tools: start supervisor in bootstrap

modules/tools/supervisord/dev.conf

@@ -104,10 +104,31 @@ serverurl=unix:///tmp/supervisor.sock ; use a unix:// URL  for a unix socket
 ;environment=A="1",B="2"       ; process environment additions (def no adds)
 ;serverurl=AUTO                ; override serverurl computation (childutils)
 
+[program:dreamview]
+command=/apollo/bazel-bin/modules/dreamview/dreamview --flagfile=/apollo/modules/dreamview/conf/dreamview.conf --log_dir=/apollo/data/log
+autostart=false
+numprocs=1
+exitcodes=0
+stopsignal=SIGINT
+startretries=10
+autorestart=unexpected
+redirect_stderr=true
+stdout_logfile=/apollo/data/log/dreamview.out
+
+[program:monitor]
+command=/apollo/bazel-bin/modules/monitor/monitor --flagfile=/apollo/modules/monitor/conf/monitor.conf --log_dir=/apollo/data/log
+autostart=false
+numprocs=1
+exitcodes=0
+stopsignal=SIGINT
+startretries=10
+autorestart=unexpected
+redirect_stderr=true
+stdout_logfile=/apollo/data/log/monitor.out
+
 [program:velodyne]
 directory=/apollo/
 command=roslaunch velodyne start_velodyne.launch
-startsecs=10
 autostart=false
 numprocs=1
 exitcodes=0
@@ -115,12 +136,11 @@ stopsignal=SIGINT
 startretries=10
 autorestart=unexpected
 redirect_stderr=true
-stdout_logfile=data/log/velodyne.out
+stdout_logfile=/apollo/data/log/velodyne.out
 
 [program:gps]
 directory=/apollo/
 command=roslaunch gnss_driver gnss_driver.launch
-startsecs=10
 autostart=false
 numprocs=1
 exitcodes=0
@@ -128,12 +148,11 @@ stopsignal=SIGINT
 startretries=10
 autorestart=unexpected
 redirect_stderr=true
-stdout_logfile=data/log/gnss_driver.out
+stdout_logfile=/apollo/data/log/gnss_driver.out
 
 [program:usb_camera]
 directory=/apollo/
 command=roslaunch usb_cam start_leopard.launch
-startsecs=10
 autostart=false
 numprocs=1
 exitcodes=0
@@ -141,12 +160,10 @@ stopsignal=SIGINT
 startretries=10
 autorestart=unexpected
 redirect_stderr=true
-stdout_logfile=data/log/usb_camera.out
+stdout_logfile=/apollo/data/log/usb_camera.out
 
 [program:conti_radar]
-directory=/apollo/bazel-bin
-command=modules/drivers/conti_radar/conti_radar --flagfile=modules/drivers/conti_radar/conf/conti_radar.conf --log_dir=/apollo/data/log
-startsecs=10
+command=/apollo/bazel-bin/modules/drivers/conti_radar/conti_radar --flagfile=/apollo/modules/drivers/conti_radar/conf/conti_radar.conf --log_dir=/apollo/data/log
 autostart=false
 numprocs=1
 exitcodes=0
@@ -154,12 +171,10 @@ stopsignal=SIGINT
 startretries=10
 autorestart=unexpected
 redirect_stderr=true
-stdout_logfile=data/log/conti_radar.out
+stdout_logfile=/apollo/data/log/conti_radar.out
 
 [program:mobileye]
-directory=/apollo/bazel-bin
-command=modules/drivers/mobileye/mobileye
-startsecs=10
+command=/apollo/bazel-bin/modules/drivers/mobileye/mobileye
 autostart=false
 numprocs=1
 exitcodes=0
@@ -167,12 +182,10 @@ stopsignal=SIGINT
 startretries=10
 autorestart=unexpected
 redirect_stderr=true
-stdout_logfile=data/log/mobileye.out
+stdout_logfile=/apollo/data/log/mobileye.out
 
