GraphListener::GraphListener()
: is_started_(false), is_shutdown_(false), shutdown_guard_condition_(nullptr)
{
rcl_ret_t ret = rcl_guard_condition_init(
&interrupt_guard_condition_,
rcl_guard_condition_get_default_options());
if (RCL_RET_OK != ret) {
throw_from_rcl_error(ret, "failed to create interrupt guard condition");
}
shutdown_guard_condition_ = rclcpp::utilities::get_sigint_guard_condition(&wait_set_);
}
rcl_guard_condition_t *
rclcpp::utilities::get_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()) {
return &kv->second;
} else {
rcl_guard_condition_t handle =
rcl_get_zero_initialized_guard_condition();
rcl_guard_condition_options_t options = rcl_guard_condition_get_default_options();
if (rcl_guard_condition_init(&handle, options) != RCL_RET_OK) {
// *INDENT-OFF* (prevent uncrustify from making unnecessary indents here)
throw std::runtime_error(std::string(
"Couldn't initialize guard condition: ") + rcl_get_error_string_safe());
// *INDENT-ON*
}
g_sigint_guard_cond_handles[waitset] = handle;
return &g_sigint_guard_cond_handles[waitset];
}
}
