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Add call for original deferred signal handler for Player and Recorder
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Signed-off-by: Michael Orlov <michael.orlov@apex.ai>
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@MichaelOrlov
MichaelOrlov committed Mar 27, 2024
1 parent e7ffaba commit 2909332
Showing 1 changed file with 111 additions and 46 deletions.
157 changes: 111 additions & 46 deletions rosbag2_py/src/rosbag2_py/_transport.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -130,6 +130,8 @@ namespace rosbag2_py
class Player
{
public:
using SignalHandlerType = void (*)(int);

Player()
{
rclcpp::init(0, nullptr);
Expand Down Expand Up @@ -162,21 +164,56 @@ class Player
}

protected:
static void signal_handler(int sig_num)
{
if (sig_num == SIGINT || sig_num == SIGTERM) {
deferred_sig_number_ = sig_num;
rosbag2_py::Player::cancel();
}
}

static void install_signal_handlers()
{
deferred_sig_number_ = -1;
old_sigterm_handler_ = std::signal(SIGTERM, &rosbag2_py::Player::signal_handler);
old_sigint_handler_ = std::signal(SIGINT, &rosbag2_py::Player::signal_handler);
}

static void uninstall_signal_handlers()
{
if (old_sigterm_handler_ != SIG_ERR) {
std::signal(SIGTERM, old_sigterm_handler_);
old_sigterm_handler_ = SIG_ERR;
}
if (old_sigint_handler_ != SIG_ERR) {
std::signal(SIGINT, old_sigint_handler_);
old_sigint_handler_ = SIG_ERR;
}
deferred_sig_number_ = -1;
}

static void process_deferred_signal()
{
auto call_signal_handler = [](const SignalHandlerType & signal_handler, int sig_num) {
if (signal_handler != SIG_ERR && signal_handler != SIG_IGN && signal_handler != SIG_DFL) {
signal_handler(sig_num);
}
};

if (deferred_sig_number_ == SIGINT) {
call_signal_handler(old_sigint_handler_, deferred_sig_number_);
} else if (deferred_sig_number_ == SIGTERM) {
call_signal_handler(old_sigterm_handler_, deferred_sig_number_);
}
}

void play_impl(
const rosbag2_storage::StorageOptions & storage_options,
PlayOptions & play_options,
bool burst = false,
size_t burst_num_messages = 0)
{
auto old_sigterm_handler = std::signal(
SIGTERM, [](int /* signal */) {
rosbag2_py::Player::cancel();
});
auto old_sigint_handler = std::signal(
SIGINT, [](int /* signal */) {
rosbag2_py::Player::cancel();
});

install_signal_handlers();
try {
auto reader = rosbag2_transport::ReaderWriterFactory::make_reader(storage_options);
auto player = std::make_shared<rosbag2_transport::Player>(
Expand Down Expand Up @@ -217,35 +254,32 @@ class Player
}
exec.remove_node(player);
} catch (...) {
// Return old signal handlers anyway
if (old_sigterm_handler != SIG_ERR) {
std::signal(SIGTERM, old_sigterm_handler);
}
if (old_sigint_handler != SIG_ERR) {
std::signal(SIGTERM, old_sigint_handler);
}
process_deferred_signal();
uninstall_signal_handlers();
throw;
}
// Return old signal handlers
if (old_sigterm_handler != SIG_ERR) {
std::signal(SIGTERM, old_sigterm_handler);
}
if (old_sigint_handler != SIG_ERR) {
std::signal(SIGTERM, old_sigint_handler);
}
process_deferred_signal();
uninstall_signal_handlers();
}

static std::atomic_bool exit_;
static std::condition_variable wait_for_exit_cv_;
static SignalHandlerType old_sigint_handler_;
static SignalHandlerType old_sigterm_handler_;
static int deferred_sig_number_;
std::mutex wait_for_exit_mutex_;
};

