From c50c44cc582956aefd32e39a6c7a5210ba4e1585 Mon Sep 17 00:00:00 2001
From: Arkadiusz Niemiec <niemiecarkadiusz@gmail.com>
Date: Sat, 20 Apr 2019 21:30:04 +0200
Subject: [PATCH] Add a boolean to cleanly exit sender thread
---
msg/templates/urtps/microRTPS_agent.cpp.template | 7 +++++--
1 file changed, 5 insertions(+), 2 deletions(-)
diff --git a/msg/templates/urtps/microRTPS_agent.cpp.template b/msg/templates/urtps/microRTPS_agent.cpp.template
index d2db7d8f6f..5249f58369 100644
--- a/msg/templates/urtps/microRTPS_agent.cpp.template
+++ b/msg/templates/urtps/microRTPS_agent.cpp.template
@@ -53,6 +53,7 @@ recv_topics = [s.short_name for idx, s in enumerate(spec) if scope[idx] == MsgSc
****************************************************************************/
#include <thread>
+#include <atomic>
#include <unistd.h>
#include <poll.h>
#include <chrono>
@@ -181,8 +182,9 @@ void signal_handler(int signum)
running = 0;
transport_node->close();
}
-@[if recv_topics]@
+@[if recv_topics]@
+std::atomic<bool> exit_sender_thread(false);
void t_send(void *data)
{
char data_buffer[BUFFER_SIZE] = {};
@@ -192,7 +194,7 @@ void t_send(void *data)
while (running)
{
// Send subscribed topics over UART
- while (topics.hasMsg(&topic_ID))
+ while (topics.hasMsg(&topic_ID) && !exit_sender_thread.load())
{
uint16_t header_length = transport_node->get_header_length();
/* make room for the header to fill in later */
@@ -301,6 +303,7 @@ int main(int argc, char** argv)
usleep(_options.sleep_us);
}
@[if recv_topics]@
+ exit_sender_thread = true;
sender_thread.join();
@[end if]@
delete transport_node;
--
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