Public-Auto-release: v2.20.5

# Changed * [closes #42694] Properly terminate C++ examples on SIGINT
Blickfeld · Sep 21, 2022 · bb54e1c · bb54e1c
1 parent 9948e6f
commit bb54e1c
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Showing 3 changed files with 23 additions and 12 deletions.
diff --git a/doc/CHANGELOG.md b/doc/CHANGELOG.md
@@ -13,6 +13,11 @@ influence the resulting point cloud.
 
 ### Removed
 
+## [2.20.5] - 2022.09.21
+
+### Changed
+* [closes #42694] Properly terminate C++ examples on SIGINT
+
 ## [2.20.4] - 2022.09.21
 
 ### Changed

diff --git a/examples/cpp/fetch_clouds/main.cpp b/examples/cpp/fetch_clouds/main.cpp
@@ -13,11 +13,14 @@
 #include <blickfeld/scanner.h>
 #include <blickfeld/utils.h>
 
-std::shared_ptr<blickfeld::scanner::point_cloud_stream<blickfeld::protocol::data::Frame> > stream;
-
+bool keep_alive = true;
 void sigint_handler(int signal) {
-	stream = nullptr;
-	exit(signal);
+	if (keep_alive) {
+		std::cout << "Received SIGINT. Stopping stream." << std::endl;
+		keep_alive = false;
+	} else {
+		exit(signal);
+	}
 }
 
 int example(int argc, char* argv[]) {
@@ -38,7 +41,7 @@ int example(int argc, char* argv[]) {
 	std::cout << "Connected." << std::endl;
 
 	// Create a pointcloud stream object to receive pointclouds
-	stream = scanner->get_point_cloud_stream();
+	auto stream = scanner->get_point_cloud_stream();
 
 	std::ofstream dump_stream;
 #ifdef BSL_RECORDING
@@ -49,7 +52,7 @@ int example(int argc, char* argv[]) {
 	}
 #endif
 
-	while (true) {
+	while (keep_alive) {
 		// Format of frame is described in protocol/blickfeld/data/frame.proto or doc/protocol.md
 		// Protobuf API is described in https://developers.google.com/protocol-buffers/docs/cpptutorial
 		const blickfeld::protocol::data::Frame frame = stream->recv_frame();

diff --git a/examples/cpp/fetch_imu/main.cpp b/examples/cpp/fetch_imu/main.cpp
@@ -14,11 +14,14 @@
 #include <blickfeld/scanner.h>
 #include <blickfeld/utils.h>
 
-std::shared_ptr<blickfeld::imu_stream> stream;
-
+bool keep_alive = true;
 void sigint_handler(int signal) {
-	stream = nullptr;
-	exit(signal);
+	if (keep_alive) {
+		std::cout << "Received SIGINT. Stopping stream." << std::endl;
+		keep_alive = false;
+	} else {
+		exit(signal);
+	}
 }
 
 int example(int argc, char* argv[]) {
@@ -35,9 +38,9 @@ int example(int argc, char* argv[]) {
 	std::cout << "Connected." << std::endl;
 
 	// Create a pointcloud stream object to receive pointclouds
-	stream = scanner->get_imu_stream();
+	auto stream = scanner->get_imu_stream();
 
-	while (true) {
+	while (keep_alive) {
 		// Format of IMU data is described in protocol documentation:
 		// https://docs.blickfeld.com/cube/latest/external/blickfeld-scanner-lib/protobuf_protocol.html
 		//