Merge pull request #353 from ros2/restore_old_signal_handler
Restore old signal handler after shutdown
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dhood
GitHub
commit
89c43e78c8
1 changed files with 101 additions and 73 deletions
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@ -50,76 +50,26 @@ static std::mutex g_interrupt_mutex;
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#ifdef HAS_SIGACTION
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static struct sigaction old_action;
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#else
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static void (* old_signal_handler)(int) = 0;
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typedef void (* signal_handler_t)(int);
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static signal_handler_t old_signal_handler = 0;
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#endif
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void
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#ifdef HAS_SIGACTION
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signal_handler(int signal_value, siginfo_t * siginfo, void * context)
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struct sigaction
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set_sigaction(int signal_value, const struct sigaction & action)
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#else
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signal_handler(int signal_value)
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signal_handler_t
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set_signal_handler(int signal_value, signal_handler_t signal_handler)
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#endif
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{
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// TODO(wjwwood): remove? move to console logging at some point?
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printf("signal_handler(%d)\n", signal_value);
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#ifdef HAS_SIGACTION
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if (old_action.sa_flags & SA_SIGINFO) {
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if (old_action.sa_sigaction != NULL) {
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old_action.sa_sigaction(signal_value, siginfo, context);
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}
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} else {
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// *INDENT-OFF*
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if (
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old_action.sa_handler != NULL && // Is set
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old_action.sa_handler != SIG_DFL && // Is not default
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old_action.sa_handler != SIG_IGN) // Is not ignored
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// *INDENT-ON*
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{
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old_action.sa_handler(signal_value);
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}
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}
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#else
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if (old_signal_handler) {
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old_signal_handler(signal_value);
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}
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#endif
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g_signal_status = signal_value;
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{
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std::lock_guard<std::mutex> lock(g_sigint_guard_cond_handles_mutex);
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for (auto & kv : g_sigint_guard_cond_handles) {
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rcl_ret_t status = rcl_trigger_guard_condition(&(kv.second));
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if (status != RCL_RET_OK) {
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fprintf(stderr,
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"[rclcpp::error] failed to trigger guard condition: %s\n", rcl_get_error_string_safe());
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}
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}
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}
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g_is_interrupted.store(true);
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g_interrupt_condition_variable.notify_all();
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}
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void
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rclcpp::utilities::init(int argc, char * argv[])
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{
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g_is_interrupted.store(false);
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if (rcl_init(argc, argv, rcl_get_default_allocator()) != RCL_RET_OK) {
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// *INDENT-OFF* (prevent uncrustify from making unnecessary indents here)
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throw std::runtime_error(
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std::string("failed to initialize rmw implementation: ") + rcl_get_error_string_safe());
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// *INDENT-ON*
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}
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#ifdef HAS_SIGACTION
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struct sigaction action;
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memset(&action, 0, sizeof(action));
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sigemptyset(&action.sa_mask);
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action.sa_sigaction = ::signal_handler;
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action.sa_flags = SA_SIGINFO;
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ssize_t ret = sigaction(SIGINT, &action, &old_action);
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struct sigaction old_action;
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ssize_t ret = sigaction(signal_value, &action, &old_action);
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if (ret == -1)
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#else
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::old_signal_handler = std::signal(SIGINT, ::signal_handler);
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signal_handler_t old_signal_handler = std::signal(signal_value, signal_handler);
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// NOLINTNEXTLINE(readability/braces)
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if (::old_signal_handler == SIG_ERR)
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if (old_signal_handler == SIG_ERR)
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#endif
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{
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const size_t error_length = 1024;
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@ -147,6 +97,95 @@ rclcpp::utilities::init(int argc, char * argv[])
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error_string);
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// *INDENT-ON*
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}
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#ifdef HAS_SIGACTION
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return old_action;
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#else
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return old_signal_handler;
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#endif
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}
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void
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trigger_interrupt_guard_condition(int signal_value)
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{
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g_signal_status = signal_value;
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{
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std::lock_guard<std::mutex> lock(g_sigint_guard_cond_handles_mutex);
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for (auto & kv : g_sigint_guard_cond_handles) {
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rcl_ret_t status = rcl_trigger_guard_condition(&(kv.second));
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if (status != RCL_RET_OK) {
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fprintf(stderr,
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"[rclcpp::error] failed to trigger guard condition: %s\n", rcl_get_error_string_safe());
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}
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}
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}
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g_is_interrupted.store(true);
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g_interrupt_condition_variable.notify_all();
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}
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void
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#ifdef HAS_SIGACTION
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signal_handler(int signal_value, siginfo_t * siginfo, void * context)
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#else
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signal_handler(int signal_value)
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#endif
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{
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// TODO(wjwwood): remove? move to console logging at some point?
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printf("signal_handler(%d)\n", signal_value);
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#ifdef HAS_SIGACTION
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if (old_action.sa_flags & SA_SIGINFO) {
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if (old_action.sa_sigaction != NULL) {
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old_action.sa_sigaction(signal_value, siginfo, context);
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}
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} else {
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// *INDENT-OFF*
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if (
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old_action.sa_handler != NULL && // Is set
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old_action.sa_handler != SIG_DFL && // Is not default
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old_action.sa_handler != SIG_IGN) // Is not ignored
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// *INDENT-ON*
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{
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old_action.sa_handler(signal_value);
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}
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}
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#else
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if (old_signal_handler) {
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old_signal_handler(signal_value);
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}
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#endif
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trigger_interrupt_guard_condition(signal_value);
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}
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void
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rclcpp::utilities::init(int argc, char * argv[])
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{
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g_is_interrupted.store(false);
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if (rcl_init(argc, argv, rcl_get_default_allocator()) != RCL_RET_OK) {
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// *INDENT-OFF* (prevent uncrustify from making unnecessary indents here)
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throw std::runtime_error(
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std::string("failed to initialize rmw implementation: ") + rcl_get_error_string_safe());
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// *INDENT-ON*
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}
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#ifdef HAS_SIGACTION
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struct sigaction action;
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memset(&action, 0, sizeof(action));
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sigemptyset(&action.sa_mask);
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action.sa_sigaction = ::signal_handler;
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action.sa_flags = SA_SIGINFO;
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::old_action = set_sigaction(SIGINT, action);
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// Register an on_shutdown hook to restore the old action.
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rclcpp::utilities::on_shutdown([]() {
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set_sigaction(SIGINT, ::old_action);
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});
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#else
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::old_signal_handler = set_signal_handler(SIGINT, ::signal_handler);
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// Register an on_shutdown hook to restore the old signal handler.
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rclcpp::utilities::on_shutdown([]() {
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set_signal_handler(SIGINT, ::old_signal_handler);
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});
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#endif
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}
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bool
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@ -161,19 +200,8 @@ static std::vector<std::function<void(void)>> on_shutdown_callbacks_;
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void
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rclcpp::utilities::shutdown()
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{
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g_signal_status = SIGINT;
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{
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std::lock_guard<std::mutex> lock(g_sigint_guard_cond_handles_mutex);
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for (auto & kv : g_sigint_guard_cond_handles) {
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if (rcl_trigger_guard_condition(&(kv.second)) != RCL_RET_OK) {
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fprintf(stderr,
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"[rclcpp::error] failed to trigger sigint guard condition: %s\n",
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rcl_get_error_string_safe());
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}
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}
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}
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g_is_interrupted.store(true);
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g_interrupt_condition_variable.notify_all();
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trigger_interrupt_guard_condition(SIGINT);
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{
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std::lock_guard<std::mutex> lock(on_shutdown_mutex_);
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for (auto & on_shutdown_callback : on_shutdown_callbacks_) {
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