 [program:canbus]
-directory=/apollo/bazel-bin
-command=modules/canbus/canbus --flagfile=modules/canbus/conf/canbus.conf --log_dir=/apollo/data/log
-startsecs=5
+command=/apollo/bazel-bin/modules/canbus/canbus --flagfile=/apollo/modules/canbus/conf/canbus.conf --log_dir=/apollo/data/log
 autostart=false
 numprocs=1
 exitcodes=0
@@ -180,12 +193,10 @@ stopsignal=SIGINT
 startretries=10
 autorestart=unexpected
 redirect_stderr=true
-stdout_logfile=data/log/canbus.out
+stdout_logfile=/apollo/data/log/canbus.out
 
 [program:localization]
-directory=/apollo/bazel-bin
-command=modules/localization/localization --flagfile=modules/localization/conf/localization.conf --log_dir=/apollo/data/log
-startsecs=5
+command=/apollo/bazel-bin/modules/localization/localization --flagfile=/apollo/modules/localization/conf/localization.conf --log_dir=/apollo/data/log
 autostart=false
 numprocs=1
 exitcodes=0
@@ -193,12 +204,10 @@ stopsignal=SIGINT
 startretries=10
 autorestart=unexpected
 redirect_stderr=true
-stdout_logfile=data/log/localization.out
+stdout_logfile=/apollo/data/log/localization.out
 
 [program:control]
-directory=/apollo/bazel-bin
-command=modules/control/control --flagfile=modules/control/conf/control.conf --log_dir=/apollo/data/log
-startsecs=5
+command=/apollo/bazel-bin/modules/control/control --flagfile=/apollo/modules/control/conf/control.conf --log_dir=/apollo/data/log
 autostart=false
 numprocs=1
 exitcodes=0
@@ -206,12 +215,10 @@ stopsignal=SIGINT
 startretries=10
 autorestart=unexpected
 redirect_stderr=true
-stdout_logfile=data/log/control.out
+stdout_logfile=/apollo/data/log/control.out
 
 [program:planning]
-directory=/apollo/bazel-bin
-command=modules/planning/planning --flagfile=modules/planning/conf/planning.conf --log_dir=/apollo/data/log
-startsecs=5
+command=/apollo/bazel-bin/modules/planning/planning --flagfile=/apollo/modules/planning/conf/planning.conf --log_dir=/apollo/data/log
 autostart=false
 numprocs=1
 exitcodes=0
@@ -219,12 +226,10 @@ stopsignal=SIGINT
 startretries=10
 autorestart=unexpected
 redirect_stderr=true
-stdout_logfile=data/log/planning.out
+stdout_logfile=/apollo/data/log/planning.out
 
 [program:routing]
-directory=/apollo/bazel-bin
-command=modules/routing/routing --flagfile=modules/routing/conf/routing.conf --log_dir=/apollo/data/log
-startsecs=5
+command=/apollo/bazel-bin/modules/routing/routing --flagfile=/apollo/modules/routing/conf/routing.conf --log_dir=/apollo/data/log
 autostart=false
 numprocs=1
 exitcodes=0
@@ -232,12 +237,10 @@ stopsignal=SIGINT
 startretries=10
 autorestart=unexpected
 redirect_stderr=true
-stdout_logfile=data/log/routing.out
+stdout_logfile=/apollo/data/log/routing.out
 
 [program:prediction]
-directory=/apollo/bazel-bin
-command=modules/prediction/prediction --flagfile=modules/prediction/conf/prediction.conf --log_dir=/apollo/data/log
-startsecs=5
+command=/apollo/bazel-bin/modules/prediction/prediction --flagfile=/apollo/modules/prediction/conf/prediction.conf --log_dir=/apollo/data/log
 autostart=false
 numprocs=1
 exitcodes=0
@@ -245,12 +248,10 @@ stopsignal=SIGINT
 startretries=10
 autorestart=unexpected
 redirect_stderr=true
-stdout_logfile=data/log/prediction.out
+stdout_logfile=/apollo/data/log/prediction.out
 
 [program:perception]
-directory=/apollo/bazel-bin
-command=modules/perception/perception --flagfile=modules/perception/conf/perception.conf --log_dir=/apollo/data/log
-startsecs=5
+command=/apollo/bazel-bin/modules/perception/perception --flagfile=/apollo/modules/perception/conf/perception.conf --log_dir=/apollo/data/log
 autostart=false
 numprocs=1
 exitcodes=0
@@ -258,12 +259,10 @@ stopsignal=SIGINT
 startretries=10
 autorestart=unexpected
 redirect_stderr=true
-stdout_logfile=data/log/perception.out
+stdout_logfile=/apollo/data/log/perception.out
 
