static void
interrupt_(rcl_guard_condition_t * interrupt_guard_condition)
{
rcl_ret_t ret = rcl_trigger_guard_condition(interrupt_guard_condition);
if (RCL_RET_OK != ret) {
throw_from_rcl_error(ret, "failed to trigger the interrupt guard condition");
}
}
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 const & 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
rclcpp::utilities::shutdown()
{
g_signal_status = SIGINT;
{
std::lock_guard<std::mutex> lock(g_sigint_guard_cond_handles_mutex);
for (auto const & 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_);
for (auto & on_shutdown_callback : on_shutdown_callbacks_) {
on_shutdown_callback();
}
}
}