Remove member function FieldOperatorApplication::shutdownAutoware

Signed-off-by: yamacir-kit <[email protected]>
tier4 · Dec 16, 2024 · 2400c42 · 2400c42
1 parent 5c65f27
commit 2400c42
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Showing 2 changed files with 75 additions and 81 deletions.
diff --git a/external/concealer/include/concealer/field_operator_application.hpp b/external/concealer/include/concealer/field_operator_application.hpp
@@ -162,8 +162,6 @@ struct FieldOperatorApplication : public rclcpp::Node,
 
   auto spinSome() -> void;
 
-  auto shutdownAutoware() -> void;
-
   auto engage() -> void;
 
   auto engageable() const -> bool;

diff --git a/external/concealer/src/field_operator_application.cpp b/external/concealer/src/field_operator_application.cpp
@@ -212,7 +212,81 @@ FieldOperatorApplication::FieldOperatorApplication(const pid_t pid)
 
 FieldOperatorApplication::~FieldOperatorApplication()
 {
-  shutdownAutoware();
+  if (is_stop_requested.store(true);
+      process_id != 0 && not std::exchange(is_autoware_exited, true)) {
+    const auto sigset = [this]() {
+      if (auto signal_set = sigset_t();
+          sigemptyset(&signal_set) or sigaddset(&signal_set, SIGCHLD)) {
+        RCLCPP_ERROR_STREAM(get_logger(), std::system_error(errno, std::system_category()).what());
+        std::exit(EXIT_FAILURE);
+      } else if (auto error = pthread_sigmask(SIG_BLOCK, &signal_set, nullptr)) {
+        RCLCPP_ERROR_STREAM(get_logger(), std::system_error(error, std::system_category()).what());
+        std::exit(EXIT_FAILURE);
+      } else {
+        return signal_set;
+      }
+    }();
+
+    const auto timeout = []() {
+      auto sigterm_timeout = [](auto value) {
+        auto node = rclcpp::Node("get_parameter_sigterm_timeout", "simulation");
+        node.declare_parameter<int>("sigterm_timeout", value);
+        node.get_parameter<int>("sigterm_timeout", value);
+        return value;
+      };
+      auto timeout = timespec();
+      timeout.tv_sec = sigterm_timeout(5);
+      timeout.tv_nsec = 0;
+      return timeout;
+    }();
+
+    if (::kill(process_id, SIGINT); sigtimedwait(&sigset, nullptr, &timeout) < 0) {
+      switch (errno) {
+        case EINTR:
+          /*
+             The wait was interrupted by an unblocked, caught signal. It shall
+             be documented in system documentation whether this error causes
+             these functions to fail.
+          */
+          RCLCPP_ERROR_STREAM(
+            get_logger(),
+            "The wait for Autoware launch process termination was interrupted by an unblocked, "
+            "caught signal.");
+          break;
+
+        case EAGAIN:
+          /*
+             No signal specified by set was generated within the specified
+             timeout period.
+          */
+          RCLCPP_ERROR_STREAM(get_logger(), "Autoware launch process does not respond. Kill it.");
+          killpg(process_id, SIGKILL);
+          break;
+
+        default:
+        case EINVAL:
+          /*
+             The timeout argument specified a tv_nsec value less than zero or
+             greater than or equal to 1000 million.
+          */
+          RCLCPP_ERROR_STREAM(
+            get_logger(),
+            "The parameter sigterm_timeout specified a value less than zero or greater than or "
+            "equal to 1000 million.");
+          break;
+      }
+    }
+
+    if (int status = 0; waitpid(process_id, &status, 0) < 0) {
+      if (errno == ECHILD) {
+        RCLCPP_ERROR_STREAM(
+          get_logger(), "Try to wait for the autoware process but it was already exited.");
+      } else {
+        RCLCPP_ERROR_STREAM(get_logger(), std::system_error(errno, std::system_category()).what());
+      }
+    }
+  }
+
   // All tasks should be complete before the services used in them will be deinitialized.
   task_queue.stopAndJoin();
 }
@@ -484,82 +558,4 @@ auto FieldOperatorApplication::spinSome() -> void
     rclcpp::spin_some(get_node_base_interface());
   }
 }
-
-auto FieldOperatorApplication::shutdownAutoware() -> void
-{
-  if (is_stop_requested.store(true);
-      process_id != 0 && not std::exchange(is_autoware_exited, true)) {
-    const auto sigset = [this]() {
-      if (auto signal_set = sigset_t();
-          sigemptyset(&signal_set) or sigaddset(&signal_set, SIGCHLD)) {
-        RCLCPP_ERROR_STREAM(get_logger(), std::system_error(errno, std::system_category()).what());
-        std::exit(EXIT_FAILURE);
-      } else if (auto error = pthread_sigmask(SIG_BLOCK, &signal_set, nullptr)) {
-        RCLCPP_ERROR_STREAM(get_logger(), std::system_error(error, std::system_category()).what());
-        std::exit(EXIT_FAILURE);
-      } else {
-        return signal_set;
-      }
-    }();
-
-    const auto timeout = []() {
-      auto sigterm_timeout = [](auto value) {
-        auto node = rclcpp::Node("get_parameter_sigterm_timeout", "simulation");
-        node.declare_parameter<int>("sigterm_timeout", value);
-        node.get_parameter<int>("sigterm_timeout", value);
-        return value;
-      };
-      auto timeout = timespec();
-      timeout.tv_sec = sigterm_timeout(5);
-      timeout.tv_nsec = 0;
-      return timeout;
-    }();
-
-    if (::kill(process_id, SIGINT); sigtimedwait(&sigset, nullptr, &timeout) < 0) {
-      switch (errno) {
-        case EINTR:
-          /*
-             The wait was interrupted by an unblocked, caught signal. It shall
-             be documented in system documentation whether this error causes
-             these functions to fail.
-          */
-          RCLCPP_ERROR_STREAM(
-            get_logger(),
-            "The wait for Autoware launch process termination was interrupted by an unblocked, "
-            "caught signal.");
-          break;
-
-        case EAGAIN:
-          /*
-             No signal specified by set was generated within the specified
-             timeout period.
-          */
-          RCLCPP_ERROR_STREAM(get_logger(), "Autoware launch process does not respond. Kill it.");
-          killpg(process_id, SIGKILL);
-          break;
-
-        default:
-        case EINVAL:
-          /*
-             The timeout argument specified a tv_nsec value less than zero or
-             greater than or equal to 1000 million.
-          */
-          RCLCPP_ERROR_STREAM(
-            get_logger(),
-            "The parameter sigterm_timeout specified a value less than zero or greater than or "
-            "equal to 1000 million.");
-          break;
-      }
-    }
-
-    if (int status = 0; waitpid(process_id, &status, 0) < 0) {
-      if (errno == ECHILD) {
-        RCLCPP_ERROR_STREAM(
-          get_logger(), "Try to wait for the autoware process but it was already exited.");
-      } else {
-        RCLCPP_ERROR_STREAM(get_logger(), std::system_error(errno, std::system_category()).what());
-      }
-    }
-  }
-}
 }  // namespace concealer