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

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merged 4 commits into from
Aug 5, 2024
Merged

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

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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
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16 changes: 11 additions & 5 deletions rmw_zenoh_cpp/src/zenohd/main.cpp
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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 @@ -192,20 +194,26 @@ 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;
}
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

auto close_session = rcpputils::make_scope_exit(
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[&session]() {
z_close(z_move(session));
});

KeyboardReader keyreader;

char c = 0;
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;
}