void
GraphListener::shutdown()
{
std::lock_guard<std::mutex> shutdown_lock(shutdown_mutex_);
if (!is_shutdown_.exchange(true)) {
if (is_started_) {
interrupt_(&interrupt_guard_condition_);
listener_thread_.join();
}
rcl_ret_t ret = rcl_guard_condition_fini(&interrupt_guard_condition_);
if (RCL_RET_OK != ret) {
throw_from_rcl_error(ret, "failed to finalize interrupt guard condition");
}
if (shutdown_guard_condition_) {
rclcpp::utilities::release_sigint_guard_condition(&wait_set_);
shutdown_guard_condition_ = nullptr;
}
if (is_started_) {
ret = rcl_wait_set_fini(&wait_set_);
if (RCL_RET_OK != ret) {
throw_from_rcl_error(ret, "failed to finalize wait set");
}
}
}
}
void
rclcpp::utilities::release_sigint_guard_condition(rcl_wait_set_t * waitset)
{
std::lock_guard<std::mutex> lock(g_sigint_guard_cond_handles_mutex);
auto kv = g_sigint_guard_cond_handles.find(waitset);
if (kv != g_sigint_guard_cond_handles.end()) {
if (rcl_guard_condition_fini(&kv->second) != RCL_RET_OK) {
// *INDENT-OFF* (prevent uncrustify from making unnecessary indents here)
throw std::runtime_error(std::string(
"Failed to destroy sigint guard condition: ") +
rcl_get_error_string_safe());
// *INDENT-ON*
}
g_sigint_guard_cond_handles.erase(kv);
} else {
// *INDENT-OFF* (prevent uncrustify from making unnecessary indents here)
throw std::runtime_error(std::string(
"Tried to release sigint guard condition for nonexistent waitset"));
// *INDENT-ON*
}
}