 [program:third_party_perception]
-directory=/apollo/bazel-bin
-command=modules/third_party_perception/third_party_perception --flagfile=modules/third_party_perception/conf/third_party_perception.conf --log_dir=/apollo/data/log
-startsecs=5
+command=/apollo/bazel-bin/modules/third_party_perception/third_party_perception --flagfile=/apollo/modules/third_party_perception/conf/third_party_perception.conf --log_dir=/apollo/data/log
 autostart=false
 numprocs=1
 exitcodes=0
@@ -271,12 +270,10 @@ stopsignal=SIGINT
 startretries=10
 autorestart=unexpected
 redirect_stderr=true
-stdout_logfile=data/log/third_party_perception.out
+stdout_logfile=/apollo/data/log/third_party_perception.out
 
 [program:navigation_control]
-directory=/apollo/bazel-bin
-command=modules/control/control --flagfile=modules/control/conf/control.conf --log_dir=/apollo/data/log --control_conf_file=modules/control/conf/navigation_lincoln.pb.txt --use_relative_position=true
-startsecs=5
+command=/apollo/bazel-bin/modules/control/control --flagfile=/apollo/modules/control/conf/control.conf --log_dir=/apollo/data/log --control_conf_file=/apollo/modules/control/conf/navigation_lincoln.pb.txt --use_relative_position=true
 autostart=false
 numprocs=1
 exitcodes=0
@@ -284,12 +281,10 @@ stopsignal=SIGINT
 startretries=10
 autorestart=unexpected
 redirect_stderr=true
-stdout_logfile=data/log/navigation_control.out
+stdout_logfile=/apollo/data/log/navigation_control.out
 
 [program:navigation_server]
-directory=/apollo/
-command=python modules/tools/navigation/simulator/navigation_view_backend.py
-startsecs=5
+command=python /apollo/modules/tools/navigation/simulator/navigation_view_backend.py
 autostart=false
 numprocs=1
 exitcodes=0
@@ -297,13 +292,11 @@ stopsignal=SIGINT
 startretries=10
 autorestart=unexpected
 redirect_stderr=true
-stdout_logfile=data/log/navigation_server.out
+stdout_logfile=/apollo/data/log/navigation_server.out
 
 
 [program:navigation_planning]
-directory=/apollo/
-command=python modules/tools/navigation/planning/navigation_planning.py 
-startsecs=5
+command=python /apollo/modules/tools/navigation/planning/navigation_planning.py 
 autostart=false
 numprocs=1
 exitcodes=0
@@ -311,12 +304,10 @@ stopsignal=SIGINT
 startretries=10
 autorestart=unexpected
 redirect_stderr=true
-stdout_logfile=data/log/navigation_planning.out
+stdout_logfile=/apollo/data/log/navigation_planning.out
 
 [program:navigation_routing]
-directory=/apollo/
-command=python modules/tools/navigation/routing/navigation_routing.py 
-startsecs=5
+command=python /apollo/modules/tools/navigation/routing/navigation_routing.py 
 autostart=false
 numprocs=1
 exitcodes=0
@@ -324,7 +315,7 @@ stopsignal=SIGINT
 startretries=10
 autorestart=unexpected
 redirect_stderr=true
-stdout_logfile=data/log/navigation_routing.out
+stdout_logfile=/apollo/data/log/navigation_routing.out
 
 ; The sample eventlistener section below shows all possible eventlistener
 ; subsection values.  Create one or more 'real' eventlistener: sections to be

modules/tools/supervisord/release.conf

@@ -104,10 +104,31 @@ serverurl=unix:///tmp/supervisor.sock ; use a unix:// URL  for a unix socket
 ;environment=A="1",B="2"       ; process environment additions (def no adds)
 ;serverurl=AUTO                ; override serverurl computation (childutils)
 
