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Merge pull request #353 from ros2/restore_old_signal_handler

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Restore old signal handler after shutdown
This commit is contained in:
dhood 2017-08-11 14:02:54 -07:00 • committed by GitHub
commit 89c43e78c8
1 changed files with 101 additions and 73 deletions
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174
rclcpp/src/rclcpp/utilities.cpp
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@ -50,76 +50,26 @@ static std::mutex g_interrupt_mutex;
#ifdef HAS_SIGACTION #ifdef HAS_SIGACTION
static struct sigaction old_action; static struct sigaction old_action;
#else #else
static void (* old_signal_handler)(int) = 0; typedef void (* signal_handler_t)(int);
static signal_handler_t old_signal_handler = 0;
#endif #endif
void
#ifdef HAS_SIGACTION #ifdef HAS_SIGACTION
signal_handler(int signal_value, siginfo_t * siginfo, void * context) struct sigaction
set_sigaction(int signal_value, const struct sigaction & action)
#else #else
signal_handler(int signal_value) signal_handler_t
set_signal_handler(int signal_value, signal_handler_t signal_handler)
#endif #endif
{ {
// TODO(wjwwood): remove? move to console logging at some point?
printf("signal_handler(%d)\n", signal_value);
#ifdef HAS_SIGACTION #ifdef HAS_SIGACTION
if (old_action.sa_flags & SA_SIGINFO) { struct sigaction old_action;
if (old_action.sa_sigaction != NULL) { ssize_t ret = sigaction(signal_value, &action, &old_action);
old_action.sa_sigaction(signal_value, siginfo, context);
}
} else {
// *INDENT-OFF*
if (
old_action.sa_handler != NULL && // Is set
old_action.sa_handler != SIG_DFL && // Is not default
old_action.sa_handler != SIG_IGN) // Is not ignored
// *INDENT-ON*
{
old_action.sa_handler(signal_value);
}
}
#else
if (old_signal_handler) {
old_signal_handler(signal_value);
}
#endif
g_signal_status = signal_value;
{
std::lock_guard<std::mutex> lock(g_sigint_guard_cond_handles_mutex);
for (auto & kv : g_sigint_guard_cond_handles) {
rcl_ret_t status = rcl_trigger_guard_condition(&(kv.second));
if (status != RCL_RET_OK) {
fprintf(stderr,
"[rclcpp::error] failed to trigger guard condition: %s\n", rcl_get_error_string_safe());
}
}
}
g_is_interrupted.store(true);
g_interrupt_condition_variable.notify_all();
}
void
rclcpp::utilities::init(int argc, char * argv[])
{
g_is_interrupted.store(false);
if (rcl_init(argc, argv, rcl_get_default_allocator()) != RCL_RET_OK) {
// *INDENT-OFF* (prevent uncrustify from making unnecessary indents here)
throw std::runtime_error(
std::string("failed to initialize rmw implementation: ") + rcl_get_error_string_safe());
// *INDENT-ON*
}
#ifdef HAS_SIGACTION
struct sigaction action;
memset(&action, 0, sizeof(action));
sigemptyset(&action.sa_mask);
action.sa_sigaction = ::signal_handler;
action.sa_flags = SA_SIGINFO;
ssize_t ret = sigaction(SIGINT, &action, &old_action);
if (ret == -1) if (ret == -1)
#else #else
::old_signal_handler = std::signal(SIGINT, ::signal_handler); signal_handler_t old_signal_handler = std::signal(signal_value, signal_handler);
// NOLINTNEXTLINE(readability/braces) // NOLINTNEXTLINE(readability/braces)
if (::old_signal_handler == SIG_ERR) if (old_signal_handler == SIG_ERR)
#endif #endif
{ {
const size_t error_length = 1024; const size_t error_length = 1024;
@ -147,6 +97,95 @@ rclcpp::utilities::init(int argc, char * argv[])
error_string); error_string);
// *INDENT-ON* // *INDENT-ON*
} }
#ifdef HAS_SIGACTION
return old_action;
#else
return old_signal_handler;
#endif
}
void
trigger_interrupt_guard_condition(int signal_value)
{
g_signal_status = signal_value;
{
std::lock_guard<std::mutex> lock(g_sigint_guard_cond_handles_mutex);
for (auto & kv : g_sigint_guard_cond_handles) {
rcl_ret_t status = rcl_trigger_guard_condition(&(kv.second));
if (status != RCL_RET_OK) {
fprintf(stderr,
"[rclcpp::error] failed to trigger guard condition: %s\n", rcl_get_error_string_safe());
}
}
}
g_is_interrupted.store(true);
g_interrupt_condition_variable.notify_all();
}
void
#ifdef HAS_SIGACTION
signal_handler(int signal_value, siginfo_t * siginfo, void * context)
#else
signal_handler(int signal_value)
#endif
{
// TODO(wjwwood): remove? move to console logging at some point?
