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add rclcpp::shutdown() function

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This commit is contained in:
Dirk Thomas 2015-03-27 12:18:19 -07:00
parent bf61c2d196
commit e720daf1a7
2 changed files with 10 additions and 0 deletions
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1
rclcpp/include/rclcpp/rclcpp.hpp
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@ -60,6 +60,7 @@ using rclcpp::timer::TimerBase;
using rclcpp::timer::WallTimer; using rclcpp::timer::WallTimer;
typedef rclcpp::context::Context::SharedPtr ContextSharedPtr; typedef rclcpp::context::Context::SharedPtr ContextSharedPtr;
using rclcpp::utilities::ok; using rclcpp::utilities::ok;
using rclcpp::utilities::shutdown;
using rclcpp::utilities::init; using rclcpp::utilities::init;
using rclcpp::utilities::sleep_for; using rclcpp::utilities::sleep_for;

9
rclcpp/include/rclcpp/utilities.hpp
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@ -127,6 +127,15 @@ ok()
return ::g_signal_status == 0; return ::g_signal_status == 0;
} }
void
shutdown()
{
g_signal_status = SIGINT;
rmw_trigger_guard_condition(g_sigint_guard_cond_handle);
g_interrupt_condition_variable.notify_all();
}
rmw_guard_condition_t * rmw_guard_condition_t *
get_global_sigint_guard_condition() get_global_sigint_guard_condition()
{ {