+[program:dreamview]
+command=/apollo/modules/dreamview/dreamview --flagfile=/apollo/modules/dreamview/conf/dreamview.conf --log_dir=/apollo/data/log
+autostart=false
+numprocs=1
+exitcodes=0
+stopsignal=SIGINT
+startretries=10
+autorestart=unexpected
+redirect_stderr=true
+stdout_logfile=/apollo/data/log/dreamview.out
+
+[program:monitor]
+command=/apollo/modules/monitor/monitor --flagfile=/apollo/modules/monitor/conf/monitor.conf --log_dir=/apollo/data/log
+autostart=false
+numprocs=1
+exitcodes=0
+stopsignal=SIGINT
+startretries=10
+autorestart=unexpected
+redirect_stderr=true
+stdout_logfile=/apollo/data/log/monitor.out
+
 [program:velodyne]
 directory=/apollo/
 command=roslaunch velodyne start_velodyne.launch
-startsecs=10
 autostart=false
 numprocs=1
 exitcodes=0
@@ -115,12 +136,11 @@ stopsignal=SIGINT
 startretries=10
 autorestart=unexpected
 redirect_stderr=true
-stdout_logfile=data/log/velodyne.out
+stdout_logfile=/apollo/data/log/velodyne.out
 
 [program:gps]
 directory=/apollo/
 command=roslaunch gnss_driver gnss_driver.launch
-startsecs=10
 autostart=false
 numprocs=1
 exitcodes=0
@@ -128,12 +148,11 @@ stopsignal=SIGINT
 startretries=10
 autorestart=unexpected
 redirect_stderr=true
-stdout_logfile=data/log/gnss_driver.out
+stdout_logfile=/apollo/data/log/gnss_driver.out
 
 [program:usb_camera]
 directory=/apollo/
 command=roslaunch usb_cam start_leopard.launch
-startsecs=10
 autostart=false
 numprocs=1
 exitcodes=0
@@ -141,12 +160,10 @@ stopsignal=SIGINT
 startretries=10
 autorestart=unexpected
 redirect_stderr=true
-stdout_logfile=data/log/usb_camera.out
+stdout_logfile=/apollo/data/log/usb_camera.out
 
 [program:conti_radar]
-directory=/apollo/
-command=modules/drivers/conti_radar/conti_radar --flagfile=modules/drivers/conti_radar/conf/conti_radar.conf --log_dir=/apollo/data/log
-startsecs=10
+command=/apollo/modules/drivers/conti_radar/conti_radar --flagfile=/apollo/modules/drivers/conti_radar/conf/conti_radar.conf --log_dir=/apollo/data/log
 autostart=false
 numprocs=1
 exitcodes=0
@@ -154,12 +171,10 @@ stopsignal=SIGINT
 startretries=10
 autorestart=unexpected
 redirect_stderr=true
-stdout_logfile=data/log/conti_radar.out
+stdout_logfile=/apollo/data/log/conti_radar.out
 
 [program:mobileye]
-directory=/apollo/
-command=modules/drivers/mobileye/mobileye
-startsecs=10
+command=/apollo/modules/drivers/mobileye/mobileye
 autostart=false
 numprocs=1
 exitcodes=0
@@ -167,12 +182,10 @@ stopsignal=SIGINT
 startretries=10
 autorestart=unexpected
 redirect_stderr=true
-stdout_logfile=data/log/mobileye.out
+stdout_logfile=/apollo/data/log/mobileye.out
 
 [program:canbus]
-directory=/apollo/
-command=modules/canbus/canbus --flagfile=modules/canbus/conf/canbus.conf --log_dir=/apollo/data/log
-startsecs=5
+command=/apollo/modules/canbus/canbus --flagfile=/apollo/modules/canbus/conf/canbus.conf --log_dir=/apollo/data/log
 autostart=false
 numprocs=1
 exitcodes=0
@@ -180,12 +193,10 @@ stopsignal=SIGINT
 startretries=10
 autorestart=unexpected
 redirect_stderr=true
-stdout_logfile=data/log/canbus.out
+stdout_logfile=/apollo/data/log/canbus.out
 
