Split signal handler code

CMakeLists.txt

@@ -204,6 +204,7 @@ add_executable(ypspur-coordinator
   src/param.c
   src/ping.c
   src/serial.c
+  src/signal.c
   src/ssm_spur_handler.c
   src/utility.c
   src/ypprotocol.c

include/ypspur/signal.h

@@ -0,0 +1,27 @@
+// Copyright (c) 2010-2025 The YP-Spur Authors, except where otherwise indicated.
+//
+// Permission is hereby granted, free of charge, to any person obtaining a copy
+// of this software and associated documentation files (the "Software"), to
+// deal in the Software without restriction, including without limitation the
+// rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
+// sell copies of the Software, and to permit persons to whom the Software is
+// furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL
+// THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+// SOFTWARE.
+
+#ifndef YPSPUR_SIGNAL_H
+#define YPSPUR_SIGNAL_H
+
+int ctrlc_setjmp();
+void enable_ctrlc_handling(const int enable);
+
+#endif  // YPSPUR_SIGNAL_H

include/ypspur/ssm_spur_handler.h

@@ -22,6 +22,7 @@
 #define YPSPUR_SSM_SPUR_HANDLER_H
 
 #include <ypspur/command.h>
+#include <ypspur/odometry.h>
 
 void init_ypspurSSM(int ssm_id);
 void end_ypspurSSM(void);

src/signal.c

@@ -0,0 +1,122 @@
+// Copyright (c) 2010-2025 The YP-Spur Authors, except where otherwise indicated.
+//
+// Permission is hereby granted, free of charge, to any person obtaining a copy
+// of this software and associated documentation files (the "Software"), to
+// deal in the Software without restriction, including without limitation the
+// rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
+// sell copies of the Software, and to permit persons to whom the Software is
+// furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL
+// THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+// SOFTWARE.
+
+#include <setjmp.h>
+#include <signal.h>
+#include <stdio.h>
+
+#ifdef __MINGW32__
+#include <windows.h>
+#endif  // __MINGW32__
+
+#include <ypspur/param.h>
+#include <ypspur/serial.h>
+#include <ypspur/ssm_spur_handler.h>
+#include <ypspur/yprintf.h>
+
+#if HAVE_SIGLONGJMP
+sigjmp_buf ctrlc_capture;
+#elif HAVE_LONGJMP
+jmp_buf ctrlc_capture;
+#endif  // HAVE_SIGLONGJMP
+
+#if defined(__MINGW32__)
+BOOL WINAPI win32_ctrlc_handler(DWORD type)
+{
+  fprintf(stderr, "\n");
+#ifdef HAVE_SSM
+  // SSM終了処理
+  if (!option(OPTION_WITHOUT_SSM))
+  {
+    end_ypspurSSM();
+  }
+#endif  // HAVE_SSM
+  if (!(option(OPTION_WITHOUT_DEVICE)))
+  {
+    serial_close();
+  }
+
+  return TRUE;
+}
+#else
+void emergency(int sig)
+{
+  fprintf(stderr, "\n");
+#if HAVE_SIGLONGJMP
+  siglongjmp(ctrlc_capture, 1);
+#elif HAVE_LONGJMP
+  longjmp(ctrlc_capture, 1);
+#else
+#ifdef HAVE_SSM
+  // SSM終了処理
+  if (!option(OPTION_WITHOUT_SSM))
+  {
+    end_ypspurSSM();
+  }
+#endif  // HAVE_SSM
+  if (!(option(OPTION_WITHOUT_DEVICE)))
+  {
+    serial_close();
+  }
+
+  exit(0);
+#endif  // HAVE_SIGLONGJMP
+}
+#endif  // defined(__MINGW32__)
+
+void enable_ctrlc_handling(const int enable)
+{
+#if defined(__MINGW32__)
+  if (enable)
+  {
+    if (!SetConsoleCtrlHandler(win32_ctrlc_handler, TRUE))
+    {
+      yprintf(OUTPUT_LV_ERROR, "Error: Win32 Ctrl+C handler registration failed.\n");
+    }
+  }
+  else
+  {
+    if (!SetConsoleCtrlHandler(NULL, FALSE))
+    {
+      yprintf(OUTPUT_LV_ERROR, "Error: Win32 Ctrl+C handler restoration failed.\n");
+    }
+  }
+#else
+  if (enable)
+  {
+    signal(SIGINT, emergency);
+  }
+  else
+  {
+    signal(SIGINT, SIG_DFL);
+  }
+#endif  // defined(__MINGW32__)
+}
+
+int ctrlc_setjmp()
+{
+#if HAVE_SIGLONGJMP
+  return sigsetjmp(ctrlc_capture, 1);
+#elif HAVE_LONGJMP
+  return setjmp(ctrlc_capture);
+#else
+  return 0;
+#endif  // HAVE_SIGLONGJMP
+}

