ssh session.
#
# It is a *window* option, and a pane that dies immediately takes the window
# with it before the option can be set — so create the session on a
# placeholder, set the option, then respawn the pane with the real command.
# -c: the program resolves ./config.ini and the output dir from the cwd. The
# pane runs this script's hidden `_run`, so the Vimba environment is resolved
# inside the pane; run.sh finds the binary, one place only.
tmux new-session -d -s "$session" -c "$repo" 'sleep 86400'
# A window option needs a window target; a session name alone gets
# "no such window". Resolve the window's own id (@N) and use that.
local win; win="$(tmux list-windows -t "$target" -F '#{window_id}' | head -1)"
local pane; pane="$(pane_id)"
# "failed" needs tmux >= 3.2; fall back to "on" rather than leaving it unset,
# where a failed start would vanish without a trace.
tmux set-option -w -t "$win" remain-on-exit failed >/dev/null 2>&1 \
|| tmux set-option -w -t "$win" remain-on-exit on >/dev/null
# Spell the way out along the bottom of the screen. Without it there is no
# clue on screen that Ctrl-b d exists — and if the program dies, the pane
# freezes with no process behind it, so keys and Ctrl-C do nothing and it
# reads as a hung ssh session. tmux's status line stays alive either way.
# These are *session* options, and set-option rejects the "=name" exact-match
# form that every other subcommand here takes ("no such session: =fgc"), so
# target the pane and let tmux resolve the session from it.
tmux set-option -t "$pane" status on >/dev/null
tmux set-option -t "$pane" status-style 'bg=colour24,fg=colour255' >/dev/null
tmux set-option -t "$pane" status-left ' fire-gimbal-control ' >/dev/null
tmux set-option -t "$pane" status-left-length 30 >/dev/null
tmux set-option -t "$pane" status-right-length 80 >/dev/null
tmux set-option -t "$pane" status-right \
' Ctrl-b d = detach, keeps running | q = quit the program ' >/dev/null
tmux respawn-pane -k -t "$win" -c "$repo" "$launch" >/dev/null
# Give it a moment to fail fast (bad config, lock already held, no camera).
sleep 2
local dead; dead="$(pane_dead)"
if [[ -z "$dead" ]]; then
# No session at all: the program exited 0 within the 2s window, so
# remain-on-exit=failed tore it down and took the output with it.
die "session '$session' is gone — the program exited immediately (status 0).
Reproduce it in the foreground to see why: scripts/run.sh $*"
fi
if [[ "$dead" == "1" ]]; then
local status
status="$(tmux list-panes -t "$target" -F '#{pane_dead_status}' | head -1)"
echo "fgc: failed to start (exit ${status:-?}):" >&2
tmux capture-pane -p -t "$(pane_id)" | sed '/^$/d' | tail -20 >&2
tmux kill-session -t "$target" 2>/dev/null || true
exit "${status:-1}"
fi
echo "fgc: started detached as PID $(pane_pid) (session '$session')"
echo " attach: scripts/fgc attach (Ctrl-b d to detach; 'q' quits the program)"
}
# Hidden: the command tmux runs inside the pane. Not for direct use.
#
# The app is run as a CHILD and waited on, rather than exec'd. That looks like a
# pointless extra process, and it is load-bearing: when the app is itself the
# pane's process, tmux never records an exit status for it (#{pane_dead_status}
# comes back empty and the process lingers as a zombie), so remain-on-exit=failed
# cannot tell success from failure and keeps *every* finished pane — which is
# what left an operator staring at a frozen dead pane after pressing q. With a
# shell in between to reap the child and exit with its status, tmux gets a real
# status and tears the session down on a clean quit. Measured: 3/3 kept when
# exec'd, 3/3 clean when parented.
cmd__run() {
resolve_vimba_env
# <&0 is required: bash redirects a background command's stdin from
# /dev/null unless it is given one explicitly, which would leave the
# dashboard unable to read a single keystroke.
"$here/run.sh" "$@" <&0 &
local child=$!
