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AP_HAL_SITL: catch SIGTERM and exit with zero exit status

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This commit is contained in:
Peter Barker 2019-09-23 10:39:42 +10:00 committed by Peter Barker
parent 85332d49a2
commit 045960fe57
4 changed files with 25 additions and 0 deletions
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20
libraries/AP_HAL_SITL/HAL_SITL_Class.cpp
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@ -122,11 +122,26 @@ static void sig_alrm(int signum)
execv(new_argv[0], new_argv); execv(new_argv[0], new_argv);
} }
void HAL_SITL::exit_signal_handler(int signum)
{
HALSITL::Scheduler::_should_exit = true;
}
void HAL_SITL::setup_signal_handlers() const
{
struct sigaction sa = { };
sa.sa_flags = SA_NOCLDSTOP;
sa.sa_handler = HAL_SITL::exit_signal_handler;
sigaction(SIGTERM, &sa, NULL);
}
void HAL_SITL::run(int argc, char * const argv[], Callbacks* callbacks) const void HAL_SITL::run(int argc, char * const argv[], Callbacks* callbacks) const
{ {
assert(callbacks); assert(callbacks);
_sitl_state->init(argc, argv); _sitl_state->init(argc, argv);
scheduler->init(); scheduler->init();
uartA->begin(115200); uartA->begin(115200);
@ -173,10 +188,15 @@ void HAL_SITL::run(int argc, char * const argv[], Callbacks* callbacks) const
signal(SIGALRM, sig_alrm); signal(SIGALRM, sig_alrm);
alarm(2); alarm(2);
} }
setup_signal_handlers();
uint32_t last_watchdog_save = AP_HAL::millis(); uint32_t last_watchdog_save = AP_HAL::millis();
while (!HALSITL::Scheduler::_should_reboot) { while (!HALSITL::Scheduler::_should_reboot) {
if (HALSITL::Scheduler::_should_exit) {
::fprintf(stderr, "Exitting\n");
exit(0);
}
callbacks->loop(); callbacks->loop();
HALSITL::Scheduler::_run_io_procs(); HALSITL::Scheduler::_run_io_procs();

3
libraries/AP_HAL_SITL/HAL_SITL_Class.h
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@ -16,6 +16,9 @@ public:
private: private:
HALSITL::SITL_State *_sitl_state; HALSITL::SITL_State *_sitl_state;
void setup_signal_handlers() const;
static void exit_signal_handler(int);
}; };
#endif // CONFIG_HAL_BOARD == HAL_BOARD_SITL #endif // CONFIG_HAL_BOARD == HAL_BOARD_SITL

1
libraries/AP_HAL_SITL/Scheduler.cpp
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@ -28,6 +28,7 @@ AP_HAL::MemberProc Scheduler::_io_proc[SITL_SCHEDULER_MAX_TIMER_PROCS] = {nullpt
uint8_t Scheduler::_num_io_procs = 0; uint8_t Scheduler::_num_io_procs = 0;
bool Scheduler::_in_io_proc = false; bool Scheduler::_in_io_proc = false;
bool Scheduler::_should_reboot = false; bool Scheduler::_should_reboot = false;
bool Scheduler::_should_exit = false;
bool Scheduler::_in_semaphore_take_wait = false; bool Scheduler::_in_semaphore_take_wait = false;

1
libraries/AP_HAL_SITL/Scheduler.h
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@ -50,6 +50,7 @@ public:
static void _run_io_procs(); static void _run_io_procs();
static bool _should_reboot; static bool _should_reboot;
static bool _should_exit;
/* /*
create a new thread create a new thread