src/ypspur-coordinator.c

@@ -25,8 +25,6 @@
 #include <unistd.h>
 
 #include <fcntl.h>
-#include <setjmp.h>
-#include <signal.h>
 #include <sys/stat.h>
 #include <sys/time.h>
 #include <sys/types.h>
@@ -40,6 +38,7 @@
 #include <ypspur/param.h>
 #include <ypspur/ping.h>
 #include <ypspur/serial.h>
+#include <ypspur/signal.h>
 #include <ypspur/ssm_spur_handler.h>
 #include <ypspur/utility.h>
 #include <ypspur/ypprotocol.h>
@@ -50,81 +49,6 @@
 
 #include <pthread.h>
 
-#if HAVE_SIGLONGJMP
-sigjmp_buf ctrlc_capture;
-#elif HAVE_LONGJMP
-jmp_buf ctrlc_capture;
-#endif  // HAVE_SIGLONGJMP
-
-#if defined(__MINGW32__)
-BOOL WINAPI win32_ctrlc_handler(DWORD type)
-{
-  fprintf(stderr, "\n");
-#ifdef HAVE_SSM
-  // SSM終了処理
-  if (!option(OPTION_WITHOUT_SSM))
-    end_ypspurSSM();
-#endif  // HAVE_SSM
-  if (!(option(OPTION_WITHOUT_DEVICE)))
-  {
-    serial_close();
-  }
-
-  return TRUE;
-}
-#else
-void emergency(int sig)
-{
-  fprintf(stderr, "\n");
-#if HAVE_SIGLONGJMP
-  siglongjmp(ctrlc_capture, 1);
-#elif HAVE_LONGJMP
-  longjmp(ctrlc_capture, 1);
-#else
-#ifdef HAVE_SSM
-  // SSM終了処理
-  if (!option(OPTION_WITHOUT_SSM))
-    end_ypspurSSM();
-#endif  // HAVE_SSM
-  if (!(option(OPTION_WITHOUT_DEVICE)))
-  {
-    serial_close();
-  }
-
-  exit(0);
-#endif  // HAVE_SIGLONGJMP
-}
-#endif  // defined(__MINGW32__)
-
-void escape_road(const int enable)
-{
-#if defined(__MINGW32__)
-  if (enable)
-  {
-    if (!SetConsoleCtrlHandler(win32_ctrlc_handler, TRUE))
-    {
-      yprintf(OUTPUT_LV_ERROR, "Error: Win32 Ctrl+C handler registration failed.\n");
-    }
-  }
-  else
-  {
-    if (!SetConsoleCtrlHandler(NULL, FALSE))
-    {
-      yprintf(OUTPUT_LV_ERROR, "Error: Win32 Ctrl+C handler restoration failed.\n");
-    }
-  }
-#else
-  if (enable)
-  {
-    signal(SIGINT, emergency);
-  }
-  else
-  {
-    signal(SIGINT, SIG_DFL);
-  }
-#endif  // defined(__MINGW32__)
-}
-
 int main(int argc, char* argv[])
 {
   pthread_t command_thread;
@@ -497,22 +421,14 @@ int main(int argc, char* argv[])
       update_thread_en = 0;
     }
 
-// オドメトリ受信ループ
-#if HAVE_SIGLONGJMP
-    if (sigsetjmp(ctrlc_capture, 1) != 0)
-    {
-      quit = 1;
-    }
-    else
-#elif HAVE_LONGJMP
-    if (setjmp(ctrlc_capture) != 0)
+    // オドメトリ受信ループ
+    if (ctrlc_setjmp() != 0)
     {
       quit = 1;
     }
     else
-#endif  // HAVE_SIGLONGJMP
     {
-      escape_road(1);
+      enable_ctrlc_handling(1);
       if (!(option(OPTION_WITHOUT_DEVICE)))
       {
         odometry_receive_loop();
@@ -526,7 +442,7 @@ int main(int argc, char* argv[])
       }
       yprintf(OUTPUT_LV_INFO, "Connection to %s was closed.\n", param->device_name);
     }
-    escape_road(0);
+    enable_ctrlc_handling(0);
 
     // 終了処理
     if (update_thread_en)