Merge branch 'main' into conan-windows

Author: stuqdog

src/viam/sdk/CMakeLists.txt

@@ -126,7 +126,6 @@ target_sources(viamsdk
     module/handler_map.cpp
     module/module.cpp
     module/service.cpp
-    module/signal_manager.cpp
     referenceframe/frame.cpp
     registry/registry.cpp
     resource/reconfigurable.cpp
@@ -221,6 +220,18 @@ target_sources(viamsdk
       ${CMAKE_CURRENT_BINARY_DIR}/../../viam/sdk/common/grpc_fwd.hpp
 )
 
+if(WIN32)
+  target_sources(viamsdk
+    PRIVATE
+      module/signal_manager_windows.cpp
+  )
+else()
+  target_sources(viamsdk
+    PRIVATE
+      module/signal_manager_posix.cpp
+  )
+endif()
+
 set_target_properties(
   viamsdk PROPERTIES
   SOVERSION noabi

src/viam/sdk/module/signal_manager.cpp

@@ -1,10 +1,6 @@
 #pragma once
 
-#include <signal.h>
-
-#ifdef _WIN32
-#include <windows.h>
-#endif
+#include <memory>
 
 namespace viam {
 namespace sdk {
@@ -27,16 +23,8 @@ class SignalManager {
     int wait();
 
    private:
-#ifdef _WIN32
-    static BOOL WINAPI console_handler_routine_(DWORD dwCtrlType);
-    void handle_signal_(int signal);
-
-    static SignalManager* instance_;
-    HANDLE signal_event_ = INVALID_HANDLE_VALUE;
-    int signal_code_ = 0;
-#else
-    sigset_t sigset_;
-#endif
+    struct Impl;
+    std::unique_ptr<Impl> pImpl;
 };
 
 }  // namespace sdk

src/viam/sdk/module/signal_manager.hpp

@@ -0,0 +1,29 @@
+#include <viam/sdk/module/signal_manager.hpp>
+
+#include <pthread.h>
+
+#include <csignal>
+
+namespace viam {
+namespace sdk {
+
+struct SignalManager::Impl {
+    sigset_t sigset_;
+};
+
+SignalManager::SignalManager() : pImpl(std::make_unique<Impl>()) {
+    sigemptyset(&(pImpl->sigset_));
+    sigaddset(&(pImpl->sigset_), SIGINT);
+    sigaddset(&(pImpl->sigset_), SIGTERM);
+    pthread_sigmask(SIG_BLOCK, &(pImpl->sigset_), NULL);
+}
+
+SignalManager::~SignalManager() = default;
+
+int SignalManager::wait() {
+    int sig = 0;
+    return sigwait(&((pImpl->sigset_)), &sig);
+}
+
+}  // namespace sdk
+}  // namespace viam

src/viam/sdk/module/signal_manager_posix.cpp

@@ -0,0 +1,62 @@
+#include <windows.h>  //this file assumes WIN32
+
+#include <viam/sdk/module/signal_manager.hpp>
+
+#include <signal.h>
+
+#include <stdexcept>
+
+namespace viam {
+namespace sdk {
+
+struct SignalManager::Impl {  // Windows implementation details of SignalManager
+    static BOOL WINAPI console_handler_routine_(DWORD dwCtrlType) {
+        if (dwCtrlType == CTRL_C_EVENT || dwCtrlType == CTRL_BREAK_EVENT) {
+            instance_->pImpl->handle_signal_(SIGINT);
+            return TRUE;
+        } else if (dwCtrlType == CTRL_CLOSE_EVENT || dwCtrlType == CTRL_LOGOFF_EVENT ||
+                   dwCtrlType == CTRL_SHUTDOWN_EVENT) {
+            instance_->pImpl->handle_signal_(SIGTERM);
+            return TRUE;
+        }
+        return FALSE;
+    }
+
+    void handle_signal_(int signal) {
+        if (signal_event_ != INVALID_HANDLE_VALUE) {
+            signal_code_ = signal;
+            SetEvent(signal_event_);
+        }
+    }
+
+    static SignalManager* instance_;
+    HANDLE signal_event_ = INVALID_HANDLE_VALUE;
+    int signal_code_ = 0;
+};
+
+SignalManager* SignalManager::Impl::instance_ = nullptr;
+
+SignalManager::SignalManager() : pImpl(std::make_unique<Impl>()) {
+    SignalManager::Impl::instance_ = this;
+    SetConsoleCtrlHandler(SignalManager::Impl::console_handler_routine_, TRUE);
+}
+
+SignalManager::~SignalManager() {
+    SetConsoleCtrlHandler(NULL, FALSE);
+    if (pImpl->signal_event_ != INVALID_HANDLE_VALUE) {
+        CloseHandle(pImpl->signal_event_);
+    }
+    SignalManager::Impl::instance_ = nullptr;
+}
+
+int SignalManager::wait() {
+    pImpl->signal_event_ = CreateEvent(NULL, TRUE, FALSE, NULL);
+    if (pImpl->signal_event_ == INVALID_HANDLE_VALUE) {
+        throw std::runtime_error("Failed to create signal event");
+    }
+    WaitForSingleObject(pImpl->signal_event_, INFINITE);
+    return static_cast<DWORD>(pImpl->signal_code_);
+}
+
+}  // namespace sdk
+}  // namespace viam