From 35cdf5823f3b4d6c2dc47f3e53aa0e74710af1e7 Mon Sep 17 00:00:00 2001
From: Miguel Angel Astor Romero <sonofgrendel@gmail.com>
Date: Thu, 22 Nov 2018 03:02:45 +0000
Subject: [PATCH] Now starts properly at boot with the Galileo's systemd.

---
 robot.service | 12 ++++++++++++
 robotd.c      | 13 +++++++++++++
 2 files changed, 25 insertions(+)
 create mode 100644 robot.service

diff --git a/robot.service b/robot.service
new file mode 100644
index 0000000..d4ff7a9
--- /dev/null
+++ b/robot.service
@@ -0,0 +1,12 @@
+#! /bin/sh
+[Unit]
+Description=Robot daemon
+[Service]
+Type=forking
+PIDFile=/var/run/robot.pid
+WorkingDirectory=/home/root/Robotd
+ExecStart=/etc/init.d/robot start
+ExecReload=/etc/init.d/robot restart
+ExecStop=/etc/init.d/robot stop
+[Install]
+WantedBy=multi-user.target
diff --git a/robotd.c b/robotd.c
index 73e5178..ec38ee9 100644
--- a/robotd.c
+++ b/robotd.c
@@ -3,6 +3,7 @@
 #include <stdlib.h>
 #include <string.h>
 #include <signal.h>
+#include <sys/types.h>
 #include <unistd.h>
 #include <errno.h>
 #include <syslog.h>
@@ -50,6 +51,18 @@ int main(int argc, char ** argv) {
     return EXIT_FAILURE;
   }
 
+  // Create PID file
+  FILE * pid = fopen("/var/run/robot.pid", "w");
+
+  if (pid == NULL) {
+    perror("FILE * pid = fopen(\"/var/run/robot.pid\", \"w\")");
+    syslog(LOG_DAEMON | LOG_ERR, "Failed to create PID file.");
+    return EXIT_FAILURE;
+  }
+
+  fprintf(pid, "%d", getpid());
+  fclose(pid);
+  
   // Open a syslog connection
   openlog(argv[0], LOG_NDELAY | LOG_PID, LOG_DAEMON);
   syslog(LOG_DAEMON | LOG_NOTICE, "Started robot daemon.");