1 to 2

Signed-off-by: Ashton Larkin <[email protected]>

Changelog.md

@@ -20,9 +20,25 @@
 
 ## Ignition Launch 1.x
 
+### Ignition Launch 1.X.X (20XX-XX-XX)
+
+### Ignition Launch 1.10.0 (2020-09-25)
+
+1. Add PKGCONFIG information to ignition-tools ign_find_package
+   * [Pull Request 44](https://github.com/ignitionrobotics/ign-launch/pull/44)
+
+1. Fix factory.ign launch file
+   * [Pull Request 55](https://github.com/ignitionrobotics/ign-launch/pull/55)
+
+1. Use random name for manager semaphore
+   * [Pull Request 57](https://github.com/ignitionrobotics/ign-launch/pull/57)
+
+1. Add support for specifying topics to record
+   * [Pull Request 54](https://github.com/ignitionrobotics/ign-launch/pull/54)
+
 ### Ignition Launch 1.9.0 (2020-08-13)
 
-1. Added HTTP handling support to websocket server and a metrics HTTP endpoint 
+1. Added HTTP handling support to websocket server and a metrics HTTP endpoint
    to monitor websocket server status.
    * [Pull Request 49](https://github.com/ignitionrobotics/ign-launch/pull/49)
 

plugins/gazebo_server/GazeboServer.cc

@@ -89,6 +89,15 @@ bool GazeboServer::Load(const tinyxml2::XMLElement *_elem)
           common::lowercase(str) == "true");
     }
 
+    // Add topics to record, if present.
+    for (const tinyxml2::XMLElement *recordTopic =
+        elem->FirstChildElement("record_topic"); recordTopic;
+        recordTopic = recordTopic->NextSiblingElement("record_topic"))
+    {
+      std::string topic = recordTopic->GetText();
+      serverConfig.AddLogRecordTopic(topic);
+    }
+
     const auto *resources = elem->FirstChildElement("resources");
     if (resources)
     {

plugins/websocket_server/WebsocketServer.cc

@@ -571,6 +571,7 @@ void WebsocketServer::OnConnect(int _socketId)
 //////////////////////////////////////////////////
 void WebsocketServer::OnDisconnect(int _socketId)
 {
+  std::lock_guard<std::mutex> mainLock(this->subscriptionMutex);
   // Skip invalid sockets
   if (this->connections.find(_socketId) == this->connections.end())
     return;
@@ -799,8 +800,11 @@ void WebsocketServer::OnWebsocketSubscribedMessage(
       // Send the message
       for (const int &socketId : iter->second)
       {
-        this->QueueMessage(this->connections[socketId].get(),
-            msg.c_str(), msg.length());
+        if (this->connections.find(socketId) != this->connections.end())
+        {
+          this->QueueMessage(this->connections[socketId].get(),
+              msg.c_str(), msg.length());
+        }
       }
     }
   }

src/CMakeLists.txt

@@ -21,6 +21,7 @@ target_link_libraries(${PROJECT_LIBRARY_TARGET_NAME}
     TINYXML2::TINYXML2
   PRIVATE
     ignition-common${IGN_COMMON_MAJOR_VER}::ignition-common${IGN_COMMON_MAJOR_VER}
+    ignition-math${IGN_MATH_MAJOR_VER}::ignition-math${IGN_MATH_MAJOR_VER}
     ${BACKWARD_LIBRARIES}
 )
 

src/Manager.cc

@@ -15,6 +15,8 @@
  *
 */
 
+#include "Manager.hh"
+
 #include <fcntl.h>
 #include <semaphore.h>
 #include <signal.h>
@@ -24,31 +26,33 @@
 #include <unistd.h>
 
 #include <condition_variable>
+#include <ctime>
+#include <limits>
 #include <list>
 #include <mutex>
 #include <numeric>
 #include <queue>
+#include <random>
 #include <string>
 #include <thread>
 #include <unordered_set>
+#include <utility>
 #include <vector>
 
 #include <ignition/common/Console.hh>
 #include <ignition/common/SignalHandler.hh>
 #include <ignition/common/SystemPaths.hh>
+#include <ignition/math/Rand.hh>
 #include <ignition/plugin/Loader.hh>
 
