Cleaner shutdown for mock GUI

Author: eholum-nasa

scripts/run_mock_dbc.py

@@ -17,44 +17,30 @@
 # License for the specific language governing permissions and limitations
 # under the License.
 
-import sys
-from functools import partial
-import signal
 import rclpy
 from rclpy.executors import MultiThreadedExecutor
-from rclpy.signals import SignalHandlerOptions
 
 from drt_ur_gui.mock_dashboard_client import MockDashboardClient
 
 
-def sigterm_handler(executor, node, sig, frame):
-    """
-    Handler for SIGTERM signals. Triggers try_shutdown event on executor, forcing spin to stop.
-    """
-    node.get_logger().warn("Received SIGTERM, shutting down mock dashboard client...")
-    executor.context.try_shutdown()
-
-
 def main(args=None):
-    signal.signal(signal.SIGINT, signal.SIG_IGN)  # block incoming SIGINT signals
-    rclpy.init(args=args, signal_handler_options=SignalHandlerOptions.NO)  # tell ros2 to let us handle all signals
+    rclpy.init(args=args)
     multithread_exec = MultiThreadedExecutor()
+
     mock_dbc = MockDashboardClient()
     multithread_exec.add_node(mock_dbc)
-    signal_handler = partial(sigterm_handler, multithread_exec, mock_dbc)  # set up signal handler lambda function
-    signal.signal(signal.SIGTERM, signal_handler)  # set SIGTERM signals to trigger the signal handler function
+
     try:
         multithread_exec.spin()
+    except KeyboardInterrupt:
+        pass
     except Exception as e:
         mock_dbc.get_logger().info(f"Executor spin error: {e}")
     finally:
         mock_dbc.get_logger().info("Cleaning up mock dashboard client...")
-        # Normally we wait for executor shutdown here, but we're relying on sys.exit(0)
-        # to kill running threads faster to avoid a SIGKILL escalation
         mock_dbc.destroy_node()
         rclpy.try_shutdown()
         print("[MockDashboardClient Executable]: Completed cleanup, exiting...")
-        sys.exit(0)
 
 
 if __name__ == "__main__":