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

Jump to bottom

Trap SIGINT only in odometry receive loop #120

Merged
merged 1 commit into from
Dec 3, 2019
Merged

Trap SIGINT only in odometry receive loop #120

Changes from all commits
Commits
Show all changes
1 commit
Select commit
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
42 changes: 26 additions & 16 deletions src/ypspur-coordinator.c
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -58,20 +58,16 @@

#include <pthread.h>

void escape_road(void);
void emergency(int);
#if HAVE_SIGLONGJMP
sigjmp_buf ctrlc_capture;
#elif HAVE_LONGJMP
jmp_buf ctrlc_capture;
#endif // HAVE_SIGLONGJMP
int g_emergency;

#if defined(__MINGW32__)
BOOL WINAPI win32_ctrlc_handler(DWORD type)
{
fprintf(stderr, "\n");
g_emergency = 1;
#ifdef HAVE_SSM
/* SSM終了処理 */
if (!option(OPTION_WITHOUT_SSM))
Expand All @@ -88,7 +84,6 @@ BOOL WINAPI win32_ctrlc_handler(DWORD type)
void emergency(int sig)
{
fprintf(stderr, "\n");
g_emergency = 1;
#if HAVE_SIGLONGJMP
siglongjmp(ctrlc_capture, 1);
#elif HAVE_LONGJMP
Expand All @@ -109,15 +104,32 @@ void emergency(int sig)
}
#endif // defined(__MINGW32__)

void escape_road(void)
void escape_road(const int enable)
{
#if defined(__MINGW32__)
if (!SetConsoleCtrlHandler(win32_ctrlc_handler, TRUE))
if (enable)
{
yprintf(OUTPUT_LV_ERROR, "Error: Win32 Ctrl+C handler registration failed.\n");
if (!SetConsoleCtrlHandler(win32_ctrlc_handler, TRUE))
{
yprintf(OUTPUT_LV_ERROR, "Error: Win32 Ctrl+C handler registration failed.\n");
}
}
else
{
if (!SetConsoleCtrlHandler(NULL, FALSE))
{
yprintf(OUTPUT_LV_ERROR, "Error: Win32 Ctrl+C handler restoration failed.\n");
}
}
#else
signal(SIGINT, emergency);
if (enable)
{
signal(SIGINT, emergency);
}
else
{
signal(SIGINT, SIG_DFL);
}
#endif // defined(__MINGW32__)
}

Expand Down Expand Up @@ -197,10 +209,6 @@ int main(int argc, char *argv[])
yprintf(OUTPUT_LV_INFO, " Ver. %s\n", PROJECT_VERSION);
yprintf(OUTPUT_LV_INFO, "++++++++++++++++++++++++++++++++++++++++++++++++++\n");

/* Ctrl-C割り込みハンドラーの登録 */
escape_road();
g_emergency = 0;

/* パラメータを読み込み、セットする */
param = get_param_ptr();

Expand Down Expand Up @@ -274,7 +282,7 @@ int main(int argc, char *argv[])
{
yprintf(OUTPUT_LV_ERROR, "Error: Device doesn't have available YP protocol version.\n(Device: %s, coordinator: %s)\n",
version.protocol, YP_PROTOCOL_NAME);
if (option(OPTION_RECONNECT) && g_emergency == 0)
if (option(OPTION_RECONNECT))
{
yp_usleep(500000);
continue;
Expand Down Expand Up @@ -312,7 +320,7 @@ int main(int argc, char *argv[])
strlen(driver_param.motor_num) <= 0)
{
yprintf(OUTPUT_LV_ERROR, "Error: Failed to load driver parameters.\n");
if (option(OPTION_RECONNECT) && g_emergency == 0)
if (option(OPTION_RECONNECT))
{
yp_usleep(500000);
continue;
Expand Down Expand Up @@ -341,7 +349,7 @@ int main(int argc, char *argv[])
if (!get_embedded_param(param))
{
yprintf(OUTPUT_LV_ERROR, "Error: Failed to read embedded parameters.\n");
if (option(OPTION_RECONNECT) && g_emergency == 0)
if (option(OPTION_RECONNECT))
{
yp_usleep(500000);
continue;
Expand Down Expand Up @@ -487,6 +495,7 @@ int main(int argc, char *argv[])
else
#endif // HAVE_SIGLONGJMP
{
escape_road(1);
if (!(option(OPTION_WITHOUT_DEVICE)))
{
odometry_receive_loop();
Expand All @@ -498,6 +507,7 @@ int main(int argc, char *argv[])
}
yprintf(OUTPUT_LV_INFO, "Connection to %s was closed.\n", param->device_name);
}
escape_road(0);

/* 終了処理 */
if (update_thread_en)
Expand Down