Player::SignalHandlerType Player::old_sigint_handler_ {SIG_ERR};
Player::SignalHandlerType Player::old_sigterm_handler_ {SIG_ERR};
int Player::deferred_sig_number_{-1};
std::atomic_bool Player::exit_{false};
std::condition_variable Player::wait_for_exit_cv_{};

class Recorder
{
public:
using SignalHandlerType = void (*)(int);
Recorder()
{
rclcpp::init(0, nullptr);
Expand All @@ -261,15 +295,7 @@ class Recorder
RecordOptions & record_options,
std::string & node_name)
{
auto old_sigterm_handler = std::signal(
SIGTERM, [](int /* signal */) {
rosbag2_py::Recorder::cancel();
});
auto old_sigint_handler = std::signal(
SIGINT, [](int /* signal */) {
rosbag2_py::Recorder::cancel();
});

install_signal_handlers();
try {
exit_ = false;
auto exec = std::make_unique<rclcpp::executors::SingleThreadedExecutor>();
Expand Down Expand Up @@ -303,22 +329,12 @@ class Recorder
}
exec->remove_node(recorder);
} catch (...) {
// Return old signal handlers anyway
if (old_sigterm_handler != SIG_ERR) {
std::signal(SIGTERM, old_sigterm_handler);
}
if (old_sigint_handler != SIG_ERR) {
std::signal(SIGTERM, old_sigint_handler);
}
process_deferred_signal();
uninstall_signal_handlers();
throw;
}
// Return old signal handlers
if (old_sigterm_handler != SIG_ERR) {
std::signal(SIGTERM, old_sigterm_handler);
}
if (old_sigint_handler != SIG_ERR) {
std::signal(SIGTERM, old_sigint_handler);
}
process_deferred_signal();
uninstall_signal_handlers();
}

static void cancel()
Expand All @@ -328,11 +344,60 @@ class Recorder
}

protected:
static void signal_handler(int sig_num)
{
if (sig_num == SIGINT || sig_num == SIGTERM) {
deferred_sig_number_ = sig_num;
rosbag2_py::Recorder::cancel();
}
}

static void install_signal_handlers()
{
deferred_sig_number_ = -1;
old_sigterm_handler_ = std::signal(SIGTERM, &rosbag2_py::Recorder::signal_handler);
old_sigint_handler_ = std::signal(SIGINT, &rosbag2_py::Recorder::signal_handler);
}

static void uninstall_signal_handlers()
{
if (old_sigterm_handler_ != SIG_ERR) {
std::signal(SIGTERM, old_sigterm_handler_);
old_sigterm_handler_ = SIG_ERR;
}
if (old_sigint_handler_ != SIG_ERR) {
std::signal(SIGINT, old_sigint_handler_);
old_sigint_handler_ = SIG_ERR;
}
deferred_sig_number_ = -1;
}

static void process_deferred_signal()
{
auto call_signal_handler = [](const SignalHandlerType & signal_handler, int sig_num) {
if (signal_handler != SIG_ERR && signal_handler != SIG_IGN && signal_handler != SIG_DFL) {
signal_handler(sig_num);
}
};

if (deferred_sig_number_ == SIGINT) {
call_signal_handler(old_sigint_handler_, deferred_sig_number_);
} else if (deferred_sig_number_ == SIGTERM) {
call_signal_handler(old_sigterm_handler_, deferred_sig_number_);
}
}

static std::atomic_bool exit_;
static std::condition_variable wait_for_exit_cv_;
static SignalHandlerType old_sigint_handler_;
static SignalHandlerType old_sigterm_handler_;
static int deferred_sig_number_;
std::mutex wait_for_exit_mutex_;
};

Recorder::SignalHandlerType Recorder::old_sigint_handler_ {SIG_ERR};
Recorder::SignalHandlerType Recorder::old_sigterm_handler_ {SIG_ERR};
int Recorder::deferred_sig_number_{-1};
std::atomic_bool Recorder::exit_{false};
std::condition_variable Recorder::wait_for_exit_cv_{};

Expand Down

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