 #include "ignition/launch/config.hh"
 #include "ignition/launch/Plugin.hh"
 
-#include "Manager.hh"
 #include "vendor/backward.hpp"
 
 using namespace ignition::launch;
 using namespace std::chrono_literals;
 
-static constexpr const char* kSemaphoreName = "/child_semaphore";
-
 /// \brief A class to encapsulate an executable (program) to run.
 class Executable
 {
@@ -178,6 +182,9 @@ class ignition::launch::ManagerPrivate
   /// \brief Semaphore to prevent restartThread from being a spinlock
   private: sem_t *stoppedChildSem;
 
+  /// \brief Name of the semaphore created by stoppedChildSem.
+  private: std::string stoppedChildSemName;
+
   /// \brief Thread containing the restart loop
   private: std::thread restartThread;
 
@@ -294,18 +301,40 @@ ManagerPrivate::ManagerPrivate()
   this->sigHandler->AddCallback(
       std::bind(&ManagerPrivate::OnSigIntTerm, this, std::placeholders::_1));
 
+  {
+    // The semaphore we initialize in the next section needs a unique name, so
+    // we need to seed a random number generator with a quality random number.
+    // Especially time(0) itself is not a good seed as there may be multiple
+    // processes launched at the same time.
+    const auto time_seed = static_cast<size_t>(std::time(nullptr));
+    const auto pid_seed = std::hash<std::thread::id>()(
+        std::this_thread::get_id());
+    std::seed_seq seed_value{time_seed, pid_seed};
+    std::vector<size_t> seeds(1);
+    seed_value.generate(seeds.begin(), seeds.end());
+    math::Rand::Seed(seeds[0]);
+  }
+  const auto semRandomId = math::Rand::IntUniform(0,
+      std::numeric_limits<int32_t>::max());
+
   // Initialize semaphore
-  this->stoppedChildSem = sem_open(kSemaphoreName, O_CREAT, 0644, 1);
-  if (this->stoppedChildSem == SEM_FAILED) {
-    ignerr << "Error initializing semaphore: " << strerror(errno) << std::endl;
+  this->stoppedChildSemName = std::string("ign-launch-") +
+      std::to_string(semRandomId);
+  this->stoppedChildSem = sem_open(this->stoppedChildSemName.c_str(), O_CREAT,
+      0644, 1);
+  if (this->stoppedChildSem == SEM_FAILED)
+  {
+    ignerr << "Error initializing semaphore " << this->stoppedChildSemName
+           << ": " << strerror(errno) << std::endl;
   }
 
   // Register a signal handler to capture child process death events.
   if (signal(SIGCHLD, ManagerPrivate::OnSigChild) == SIG_ERR)
     ignerr << "signal(2) failed while setting up for SIGCHLD" << std::endl;
 
   // Register backward signal handler for other signals
-  std::vector<int> signals = {
+  std::vector<int> signals =
+  {
     SIGABRT,    // Abort signal from abort(3)
     SIGBUS,     // Bus error (bad memory access)
     SIGFPE,     // Floating point exception
@@ -329,12 +358,14 @@ ManagerPrivate::~ManagerPrivate()
   {
     if (sem_close(this->stoppedChildSem) == -1)
     {
-      ignerr << "Failed to close semaphore: " << strerror(errno) << std::endl;
+      ignerr << "Failed to close semaphore " << this->stoppedChildSemName
+             << ": " << strerror(errno) << std::endl;
     }
 
-    if (sem_unlink(kSemaphoreName) == -1)
+    if (sem_unlink(this->stoppedChildSemName.c_str()) == -1)
     {
-      ignerr << "Failed to unlink semaphore: " << strerror(errno) << std::endl;
+      ignerr << "Failed to unlink semaphore " << this->stoppedChildSemName
+             << ": " << strerror(errno) << std::endl;
     }
   }
 }

test/integration/plugins/bad_plugins.hh

@@ -22,5 +22,5 @@ class SegfaultOnLoad : public ignition::launch::Plugin
 {
   public: SegfaultOnLoad();
   public: virtual bool Load(
-              const tinyxml2::XMLElement * /*_elem*/) override final;
+              const tinyxml2::XMLElement * /*_elem*/) final;
 };