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Factor out guard condition triggering

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This commit is contained in:
dhood 2017-08-11 10:31:16 -07:00
parent be985a652b
commit d7b7d7491f
1 changed files with 55 additions and 58 deletions
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113
rclcpp/src/rclcpp/utilities.cpp
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@ -54,51 +54,6 @@ typedef void (* signal_handler_t)(int);
static signal_handler_t old_signal_handler = 0; static signal_handler_t old_signal_handler = 0;
#endif #endif
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
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();
}
#ifdef HAS_SIGACTION #ifdef HAS_SIGACTION
struct sigaction struct sigaction
set_sigaction(int signal_value, const struct sigaction & action) set_sigaction(int signal_value, const struct sigaction & action)
@ -150,6 +105,59 @@ set_signal_handler(int signal_value, signal_handler_t signal_handler)
#endif #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 void
rclcpp::utilities::init(int argc, char * argv[]) rclcpp::utilities::init(int argc, char * argv[])
{ {
@ -192,19 +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_) {