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tools/processstarter/src/main/native/linux/main.cpp

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+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#include "main.h"
+
+#include <poll.h>
+#include <spawn.h>
+#include <sys/syscall.h>
+#include <sys/types.h>
+#include <unistd.h>
+
+#include <climits>
+#include <cstdio>
+#include <cstring>
+#include <string>
+
+int main(int argc, char* argv[]) {
+  char path[PATH_MAX];
+  char dest[PATH_MAX];
+  std::memset(dest, 0, sizeof(dest));  // readlink does not null terminate!
+  pid_t pid = getpid();
+  std::snprintf(path, PATH_MAX, "/proc/%d/exe", pid);
+  int readlink_len = readlink(path, dest, PATH_MAX);
+  if (readlink_len < 0) {
+    std::perror("readlink");
+    return 1;
+  } else if (readlink_len == PATH_MAX) {
+    std::printf("Truncation occurred\n");
+    return 1;
+  }
+
+  std::filesystem::path exePath{dest};
+  if (exePath.empty()) {
+    return 1;
+  }
+
+  if (!exePath.has_stem()) {
+    return 1;
+  }
+
+  if (!exePath.has_parent_path()) {
+    return 1;
+  }
+
+  if (exePath.stem() == (L"AdvantageScope")) {
+    std::filesystem::path AdvantageScopePath{
+        exePath.parent_path().parent_path() / L"advantagescope" /
+        L"advantagescope-wpilib"};
+    return StartExeTool(AdvantageScopePath);
+  } else if (exePath.stem() == (L"Elastic")) {
+    std::filesystem::path ElasticPath{exePath.parent_path().parent_path() /
+                                      L"elastic" / L"elastic_dashboard"};
+    return StartExeTool(ElasticPath);
+  } else {
+    return StartJavaTool(exePath);
+  }
+}
+
+int StartJavaTool(std::filesystem::path& exePath) {
+  pid_t pid = 0;
+  std::filesystem::path jarPath{exePath};
+  jarPath.replace_extension("jar");
+  std::filesystem::path parentPath{exePath.parent_path()};
+
+  if (!parentPath.has_parent_path()) {
+    return 1;
+  }
+  std::filesystem::path toolsFolder{parentPath.parent_path()};
+
+  std::filesystem::path Java = toolsFolder / "jdk" / "bin" / "java";
+
+  std::string data = jarPath;
+  std::string jarArg = "-jar";
+  auto javaGenericStr = Java.generic_string();
+  char* const arguments[] = {javaGenericStr.data(), jarArg.data(), data.data(),
+                             nullptr};
+
+  int status =
+      posix_spawn(&pid, Java.c_str(), nullptr, nullptr, arguments, environ);
+  if (status != 0) {
+    char* home = std::getenv("JAVA_HOME");
+    std::string javaLocal = "java";
+    if (home != nullptr) {
+      std::filesystem::path javaHomePath{home};
+      javaHomePath /= "bin";
+      javaHomePath /= "java";
+      javaLocal = javaHomePath;
+    }
+
+    status = posix_spawn(&pid, javaLocal.c_str(), nullptr, nullptr, arguments,
+                         environ);
+    if (status != 0) {
+      return 1;
+    }
+  }
+
+  int childPid = syscall(SYS_pidfd_open, pid, 0);
+  if (childPid <= 0) {
+    return 1;
+  }
+
+  struct pollfd pfd = {childPid, POLLIN, 0};
+  return poll(&pfd, 1, 3000);
+}
+
+int StartExeTool(std::filesystem::path& exePath) {
+  char* const arguments[] = {nullptr};
+  pid_t pid = 0;
+
+  int status =
+      posix_spawn(&pid, exePath.c_str(), nullptr, nullptr, arguments, environ);
+
+  if (status != 0) {
+    return 1;
+  }
+  int childPid = syscall(SYS_pidfd_open, pid, 0);
+  if (childPid <= 0) {
+    return 1;
+  }
+
+  struct pollfd pfd = {childPid, POLLIN, 0};
+  return poll(&pfd, 1, 5000);
+}

tools/processstarter/src/main/native/linux/main.h

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+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#pragma once
+
+#include <filesystem>
+
+int StartExeTool(std::filesystem::path& exePath);
+int StartJavaTool(std::filesystem::path& exePath);
+int main(int argc, char* argv[]);