[service]: fix launching and terminating deteched process

README.md

@@ -8,6 +8,10 @@ Typically a software team has a production code to be tested; a simulation tool
 
 Current project is under active development and is not ready yet to be in use.
 
+Help wanted:
+* Windows integration
+* Cmake review
+
 ## Notes
 
 ### service notes
@@ -20,6 +24,13 @@ Current project is under active development and is not ready yet to be in use.
 ~/cycle_on/service$ ./build/src/service
 ```
 
+### service integration
+
+```
+~/cycle_on/$ sudo bash docker/installers/install_essentials.sh
+~/cycle_on/$ sudo bash docker/installers/install_boost.sh
+```
+
 ### cli-tool notes
 ```
 $ python3 -m pip install build

cli_tool/data/global_config.json

@@ -4,17 +4,16 @@
         "port": 8181
     },
     "action": {
-        "modules": [
+        "modules": [],
+        "simulators": [
             {
-                "command": "touch",
+                "command": "/home/robo/CARLA_0.9.12/CarlaUE4.sh",
                 "parameters": [
-                    "/cycleon/service",
-                    "temp_file_to_check_child_runner.dat"
+                    "-prefernvidia",
+                    "-carla-rpc-port=3000",
+                    "-quality-level=Low"
                 ]
             }
-        ],
-        "simulators": [
-
         ]
     }
 }

service/CMakeLists.txt

@@ -6,6 +6,7 @@ set(CMAKE_CXX_STANDARD 14)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
 
 include(FetchContent)
+find_package(Threads REQUIRED)
 find_package(Boost REQUIRED COMPONENTS
              filesystem)
 

service/src/runner/child.cc

@@ -10,6 +10,13 @@ using namespace cycleon::runner;
 Child::Child(const std::vector<std::string>& arguments)
     : arguments_(arguments) {}
 
-void Child::Open() { child_.reset(new bp::child(bp::args(arguments_))); }
+void Child::Open() {
+    child_.reset(new bp::child(bp::args(arguments_), group_));
+    // std::cout << "Child: id " << child_->id() << std::endl;
+    }
 
-void Child::Close() { child_->terminate(); }
+void Child::Close() {
+    group_.terminate();
+    child_->wait();
+    // std::cout << "Child: exit_code " << child_->exit_code() << std::endl;
+    }

service/src/runner/child.hpp

@@ -2,6 +2,7 @@
 #define RUNNER_CHILD_H_
 
 #include <boost/process/child.hpp>
+#include <boost/process/group.hpp>
 #include <memory>
 
 #include "runner/module.hpp"
@@ -20,6 +21,7 @@ class Child final : public ModuleBase {
 
  private:
   childPtr child_;
+  bp::group group_;
   std::vector<std::string> arguments_;
 };
 

service/src/server/CMakeLists.txt

@@ -6,6 +6,7 @@ target_link_libraries(
     tcp_server
     handler
     nlohmann_json::nlohmann_json
+    Threads::Threads
     )
 
 target_include_directories(