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Factor out signal handler swapping

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This commit is contained in:
dhood 2017-08-07 16:17:32 -07:00
parent d090ddc358
commit c15db0b675
1 changed files with 42 additions and 19 deletions
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61
rclcpp/src/rclcpp/utilities.cpp
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@ -50,7 +50,8 @@ 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 void
@ -98,28 +99,22 @@ signal_handler(int signal_value)
g_interrupt_condition_variable.notify_all(); 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 #ifdef HAS_SIGACTION
struct sigaction action; struct sigaction
memset(&action, 0, sizeof(action)); set_sigaction(int signal_value, const struct sigaction & action)
sigemptyset(&action.sa_mask); #else
action.sa_sigaction = ::signal_handler; signal_handler_t
action.sa_flags = SA_SIGINFO; set_signal_handler(int signal_value, signal_handler_t signal_handler)
ssize_t ret = sigaction(SIGINT, &action, &old_action); #endif
{
#ifdef HAS_SIGACTION
struct sigaction old_action;
ssize_t ret = sigaction(signal_value, &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 +142,34 @@ 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
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);
#else
::old_signal_handler = set_signal_handler(SIGINT, ::signal_handler);
#endif
} }
bool bool