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fix: let rclcpp handle shutdown signals

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slz
2026-08-06 11:04:51 +08:00
parent 66541c6d32
commit a1146a6e54
1 changed files with 36 additions and 53 deletions
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orbbec_camera/src/ob_camera_node_driver.cpp
+36 -53
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@@ -71,63 +71,46 @@ std::string makeDefaultSdkLogFileName() {
}
} // namespace
void signalHandler(int sig) {
// Prevent recursive signal handling
void crashSignalHandler(int sig) {
// Prevent recursive crash signal handling.
static std::atomic<bool> in_signal_handler{false};
if (in_signal_handler.exchange(true)) {
// Already in signal handler, force exit immediately
_exit(sig);
}
std::cerr << "Received signal: " << sig << std::endl;
if (sig == SIGINT || sig == SIGTERM) {
static int signal_count = 0;
signal_count++;
std::filesystem::path log_dir = getLogDirectoryForCamera(g_camera_name);
if (signal_count <= 3) {
rclcpp::shutdown();
// Give some time for graceful shutdown
std::this_thread::sleep_for(std::chrono::milliseconds(1000));
} else if (signal_count >= 5) {
// Force exit after second signal
std::cout << "Force exit due to multiple signals" << std::endl;
_exit(sig);
}
in_signal_handler.store(false);
} else {
std::filesystem::path log_dir = getLogDirectoryForCamera(g_camera_name);
// get current time
std::time_t now = std::time(nullptr);
std::tm *local_time = std::localtime(&now);
// get current time
std::time_t now = std::time(nullptr);
std::tm *local_time = std::localtime(&now);
// format date and time, format "2024_05_20_12_34_56"
std::ostringstream time_stream;
time_stream << std::put_time(local_time, "%Y_%m_%d_%H_%M_%S");
// format date and time to string, format as "2024_05_20_12_34_56"
std::ostringstream time_stream;
time_stream << std::put_time(local_time, "%Y_%m_%d_%H_%M_%S");
// generate log file name
std::string log_file_name = g_camera_name + "_crash_stack_trace_" + time_stream.str() + ".log";
std::filesystem::path log_file_path = log_dir / log_file_name;
// generate log file name
std::string log_file_name = g_camera_name + "_crash_stack_trace_" + time_stream.str() + ".log";
std::filesystem::path log_file_path = log_dir / log_file_name;
if (!std::filesystem::exists(log_dir)) {
std::filesystem::create_directories(log_dir);
}
std::cerr << "Log crash stack trace to " << log_file_path.string() << std::endl;
std::ofstream log_file(log_file_path, std::ios::app);
if (log_file.is_open()) {
log_file << "Received signal: " << sig << std::endl;
backward::StackTrace st;
st.load_here(32); // Capture stack
backward::Printer p;
p.print(st, log_file); // Print stack to log file
}
log_file.close();
_exit(sig); // Use _exit instead of exit to avoid cleanup that may crash
if (!std::filesystem::exists(log_dir)) {
std::filesystem::create_directories(log_dir);
}
std::cerr << "Log crash stack trace to " << log_file_path.string() << std::endl;
std::ofstream log_file(log_file_path, std::ios::app);
if (log_file.is_open()) {
log_file << "Received signal: " << sig << std::endl;
backward::StackTrace st;
st.load_here(32); // Capture stack
backward::Printer p;
p.print(st, log_file); // Print stack to log file
}
log_file.close();
_exit(sig); // Use _exit instead of exit to avoid cleanup that may crash
}
namespace orbbec_camera {
@@ -255,13 +238,13 @@ OBCameraNodeDriver::~OBCameraNodeDriver() {
}
void OBCameraNodeDriver::init() {
// Set signal handlers for crash reporting
signal(SIGSEGV, signalHandler); // segment fault
signal(SIGABRT, signalHandler); // abort
signal(SIGFPE, signalHandler); // float point exception
signal(SIGILL, signalHandler); // illegal instruction
signal(SIGINT, signalHandler);
signal(SIGTERM, signalHandler);
// Keep SIGINT/SIGTERM managed by rclcpp. Overriding them from a composable node bypasses
// rclcpp's deferred signal handling and can leave SDK streaming threads running after the ROS
// context has already been shut down.
signal(SIGSEGV, crashSignalHandler); // segment fault
signal(SIGABRT, crashSignalHandler); // abort
signal(SIGFPE, crashSignalHandler); // float point exception
signal(SIGILL, crashSignalHandler); // illegal instruction
ob::Context::setExtensionsDirectory(extension_path_.c_str());
g_camera_name = declare_parameter<std::string>("camera_name", g_camera_name);
auto log_level_str = declare_parameter<std::string>("log_level", "info");