# Forward the signals `fgc stop` and a pane kill use, so the app still runs
# its own clean teardown (stop capture, close camera, save exposure store)
# instead of being killed under the wrapper.
trap 'kill -TERM "$child" 2>/dev/null' TERM
trap 'kill -INT "$child" 2>/dev/null' INT
trap 'kill -HUP "$child" 2>/dev/null' HUP
# A trapped signal makes `wait` return 128+n while the child is still
# shutting down, so keep waiting until it is actually gone before reporting.
local rc=0
wait "$child"; rc=$?
while kill -0 "$child" 2>/dev/null; do
wait "$child"; rc=$?
done
exit "$rc"
}
cmd_attach() {
need_tmux
running || die "not running — start it with 'fgc start'"
if [[ -n "${TMUX:-}" ]]; then
die "already inside tmux; use 'tmux switch-client -t $session'"
fi
echo "fgc: attaching — Ctrl-b d detaches and leaves it running ('q' would quit it)" >&2
exec tmux attach-session -t "$target"
}
cmd_status() {
need_tmux
local lock; lock="$(lock_path)"
if ! running; then
if session_exists; then
echo "fgc: not running — session '$session' holds a finished pane:"
tmux capture-pane -p -t "$(pane_id)" | sed '/^$/d' | tail -10 | sed 's/^/ /'
echo " clear it with 'fgc stop' (or just 'fgc start')"
else
echo "fgc: not running (no tmux session '$session')"
fi
# The lock outliving the session means an instance is running that fgc
# did not start — systemd, or someone's bare ./fire_gimbal_control.
if lock_held "$lock"; then
local pid; read -r pid <"$lock" || pid="?"
echo " but $lock is held by PID $pid — an instance is running outside tmux"
return 0
fi
return 1
fi
local app; app="$(app_pid || echo "$(pane_pid)")"
echo "fgc: running (session '$session', PID $app)"
ps -o lstart=,etime=,args= -p "$app" 2>/dev/null | sed 's/^/ /'
echo " lockfile: $lock"
}
cmd_stop() {
need_tmux
if ! running; then
if session_exists; then
tmux kill-session -t "$target" 2>/dev/null || true
echo "fgc: cleared the finished session '$session'"
else
echo "fgc: not running"
fi
return 0
fi
local pid; pid="$(pane_pid)"
# The pane should be our `_run` wrapper, which forwards the signal to the
# app. Signalling something else would look like a clean stop while the
# program kept running, so check rather than assume.
if ! ps -o args= -p "$pid" 2>/dev/null | grep -qE 'fgc _run|fire_gimbal'; then
echo "fgc: pane process $pid is not the fgc launcher:" >&2
ps -o args= -p "$pid" 2>/dev/null | sed 's/^/ /' >&2
die "refusing to signal it — attach and shut it down by hand"
fi
# SIGTERM, not a keystroke: Application installs a SIGTERM handler that runs
# the same clean teardown as the `exit` command (stop capture, close the
# camera, save the exposure store, park the motor), and unlike sending keys
# it works the same in TUI and headless mode. Never SIGKILL — an unclean
# exit leaves the camera wedged for the next run.
echo "fgc: stopping fire_gimbal_control (PID $(app_pid || echo '?')) via SIGTERM…"
kill -TERM "$pid" 2>/dev/null || true
# Wait on tmux's view of the pane, not on `kill -0`: while a pane is kept
# after exit, tmux holds the finished process as a zombie until the pane is
# destroyed, so `kill -0` would report it alive forever and every stop would
# "time out". `running` covers both endings — a clean exit destroys the
# session outright, a failed one leaves the pane behind with dead=1.
#
# 120s, because shutdown is not instant: the control loop only notices the
# flag between ticks, and a capture attempt that is timing out on the camera
# (3 tries x 2s) holds it for several seconds before that.
local i
for i in $(seq 1 120); do
running || break
sleep 1
done
if running; then
echo "fgc: PID $pid still running 120s after SIGTERM — attach and look at why;" >&2
echo " do NOT kill -9, that wedges the camera." >&2
return 1
fi
tmux kill-session -t "$target" 2>/dev/null || true
echo "fgc: stopped"
}
cmd_peek() {
need_tmux
running || die "not running"
