Add systemd notify

server_v2/CMakeLists.txt

@@ -19,7 +19,7 @@ if (UNIX AND ${CMAKE_SYSTEM_PROCESSOR} STREQUAL armv7l)
     set(CMAKE_CXX_FLAGS_RELEASE "-O3")
 
     find_package(pigpio REQUIRED)
-    set(LIBRARIES "pigpio" "spdlog::spdlog")
+    set(LIBRARIES "pigpio" "spdlog::spdlog" "systemd")
     set(CMAKE_CXX_FLAGS "-Wall -Wextra -Wno-psabi")
 
     set(IS_RASPI true)

server_v2/src/main.cpp

@@ -11,6 +11,12 @@
 #include "include/Encoders.hpp"
 #include "include/networkUtils.hpp"
 
+#ifdef IS_RASPI
+
+#include <systemd/sd-daemon.h>
+
+#endif
+
 using namespace std;
 
 int main(int argc, char *argv[]) {
@@ -23,6 +29,10 @@ int main(int argc, char *argv[]) {
   TCPSocketServer tcpSocketServer;
   HealthChecker::getInstance();
 
+#ifdef IS_RASPI
+  sd_notify(0, "READY=1");
+#endif
+
 //  ClosedLoopMotorController::getInstance().set_speed(ROBOT_ODOMETRY_CONTROLLER_RIGHT_PORT, M_PI * ROBOT_ODOMETRY_CONTROLLER_RIGHT_MULT);
 //  ClosedLoopMotorController::getInstance().set_speed(ROBOT_ODOMETRY_CONTROLLER_LEFT_PORT, M_PI_4 * ROBOT_ODOMETRY_CONTROLLER_LEFT_MULT);
 //  OdometryController::getInstance().enable();