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Used s6-overlay[1] to start a lot daemons in a docker-image for demo purposes - postgres, tomcat, mysql, php-fpm, apache (don't ask why ;) - s6 worked really well and was reliable and stable - I enjoyed it very much. It was also possible to reliable pass SIGTERM to the daemons in the image for clean shutdown and it was easily possible to configure logging to stdout with a prefix. Modelling dependencies (waiting on database before starting app etc.pp) is possible via shell-scripts. It's super flexible but out of the box it's more like a collection of powerful tools not a complete package - but that's good. It's in the tradition of djb daemontools and is very unix - as in doesn't talk a lot and you better know how each part works but - and that's really cool - it's modular and simple and once you get a grip on it you can easily reason about it. systemd takes a completely different approach and also solves a kind of differnt problem - this is like small pieces of lego that compose well instead of one big chunk of glib/dbus/glibc only c-code.
1: https://github.com/just-containers/s6-overlay
Some use-cases do require an init-providing process of some sort but you likely want to use tini.
See for more details: https://github.com/krallin/tini/issues/8#issuecomment-146135...