# In TUI mode FTXUI draws on the alternate screen, so this is a snapshot of
# the live dashboard; in headless mode it is the log scrollback.
tmux capture-pane -p -S - -t "$(pane_id)"
}
cmd_restart() {
cmd_stop
cmd_start "$@"
}
sub="${1:-}"
[[ $# -gt 0 ]] && shift
case "$sub" in
start) cmd_start "$@" ;;
attach) cmd_attach ;;
status) cmd_status ;;
stop) cmd_stop ;;
peek|logs) cmd_peek ;;
restart) cmd_restart "$@" ;;
_run) cmd__run "$@" ;;
""|-h|--help|help)
# The header block above, minus the shebang: one source of truth.
awk 'NR>2 && /^#/ {sub(/^# ?/, ""); print; next} NR>2 {exit}' "${BASH_SOURCE[0]}"
[[ -z "$sub" ]] && exit 1 || exit 0 ;;
*) die "unknown command: $sub (try 'fgc --help')" ;;
esac

112
src/core/SingleInstance.cpp Normal file
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@ -0,0 +1,112 @@
#include "fgc/SingleInstance.h"
#include <cerrno>
#include <cstdlib>
#include <cstring>
#include <filesystem>
#include <string>
#include <system_error>
#include <utility>
#include <fcntl.h>
#include <sys/file.h>
#include <unistd.h>
namespace fgc {
namespace {
// PID currently recorded in an already-locked file, or 0 if it can't be read.
// Best-effort: the message is nicer with a PID but correctness doesn't need it.
int readPid(int fd) {
char buf[32] = {};
ssize_t n = ::pread(fd, buf, sizeof(buf) - 1, 0);
if (n <= 0) return 0;
buf[n] = '\0';
return static_cast<int>(std::strtol(buf, nullptr, 10));
}
} // namespace
std::string SingleInstance::defaultLockPath() {
const std::string uid = std::to_string(::getuid());
// Deliberately derived from the uid rather than read from $XDG_RUNTIME_DIR:
// that variable is set in an interactive ssh shell but *not* in a
// non-interactive `ssh host cmd` one, so reading it would give the two
// launch paths two different lockfiles - and a lock the launchers disagree
// about is no lock at all. The directory itself is there either way.
std::error_code ec;
const std::string run_dir = "/run/user/" + uid;
if (std::filesystem::is_directory(run_dir, ec))
return run_dir + "/fire_gimbal_control.lock";
return "/tmp/fire_gimbal_control-" + uid + ".lock";
}
SingleInstance SingleInstance::acquire(const std::string& path) {
SingleInstance self;
self.path_ = path;
// O_NOFOLLOW: the /tmp fallback path is world-writable, so refuse to follow a
// symlink another user could have planted there. O_CLOEXEC keeps the lock
// from leaking into anything we exec.
int fd = ::open(path.c_str(), O_RDWR | O_CREAT | O_CLOEXEC | O_NOFOLLOW, 0600);
if (fd < 0) {
self.error_ = "cannot open lockfile " + path + ": " + std::strerror(errno);
return self;
}
if (::flock(fd, LOCK_EX | LOCK_NB) != 0) {
if (errno == EWOULDBLOCK) {
self.holder_pid_ = readPid(fd);
self.error_ = "another instance is already running";
if (self.holder_pid_ > 0) self.error_ += " (PID " + std::to_string(self.holder_pid_) + ")";
self.error_ += "; attach to it with: scripts/fgc attach";
} else {
self.error_ = "cannot lock " + path + ": " + std::strerror(errno);
}
::close(fd);
return self;
}
// Record our PID for the benefit of the next launch's error message and of
// `fgc status`. Failures here are not fatal - the lock itself is what counts.
const std::string pid = std::to_string(::getpid()) + "\n";
if (::ftruncate(fd, 0) == 0) {
ssize_t ignored = ::pwrite(fd, pid.data(), pid.size(), 0);
(void)ignored;
}
self.fd_ = fd;
return self;
}
SingleInstance::~SingleInstance() { release(); }
SingleInstance::SingleInstance(SingleInstance&& other) noexcept
: fd_(std::exchange(other.fd_, -1)),
holder_pid_(other.holder_pid_),
path_(std::move(other.path_)),
error_(std::move(other.error_)) {}
SingleInstance& SingleInstance::operator=(SingleInstance&& other) noexcept {
if (this != &other) {
release();
fd_ = std::exchange(other.fd_, -1);
holder_pid_ = other.holder_pid_;
path_ = std::move(other.path_);
error_ = std::move(other.error_);
}
return *this;
}
void SingleInstance::release() {
if (fd_ < 0) return;
// Closing the descriptor releases the flock. The file is left in place;
// recreating it on every launch would race with a concurrent acquire.
