Nitro: A tiny but flexible init system and process supervisor

This is by design.

runsvdir receiving TERM should only happen when stage 2 is triggered to end.

Once that happens, the individual runsv processes are still supervising their individual tasks and can be requested to stop through their respective control sockets. It's how standard stage 3 is implemented.

Mostly just zombies and signal handlers.

And your software can do it, if it's written with the assumption that it will be pid1, but most non-init software isn't. And rather than write your software to do so, it's easier to just reach for something like tini that does it already with very little overhead.

I'd recommend reading the tini readme[0] and its linked discussion for full detail.

[0]: https://github.com/krallin/tini

The main other problem is that the kernel doesn't register default signal handlers for signals like SIGTERM if the process is PID 1. So if your process doesn't register its own signal handlers, it's hard to kill (you have to use SIGKILL). I'm sure anyone who has used Docker a lot has run into containers that seem to just ignore signals -- this is the usual reason why.

> also, why can't the real pid1 do it? it sees all the processes after all.

How would the real PID 1 know if it _should_ reap the zombie? It's normal to have some zombie processes -- they're just processes whose exit statuses haven't been reaped yet. If you force-reaped a zombie you could break a program that just hasn't yet gotten around to checking the status of a subprocess it spawned.

I've always advocated against containers as a means of deploying software to robots simply because to my mind it doesn't make sense— robots are full of bare-metal concerns, whether it's udev rules, device drivers, network config, special kernel or bootloader setup, never mind managing the container runtime itself including startup, updating, credentials, and all the rest of it. It's always felt to me like by the time you put in place mechanisms to handle all that crap outside the container, you might as well just be building a custom bare metal image and shipping that— have A/B partitions so you copy an update from the network to the other partition, use grub chainloading, wipe hands on pants.

The concern regarding license-adherence is orthogonal to all that but certainly valid. I think with the ROS ecosystem in particular there is a lot of "lol everything is BSD/Apache2 so we don't even have to think about it", without understanding that these licenses still have an attribution requirement.

It's only really fixed in podman, with the special `--systemd=always` flag. Docker afaik still requires manually disabling certain services that will conflict with the host and then running the whole thing as privileged— basically, a mess.

Not my favoured approach, but for early stage systems where proper off-board observability/alerting is not yet in place, tmux can function as a kind of ssh-accessible dashboard displaying the stdout of key running processes, and also allowing some measure of inline recovery— like if a process has crashed, you can up-arrow and relaunch it in the same environment it crashed out of.

Obviously not an approach that scales, but I think it can also work decently well as a dev environment, where you want to run "stock" for most of the components in the system, and just be syncing in an updated workspace and restarting the one bit being actively developed on. Being able to do this without having to reason about a whole tree of interlinked startup units or whatever does lower the barrier to entry somewhat.

So it's basically like tini (keep a single executable running), but in Rust?

Dinit, runit, tini -- all avoid the name clash :)

Hmm, is that desirable? If someone's going around sending SIGTERM to random processes they might also send SIGKILL, and there's no way Nitro can propagate SIGKILL to processes it starts.