Factor out signal handler swapping
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parent
d090ddc358
commit
c15db0b675
1 changed files with 42 additions and 19 deletions
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@ -50,7 +50,8 @@ 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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@ -98,28 +99,22 @@ signal_handler(int signal_value)
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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
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set_sigaction(int signal_value, const struct sigaction & action)
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#else
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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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#ifdef HAS_SIGACTION
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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 +142,34 @@ 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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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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#else
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::old_signal_handler = set_signal_handler(SIGINT, ::signal_handler);
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#endif
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}
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bool
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