printf("signal_handler(%d)\n", signal_value);
#ifdef HAS_SIGACTION
if (old_action.sa_flags & SA_SIGINFO) {
if (old_action.sa_sigaction != NULL) {
old_action.sa_sigaction(signal_value, siginfo, context);
}
} else {
// *INDENT-OFF*
if (
old_action.sa_handler != NULL && // Is set
old_action.sa_handler != SIG_DFL && // Is not default
old_action.sa_handler != SIG_IGN) // Is not ignored
// *INDENT-ON*
{
old_action.sa_handler(signal_value);
}
}
#else
if (old_signal_handler) {
old_signal_handler(signal_value);
}
#endif
trigger_interrupt_guard_condition(signal_value);
}
void
rclcpp::utilities::init(int argc, char * argv[])
{
g_is_interrupted.store(false);
if (rcl_init(argc, argv, rcl_get_default_allocator()) != RCL_RET_OK) {
// *INDENT-OFF* (prevent uncrustify from making unnecessary indents here)
throw std::runtime_error(
std::string("failed to initialize rmw implementation: ") + rcl_get_error_string_safe());
// *INDENT-ON*
}
#ifdef HAS_SIGACTION
struct sigaction action;
memset(&action, 0, sizeof(action));
sigemptyset(&action.sa_mask);
action.sa_sigaction = ::signal_handler;
action.sa_flags = SA_SIGINFO;
::old_action = set_sigaction(SIGINT, action);
// Register an on_shutdown hook to restore the old action.
rclcpp::utilities::on_shutdown([]() {
set_sigaction(SIGINT, ::old_action);
});
#else
::old_signal_handler = set_signal_handler(SIGINT, ::signal_handler);
// Register an on_shutdown hook to restore the old signal handler.
rclcpp::utilities::on_shutdown([]() {
set_signal_handler(SIGINT, ::old_signal_handler);
});
#endif
} }
bool bool
@ -161,19 +200,8 @@ static std::vector<std::function<void(void)>> on_shutdown_callbacks_;
void void
rclcpp::utilities::shutdown() rclcpp::utilities::shutdown()
{ {
g_signal_status = SIGINT; trigger_interrupt_guard_condition(SIGINT);
{
std::lock_guard<std::mutex> lock(g_sigint_guard_cond_handles_mutex);
for (auto & kv : g_sigint_guard_cond_handles) {
if (rcl_trigger_guard_condition(&(kv.second)) != RCL_RET_OK) {
fprintf(stderr,
"[rclcpp::error] failed to trigger sigint guard condition: %s\n",
rcl_get_error_string_safe());
}
}
}
g_is_interrupted.store(true);
g_interrupt_condition_variable.notify_all();
{ {
std::lock_guard<std::mutex> lock(on_shutdown_mutex_); std::lock_guard<std::mutex> lock(on_shutdown_mutex_);
for (auto & on_shutdown_callback : on_shutdown_callbacks_) { for (auto & on_shutdown_callback : on_shutdown_callbacks_) {