Add option to init() method

ivanpauno · ivanpauno · commit 7f86095c2b91 · 2021-09-17T16:07:12.000-03:00
Signed-off-by: Ivan Santiago Paunovic &lt;ivanpauno@ekumenlabs.com&gt;
diff --git a/rclcpp/include/rclcpp/utilities.hpp b/rclcpp/include/rclcpp/utilities.hpp
@@ -53,7 +53,11 @@ namespace rclcpp
  */
 RCLCPP_PUBLIC
 void
-init(int argc, char const * const argv[], const InitOptions & init_options = InitOptions());
+init(
+  int argc,
+  char const * const argv[],
+  const InitOptions & init_options = InitOptions(),
+  bool install_sigterm_handler = true);
 
 /// Install the global signal handler for rclcpp.
 /**
@@ -71,7 +75,7 @@ init(int argc, char const * const argv[], const InitOptions & init_options = Ini
  */
 RCLCPP_PUBLIC
 bool
-install_signal_handlers();
+install_signal_handlers(bool install_sigterm_handler = true);
 
 /// Return true if the signal handlers are installed, otherwise false.
 RCLCPP_PUBLIC
diff --git a/rclcpp/src/rclcpp/utilities.cpp b/rclcpp/src/rclcpp/utilities.cpp
@@ -31,18 +31,22 @@ namespace rclcpp
 {
 
 void
-init(int argc, char const * const argv[], const InitOptions & init_options)
+init(
+  int argc,
+  char const * const argv[],
+  const InitOptions & init_options,
+  bool install_sigterm_handler)
 {
   using rclcpp::contexts::get_global_default_context;
   get_global_default_context()->init(argc, argv, init_options);
   // Install the signal handlers.
-  install_signal_handlers();
+  install_signal_handlers(install_sigterm_handler);
 }
 
 bool
-install_signal_handlers()
+install_signal_handlers(bool install_sigterm_handler)
 {
-  return SignalHandler::get_global_signal_handler().install();
+  return SignalHandler::get_global_signal_handler().install(install_sigterm_handler);
 }
 
 bool

Original file line number	Diff line number	Diff line change
`@@ -31,18 +31,22 @@ namespace rclcpp`
`31`	`31`	`{`
`32`	`32`
`33`	`33`	`void`
`34`		`-init(int argc, char const * const argv[], const InitOptions & init_options)`
	`34`	`+init(`
	`35`	`+ int argc,`
	`36`	`+ char const * const argv[],`
	`37`	`+ const InitOptions & init_options,`
	`38`	`+ bool install_sigterm_handler)`
`35`	`39`	`{`
`36`	`40`	`using rclcpp::contexts::get_global_default_context;`
`37`	`41`	`get_global_default_context()->init(argc, argv, init_options);`
`38`	`42`	`// Install the signal handlers.`
`39`		`- install_signal_handlers();`
	`43`	`+ install_signal_handlers(install_sigterm_handler);`
`40`	`44`	`}`
`41`	`45`
`42`	`46`	`bool`
`43`		`-install_signal_handlers()`
	`47`	`+install_signal_handlers(bool install_sigterm_handler)`
`44`	`48`	`{`
`45`		`- return SignalHandler::get_global_signal_handler().install();`
	`49`	`+ return SignalHandler::get_global_signal_handler().install(install_sigterm_handler);`
`46`	`50`	`}`
`47`	`51`
`48`	`52`	`bool`