 [program:localization]
-directory=/apollo/
-command=modules/localization/localization --flagfile=modules/localization/conf/localization.conf --log_dir=/apollo/data/log
-startsecs=5
+command=/apollo/modules/localization/localization --flagfile=/apollo/modules/localization/conf/localization.conf --log_dir=/apollo/data/log
 autostart=false
 numprocs=1
 exitcodes=0
@@ -193,12 +204,10 @@ stopsignal=SIGINT
 startretries=10
 autorestart=unexpected
 redirect_stderr=true
-stdout_logfile=data/log/localization.out
+stdout_logfile=/apollo/data/log/localization.out
 
 [program:control]
-directory=/apollo/
-command=modules/control/control --flagfile=modules/control/conf/control.conf --log_dir=/apollo/data/log
-startsecs=5
+command=/apollo/modules/control/control --flagfile=/apollo/modules/control/conf/control.conf --log_dir=/apollo/data/log
 autostart=false
 numprocs=1
 exitcodes=0
@@ -206,12 +215,10 @@ stopsignal=SIGINT
 startretries=10
 autorestart=unexpected
 redirect_stderr=true
-stdout_logfile=data/log/control.out
+stdout_logfile=/apollo/data/log/control.out
 
 [program:planning]
-directory=/apollo/
-command=modules/planning/planning --flagfile=modules/planning/conf/planning.conf --log_dir=/apollo/data/log
-startsecs=5
+command=/apollo/modules/planning/planning --flagfile=/apollo/modules/planning/conf/planning.conf --log_dir=/apollo/data/log
 autostart=false
 numprocs=1
 exitcodes=0
@@ -219,12 +226,10 @@ stopsignal=SIGINT
 startretries=10
 autorestart=unexpected
 redirect_stderr=true
-stdout_logfile=data/log/planning.out
+stdout_logfile=/apollo/data/log/planning.out
 
 [program:routing]
-directory=/apollo/
-command=modules/routing/routing --flagfile=modules/routing/conf/routing.conf --log_dir=/apollo/data/log
-startsecs=5
+command=/apollo/modules/routing/routing --flagfile=/apollo/modules/routing/conf/routing.conf --log_dir=/apollo/data/log
 autostart=false
 numprocs=1
 exitcodes=0
@@ -232,12 +237,10 @@ stopsignal=SIGINT
 startretries=10
 autorestart=unexpected
 redirect_stderr=true
-stdout_logfile=data/log/routing.out
+stdout_logfile=/apollo/data/log/routing.out
 
 [program:prediction]
-directory=/apollo/
-command=modules/prediction/prediction --flagfile=modules/prediction/conf/prediction.conf --log_dir=/apollo/data/log
-startsecs=5
+command=/apollo/modules/prediction/prediction --flagfile=/apollo/modules/prediction/conf/prediction.conf --log_dir=/apollo/data/log
 autostart=false
 numprocs=1
 exitcodes=0
@@ -245,12 +248,10 @@ stopsignal=SIGINT
 startretries=10
 autorestart=unexpected
 redirect_stderr=true
-stdout_logfile=data/log/prediction.out
+stdout_logfile=/apollo/data/log/prediction.out
 
 [program:perception]
-directory=/apollo/
-command=modules/perception/perception --flagfile=modules/perception/conf/perception.conf --log_dir=/apollo/data/log
-startsecs=5
+command=/apollo/modules/perception/perception --flagfile=/apollo/modules/perception/conf/perception.conf --log_dir=/apollo/data/log
 autostart=false
 numprocs=1
 exitcodes=0
@@ -258,12 +259,10 @@ stopsignal=SIGINT
 startretries=10
 autorestart=unexpected
 redirect_stderr=true
-stdout_logfile=data/log/perception.out
+stdout_logfile=/apollo/data/log/perception.out
 
 [program:third_party_perception]
-directory=/apollo/
-command=modules/third_party_perception/third_party_perception --flagfile=modules/third_party_perception/conf/third_party_perception.conf --log_dir=/apollo/data/log
-startsecs=5
+command=/apollo/modules/third_party_perception/third_party_perception --flagfile=/apollo/modules/third_party_perception/conf/third_party_perception.conf --log_dir=/apollo/data/log
 autostart=false
 numprocs=1
 exitcodes=0
@@ -271,12 +270,10 @@ stopsignal=SIGINT
 startretries=10
 autorestart=unexpected
 redirect_stderr=true
-stdout_logfile=data/log/third_party_perception.out
+stdout_logfile=/apollo/data/log/third_party_perception.out
 
