first commit

cmii-uav-watchdog/build_and_run_watchdog.ps1

@@ -0,0 +1,27 @@
+
+
+try {
+    $ErrorActionPreference = "Stop"
+
+    Write-Host "1. Building binary exec file..." -ForegroundColor Cyan
+    & "C:\Users\wdd\go\bin\gox.exe" -osarch="linux/amd64" -output "build/cmii-watchdog_linux_amd64"
+
+    # 执行远程ssh命令  ssh root@192.168.35.70 "rm /root/cmii-watchdog"
+    Write-Host "2. Cleaning old binary file..." -ForegroundColor Yellow
+    ssh root@192.168.35.70 "rm -f /root/wdd/cmii-watchdog/*"
+
+    Write-Host "3. Uploading binary exec..." -ForegroundColor Green
+    scp build/cmii-watchdog_linux_amd64 root@192.168.35.70:/root/wdd/cmii-watchdog/
+    scp java/* root@192.168.35.70:/root/wdd/cmii-watchdog/
+
+    Write-Host "4. Exec the command ..." -ForegroundColor Blue
+    Write-Host ""
+    Write-Host ""
+    ssh root@192.168.35.70 "cd /root/wdd/cmii-watchdog/ && chmod +x cmii-watchdog_linux_amd64 && sudo bash build_cmii_watchdog.sh"
+    Write-Host ""
+    Write-Host ""
+
+} catch {
+    Write-Host "操作失败: $_" -ForegroundColor Red
+    exit 1
+}

cmii-uav-watchdog/cmii-uav-watchdog.iml

@@ -0,0 +1,9 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<module type="WEB_MODULE" version="4">
+  <component name="Go" enabled="true" />
+  <component name="NewModuleRootManager" inherit-compiler-output="true">
+    <exclude-output />
+    <content url="file://$MODULE_DIR$/cmii-uav-watchdog" />
+    <orderEntry type="sourceFolder" forTests="false" />
+  </component>
+</module>

cmii-uav-watchdog/go.mod

@@ -0,0 +1,3 @@
+module cmii-uav-watchdog
+
+go 1.23

cmii-uav-watchdog/main.go

@@ -0,0 +1,121 @@
+package main
+
+import (
+	"flag"
+	"log"
+	"os"
+	"os/exec"
+	"os/signal"
+	"sync"
+	"syscall"
+	"time"
+)
+
+var (
+	businessProgramType = flag.String("business-program-type", "", "Type of business program (java or python)")
+	businessProgramPath = flag.String("business-program-path", "", "Path to the business program file")
+	stopRequested       bool
+	currentCmd          *exec.Cmd
+	mu                  sync.Mutex
+)
+
+func startBusinessProcess(programType, programPath string) *exec.Cmd {
+	var cmd *exec.Cmd
+	switch programType {
+	case "java":
+		cmd = exec.Command("java", "-jar", programPath)
+	case "python":
+		cmd = exec.Command("python", programPath)
+	default:
+		log.Fatalf("Unsupported business program type: %s", programType)
+	}
+	return cmd
+}
+
+// C:\Users\wdd\go\bin\gox.exe -osarch="linux/amd64" -output "build/watchdog"
+func main() {
+	// 解析命令行参数
+	flag.Parse()
+	if *businessProgramType == "" || *businessProgramPath == "" {
+		log.Fatal("Missing required flags: -business-program-type and -business-program-path must be specified")
+	}
+	
+	// 信号处理
+	signalChan := make(chan os.Signal, 1)
+	signal.Notify(signalChan, os.Interrupt, syscall.SIGTERM)
+	go func() {
+		for sig := range signalChan {
+			log.Printf("Received signal: %v", sig)
+			mu.Lock()
+			stopRequested = true
+			if currentCmd != nil && currentCmd.Process != nil {
+				// 发送 SIGTERM 给业务进程
+				if err := currentCmd.Process.Signal(syscall.SIGTERM); err != nil {
+					log.Printf("Failed to send SIGTERM to process: %v", err)
+				}
+				// 等待 10 秒后强制杀死进程
+				time.AfterFunc(10*time.Second, func() {
+					mu.Lock()
+					defer mu.Unlock()
+					if currentCmd != nil && currentCmd.Process != nil {
+						log.Println("Graceful shutdown timeout, sending SIGKILL")
+						currentCmd.Process.Kill()
+					}
+				})
+			}
+			mu.Unlock()
+		}
+	}()
+	
+	// 主循环
+	for {
+		mu.Lock()
+		if stopRequested {
+			mu.Unlock()
+			log.Println("Shutting down due to stop request")
+			os.Exit(0)
+		}
+		mu.Unlock()
+		
+		cmd := startBusinessProcess(*businessProgramType, *businessProgramPath)
+		cmd.Stdout = os.Stdout
+		cmd.Stderr = os.Stderr
+		
+		// 启动业务进程
+		if err := cmd.Start(); err != nil {
+			log.Printf("Failed to start business process: %v", err)
+			time.Sleep(5 * time.Second)
+			continue
+		}
+		
+		mu.Lock()
+		currentCmd = cmd
+		mu.Unlock()
+		
+		// 等待业务进程退出
+		err := cmd.Wait()
+		mu.Lock()
+		currentCmd = nil
+		mu.Unlock()
+		
+		// 程序异常退出，或者重启
+		// 定位分析问题
+		if err != nil {
+			log.Printf("Business process exited with error: %v", err)
+		} else {
+			log.Println("Business process exited normally")
+		}
+		
+		mu.Lock()
+		if stopRequested {
+			mu.Unlock()
+			log.Println("Shutting down due to stop request")
+			os.Exit(0)
+		}
+		mu.Unlock()
+		
+		// 等待 5 秒后重启
+		log.Println("Restarting business process in 5 seconds...")
+		time.Sleep(5 * time.Second)
+	}
+}