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rosnode kill support (shut down the node) #291
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Thanks for the contribution @wmlynar! |
jubeira
suggested changes
Mar 28, 2019
| @@ -52,12 +53,15 @@ | |||
| private final TopicParticipantManager topicParticipantManager; | |||
| private final ParameterManager parameterManager; | |||
| private final TcpRosServer tcpRosServer; | |||
| private final DefaultNode defaultNode; | |||
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I'd suggest changing to Node instead of tying this to a particular implementation.
As we only need the shutdown method, we can use the base interface instead.
| @@ -81,13 +86,22 @@ public void start() { | |||
| super.start(org.ros.internal.node.xmlrpc.SlaveXmlRpcEndpointImpl.class, | |||
| new SlaveXmlRpcEndpointImpl(this)); | |||
| tcpRosServer.start(); | |||
| shutdownStarted = false; | |||
| } | |||
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| // TODO(damonkohler): This should also shut down the Node. | |||
| if (shutdownStarted) { | ||
| return; | ||
| } | ||
| shutdownStarted = true; |
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About thread safety:
if shutdown is called a second time after the if statement is processed but before shutdownStarted is set to true, it will be called twice.
To be completely sure, I'd suggest placing all the code in both shutdown and start in a synchronized block using a dummy object as the lock. E.g.:
// In the constructor:
shutdownLock = new Object();
// Then:
@Override
public void shutdown() {
synchronized(shutdownLock) {
// current code goes here
}
}And the same for start.
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This pull request is intended to resolve issue #289