 [program:navigation_control]
-directory=/apollo/
-command=modules/control/control --flagfile=modules/control/conf/control.conf --log_dir=/apollo/data/log --control_conf_file=modules/control/conf/navigation_lincoln.pb.txt --use_relative_position=true
-startsecs=5
+command=/apollo/modules/control/control --flagfile=/apollo/modules/control/conf/control.conf --log_dir=/apollo/data/log --control_conf_file=/apollo/modules/control/conf/navigation_lincoln.pb.txt --use_relative_position=true
 autostart=false
 numprocs=1
 exitcodes=0
@@ -284,12 +281,10 @@ stopsignal=SIGINT
 startretries=10
 autorestart=unexpected
 redirect_stderr=true
-stdout_logfile=data/log/navigation_control.out
+stdout_logfile=/apollo/data/log/navigation_control.out
 
 [program:navigation_server]
-directory=/apollo/
-command=python modules/tools/navigation/simulator/navigation_view_backend.py
-startsecs=5
+command=python /apollo/modules/tools/navigation/simulator/navigation_view_backend.py
 autostart=false
 numprocs=1
 exitcodes=0
@@ -297,13 +292,12 @@ stopsignal=SIGINT
 startretries=10
 autorestart=unexpected
 redirect_stderr=true
-stdout_logfile=data/log/navigation_server.out
+stdout_logfile=/apollo/data/log/navigation_server.out
 
 
 [program:navigation_planning]
 directory=/apollo/
-command=python modules/tools/navigation/planning/navigation_planning.py 
-startsecs=5
+command=python /apollo/modules/tools/navigation/planning/navigation_planning.py 
 autostart=false
 numprocs=1
 exitcodes=0
@@ -311,12 +305,10 @@ stopsignal=SIGINT
 startretries=10
 autorestart=unexpected
 redirect_stderr=true
-stdout_logfile=data/log/navigation_planning.out
+stdout_logfile=/apollo/data/log/navigation_planning.out
 
 [program:navigation_routing]
-directory=/apollo/
-command=python modules/tools/navigation/routing/navigation_routing.py 
-startsecs=5
+command=python /apollo/modules/tools/navigation/routing/navigation_routing.py 
 autostart=false
 numprocs=1
 exitcodes=0
@@ -324,7 +316,7 @@ stopsignal=SIGINT
 startretries=10
 autorestart=unexpected
 redirect_stderr=true
-stdout_logfile=data/log/navigation_routing.out
+stdout_logfile=/apollo/data/log/navigation_routing.out
 
 ; The sample eventlistener section below shows all possible eventlistener
 ; subsection values.  Create one or more 'real' eventlistener: sections to be

scripts/bootstrap.sh

@@ -26,6 +26,13 @@ function start() {
     echo "Start roscore..."
     ROSCORELOG="${APOLLO_ROOT_DIR}/data/log/roscore.out"
     nohup roscore </dev/null >"${ROSCORELOG}" 2>&1 &
+    if [ "$HOSTNAME" == "in_release_docker" ]; then
+        supervisord -c /apollo/modules/tools/supervisord/release.conf >& /tmp/supervisord.start.log
+        echo "Started supervisord with release conf"
+    else
+        supervisord -c /apollo/modules/tools/supervisord/dev.conf >& /tmp/supervisord.start.log
+        echo "Started supervisord with dev conf"
+    fi
 
     # Start Dreamview
     bash scripts/dreamview.sh

scripts/docker_adduser.sh

@@ -61,8 +61,5 @@ if [ "$RELEASE_DOCKER" != "1" ];then
   chmod a+w -R "${ROS}/share/velodyne_pointcloud/params"
   chmod a+w "${ROS}/share/gnss_driver/launch/gnss_driver.launch"
   chmod a+w "${ROS}/share/gnss_driver/conf/gnss_conf_mkz.txt"
-  supervisord -c /apollo/modules/tools/supervisord/dev.conf
-else
-  supervisord -c /apollo/modules/tools/supervisord/release.conf
 fi