rclcpp::SignalHandler Class Reference

Responsible for managing the SIGINT/SIGTERM signal handling. More...

#include </home/runner/work/api.nav2.org/api.nav2.org/work/rclcpp-kilted/rclcpp/src/rclcpp/signal_handler.hpp>

Public Member Functions
bool	install (SignalHandlerOptions signal_handler_options=SignalHandlerOptions::All)
	Install the signal handler for SIGINT/SIGTERM and start the dedicated signal handling thread. More...
bool	uninstall ()
bool	is_installed ()
	Return true if installed, false otherwise.
rclcpp::SignalHandlerOptions	get_current_signal_handler_options ()
	Get the current signal handler options. More...

Static Public Member Functions
static SignalHandler &	get_global_signal_handler ()
	Return the global singleton of this class.
static rclcpp::Logger &	get_logger ()
	Return a global singleton logger to avoid needing to create it everywhere.

Detailed Description

Responsible for managing the SIGINT/SIGTERM signal handling.

This class is responsible for:

• installing the signal handler for SIGINT/SIGTERM
• uninstalling the signal handler for SIGINT/SIGTERM
• creating a thread to execute "on signal" work outside of the signal handler
• safely notifying the dedicated signal handling thread when receiving SIGINT/SIGTERM
• implementation of all of the signal handling work, like shutting down contexts

Definition at line 55 of file signal_handler.hpp.

Member Function Documentation

get_current_signal_handler_options()

rclcpp::SignalHandlerOptions SignalHandler::get_current_signal_handler_options

(

)

Get the current signal handler options.

If no signal handler is installed, SignalHandlerOptions::None is returned.

Definition at line 387 of file signal_handler.cpp.

Referenced by rclcpp::get_current_signal_handler_options().

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install()

bool SignalHandler::install

(

SignalHandlerOptions

signal_handler_options = SignalHandlerOptions::All

)

Install the signal handler for SIGINT/SIGTERM and start the dedicated signal handling thread.

Also stores the current signal handler to be called on signal and to restore when uninstalling this signal handler.

Parameters

signal_handler_options

option to indicate which signal handlers should be installed.

Definition at line 121 of file signal_handler.cpp.

References rclcpp::All, get_logger(), rclcpp::None, rclcpp::SigInt, and rclcpp::SigTerm.

Referenced by rclcpp::install_signal_handlers().

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uninstall()

bool SignalHandler::uninstall

(

)

Uninstall the signal handler for SIGINT/SIGTERM and join the dedicated signal handling thread. Also restores the previous signal handler.

Definition at line 169 of file signal_handler.cpp.

References rclcpp::All, get_logger(), rclcpp::None, rclcpp::SigInt, and rclcpp::SigTerm.

Referenced by rclcpp::uninstall_signal_handlers().

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The documentation for this class was generated from the following files:

• rclcpp/src/rclcpp/signal_handler.hpp
• rclcpp/src/rclcpp/signal_handler.cpp