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Refactor rclpy signal handling

See original GitHub issue

Feature request

Feature description

The idea is to make it look more similar to what rclcpp is doing, and solve https://github.com/ros2/rclpy/issues/360, https://github.com/ros2/rclpy/issues/398.

Implementation considerations

rclpy is just triggering a raise condition in its handler, and chaining with the Python signal handler. In this way, the wait set is awaken, the Python signal handler raises KeywordInterrupt and then the execution finishes. rclcpp is shutting down context from a separated thread, specially used for this. It uses a synchronization mechanism to awake that thread when a signal is handled.

Issue Analytics

State:
Created 4 years ago
Comments:5 (5 by maintainers)

Top GitHub Comments

1reaction

wjwwoodcommented, Aug 2, 2019

I heard that #360 is solved with the new OpenSplice version, can you confirm?

I’m not sure, I was just tasked with doing the upgrade, but I think the new version was supposed change something w.r.t. ctrl-c on Windows.

0reactions

ivanpaunocommented, Sep 6, 2019

Closing, as I don’t see much value of doing this after the OpenSplice problem was solved: https://github.com/ros2/rclpy/issues/360#issuecomment-528944306

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