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Register our signal handler in rclpy_init vs each wait #194

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merged 3 commits into from
Jun 24, 2018
Merged

Register our signal handler in rclpy_init vs each wait #194

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85afe42
Register our signal handler in rclpy_init vs each wait
dhood Jun 22, 2018
8573fe7
Restore original signal handler in rclpy shutdown
dhood Jun 22, 2018
69c19df
Only trigger guard condition if it exists
dhood Jun 23, 2018
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23 changes: 15 additions & 8 deletions rclpy/src/rclpy/_rclpy.c
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Original file line number Diff line number Diff line change
Expand Up @@ -43,11 +43,13 @@ sig_t g_original_signal_handler = NULL;
static void catch_function(int signo)
{
(void) signo;
rcl_ret_t ret = rcl_trigger_guard_condition(g_sigint_gc_handle);
if (ret != RCL_RET_OK) {
PyErr_Format(PyExc_RuntimeError,
"Failed to trigger guard_condition: %s", rcl_get_error_string_safe());
rcl_reset_error();
if (NULL != g_sigint_gc_handle) {
rcl_ret_t ret = rcl_trigger_guard_condition(g_sigint_gc_handle);
if (ret != RCL_RET_OK) {
PyErr_Format(PyExc_RuntimeError,
"Failed to trigger guard_condition: %s", rcl_get_error_string_safe());
rcl_reset_error();
}
}
if (NULL != g_original_signal_handler) {
g_original_signal_handler(signo);
Expand Down Expand Up @@ -425,6 +427,9 @@ rclpy_init(PyObject * Py_UNUSED(self), PyObject * args)
}
Py_DECREF(pyargs);

// Register our signal handler that will forward to the original one.
g_original_signal_handler = signal(SIGINT, catch_function);

if (PyErr_Occurred()) {
return NULL;
}
Expand Down Expand Up @@ -2345,7 +2350,6 @@ rclpy_wait(PyObject * Py_UNUSED(self), PyObject * args)
if (!PyArg_ParseTuple(args, "O|K", &pywait_set, &timeout)) {
return NULL;
}
g_original_signal_handler = signal(SIGINT, catch_function);
rcl_wait_set_t * wait_set = (rcl_wait_set_t *)PyCapsule_GetPointer(pywait_set, "rcl_wait_set_t");
if (!wait_set) {
return NULL;
Expand All @@ -2357,8 +2361,6 @@ rclpy_wait(PyObject * Py_UNUSED(self), PyObject * args)
ret = rcl_wait(wait_set, timeout);
Py_END_ALLOW_THREADS;

signal(SIGINT, g_original_signal_handler);
g_original_signal_handler = NULL;
if (ret != RCL_RET_OK && ret != RCL_RET_TIMEOUT) {
PyErr_Format(PyExc_RuntimeError,
"Failed to wait on wait set: %s", rcl_get_error_string_safe());
Expand Down Expand Up @@ -2659,6 +2661,11 @@ rclpy_shutdown(PyObject * Py_UNUSED(self), PyObject * Py_UNUSED(args))
rcl_reset_error();
return NULL;
}

// Restore the original signal handler.
signal(SIGINT, g_original_signal_handler);
g_original_signal_handler = NULL;

Py_RETURN_NONE;
}

Expand Down