Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Added SIGTERM handler for linux and closed session when reading error is caught #252

Merged
merged 4 commits into from
Aug 5, 2024
Merged

Added SIGTERM handler for linux and closed session when reading error is caught #252

Changes from all commits
Commits
Show all changes
4 commits
Select commit Hold shift + click to select a range
8eba2f3
Added SIGTERM handler for linux and closed session when reading error…
CihatAltiparmak Jul 29, 2024
0566dc2
Added scope_exit for closing session
CihatAltiparmak Jul 31, 2024
35c5ba0
Moved scope_exit right after checking session
CihatAltiparmak Aug 2, 2024
e749b11
Minor tweak to scope_exit name
Yadunund Aug 5, 2024
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
16 changes: 11 additions & 5 deletions rmw_zenoh_cpp/src/zenohd/main.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -36,6 +36,8 @@

#include "rmw/error_handling.h"

#include "rcpputils/scope_exit.hpp"

static bool running = true;

class KeyboardReader final
Expand Down Expand Up @@ -192,18 +194,24 @@ int main(int argc, char ** argv)
return 1;
}

z_owned_session_t s = z_open(z_move(config));
if (!z_check(s)) {
z_owned_session_t session = z_open(z_move(config));
if (!z_check(session)) {
printf("Unable to open router session!\n");
return 1;
}
auto always_close_session = rcpputils::make_scope_exit(
[&session]() {
z_close(z_move(session));
});

printf(
"Started Zenoh router with id %s.\n",
rmw_zenoh_cpp::liveliness::zid_to_str(z_info_zid(z_session_loan(&s))).c_str());
rmw_zenoh_cpp::liveliness::zid_to_str(z_info_zid(z_session_loan(&session))).c_str());
#ifdef _WIN32
SetConsoleCtrlHandler(quit, TRUE);
#else
signal(SIGINT, quit);
signal(SIGTERM, quit);
#endif

KeyboardReader keyreader;
Expand All @@ -227,7 +235,5 @@ int main(int argc, char ** argv)
std::this_thread::sleep_for(std::chrono::milliseconds(100));
}

z_close(z_move(s));

return 0;
}