::close(fd_);
fd_ = -1;
}
} // namespace fgc

1
tests/CMakeLists.txt
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@ -20,6 +20,7 @@ unset(CMAKE_POLICY_VERSION_MINIMUM)
add_executable(fgc_tests
doctest_main.cpp
test_paths.cpp
test_singleinstance.cpp
test_config.cpp
test_telemetry.cpp
test_command.cpp

120
tests/test_singleinstance.cpp Normal file
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#include <doctest/doctest.h>
#include "fgc/SingleInstance.h"
#include <cstdlib>
#include <filesystem>
#include <fstream>
#include <string>
#include <unistd.h>
using namespace fgc;
namespace {
// A unique lockfile path per test case, cleaned up by the caller.
std::string tempLockPath(const char* tag) {
return (std::filesystem::temp_directory_path() /
("fgc_test_" + std::string(tag) + "_" + std::to_string(::getpid()) + ".lock"))
.string();
}
} // namespace
TEST_CASE("acquire succeeds on a fresh path and records our PID") {
const std::string path = tempLockPath("fresh");
std::filesystem::remove(path);
auto lock = SingleInstance::acquire(path);
REQUIRE(lock.held());
CHECK(static_cast<bool>(lock));
CHECK(lock.error().empty());
CHECK(lock.path() == path);
std::ifstream in(path);
int pid = 0;
in >> pid;
CHECK(pid == ::getpid());
lock.release();
std::filesystem::remove(path);
}
TEST_CASE("a second acquire on the same path is refused") {
// flock(2) is per open-file-description, not per process, so a second
// open+flock from this same test binary contends exactly as another
// process would - which is what makes this testable without forking.
const std::string path = tempLockPath("contend");
std::filesystem::remove(path);
auto first = SingleInstance::acquire(path);
REQUIRE(first.held());
auto second = SingleInstance::acquire(path);
CHECK_FALSE(second.held());
CHECK_FALSE(static_cast<bool>(second));
CHECK(second.error().find("already running") != std::string::npos);
CHECK(second.holderPid() == ::getpid());
first.release();
std::filesystem::remove(path);
}
TEST_CASE("releasing lets a later acquire through") {
const std::string path = tempLockPath("release");
std::filesystem::remove(path);
{
auto lock = SingleInstance::acquire(path);
REQUIRE(lock.held());
} // destructor releases
auto again = SingleInstance::acquire(path);
CHECK(again.held());
again.release();
CHECK_FALSE(again.held());
again.release(); // idempotent
std::filesystem::remove(path);
}
TEST_CASE("moving transfers the lock without releasing it") {
const std::string path = tempLockPath("move");
std::filesystem::remove(path);
auto lock = SingleInstance::acquire(path);
REQUIRE(lock.held());
auto moved = std::move(lock);
CHECK(moved.held());
CHECK_FALSE(lock.held()); // NOLINT(bugprone-use-after-move) - checking the moved-from state
// Still locked against a fresh attempt.
CHECK_FALSE(SingleInstance::acquire(path).held());
moved.release();
std::filesystem::remove(path);
}
TEST_CASE("acquire reports an unopenable lockfile instead of claiming the lock") {
auto lock = SingleInstance::acquire("/nonexistent-dir-fgc-test/x.lock");
CHECK_FALSE(lock.held());
CHECK(lock.error().find("cannot open") != std::string::npos);
}
TEST_CASE("defaultLockPath is per-uid and independent of the environment") {
const std::string uid = std::to_string(::getuid());
const std::string run = "/run/user/" + uid;
const std::string expected = std::filesystem::is_directory(run)
? run + "/fire_gimbal_control.lock"
: "/tmp/fire_gimbal_control-" + uid + ".lock";
CHECK(SingleInstance::defaultLockPath() == expected);
// $XDG_RUNTIME_DIR is set in an interactive ssh shell but not in a
// non-interactive `ssh host cmd` one. If the path tracked it, those two
// launch routes would take different locks and neither would exclude the
// other - so the path must not move when the variable does.
setenv("XDG_RUNTIME_DIR", "/run/user/4242", 1);
CHECK(SingleInstance::defaultLockPath() == expected);
unsetenv("XDG_RUNTIME_DIR");
CHECK(SingleInstance::defaultLockPath() == expected);
}