Merge pull request #17 from ros2/launch_package

add rclcpp::shutdown() function
ros2 · Mar 28, 2015 · 9064648 · 9064648
2 parents bf61c2d + e720daf
commit 9064648
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diff --git a/rclcpp/include/rclcpp/rclcpp.hpp b/rclcpp/include/rclcpp/rclcpp.hpp
@@ -60,6 +60,7 @@ using rclcpp::timer::TimerBase;
 using rclcpp::timer::WallTimer;
 typedef rclcpp::context::Context::SharedPtr ContextSharedPtr;
 using rclcpp::utilities::ok;
+using rclcpp::utilities::shutdown;
 using rclcpp::utilities::init;
 using rclcpp::utilities::sleep_for;
 

diff --git a/rclcpp/include/rclcpp/utilities.hpp b/rclcpp/include/rclcpp/utilities.hpp
@@ -127,6 +127,15 @@ ok()
   return ::g_signal_status == 0;
 }
 
+void
+shutdown()
+{
+  g_signal_status = SIGINT;
+  rmw_trigger_guard_condition(g_sigint_guard_cond_handle);
+  g_interrupt_condition_variable.notify_all();
+}
+
+
 rmw_guard_condition_t *
 get_global_sigint_guard_condition()
 {