Registered signal handlers for joysticks and control loops
This *should* prevent us from leeking messages. I'm still seeing
leaks, so I bet we aren't fully set up to handle that yet.
Change-Id: Id4a8c5c1741db3e70a3d0a836667b957aba8165a
diff --git a/aos/common/controls/control_loop.h b/aos/common/controls/control_loop.h
index 02aa067..70e87f8 100644
--- a/aos/common/controls/control_loop.h
+++ b/aos/common/controls/control_loop.h
@@ -2,10 +2,11 @@
#define AOS_CONTROL_LOOP_CONTROL_LOOP_H_
#include <string.h>
+#include <atomic>
-#include "aos/common/type_traits.h"
#include "aos/common/queue.h"
#include "aos/common/time.h"
+#include "aos/common/type_traits.h"
#include "aos/common/util/log_interval.h"
namespace aos {
@@ -115,7 +116,12 @@
uint32_t UniqueID() override { return control_loop_->hash(); }
+
protected:
+ static void Quit(int /*signum*/) {
+ run_ = false;
+ }
+
// Runs an iteration of the control loop.
// goal is the last goal that was sent. It might be any number of cycles old
// or nullptr if we haven't ever received a goal.
@@ -159,6 +165,8 @@
SimpleLogInterval(kStaleLogInterval, WARNING, "motors disabled");
SimpleLogInterval no_goal_ =
SimpleLogInterval(kStaleLogInterval, ERROR, "no goal");
+
+ static ::std::atomic<bool> run_;
};
} // namespace controls