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Add a boolean to cleanly exit sender thread

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This commit is contained in:
Arkadiusz Niemiec
2019-04-20 21:30:04 +02:00
committed by Nuno Marques
parent c78aaeb0f7
commit c50c44cc58
1 changed files with 5 additions and 2 deletions
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msg/templates/urtps/microRTPS_agent.cpp.template
+5 -2
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@@ -53,6 +53,7 @@ recv_topics = [s.short_name for idx, s in enumerate(spec) if scope[idx] == MsgSc
****************************************************************************/
#include <thread>
#include <atomic>
#include <unistd.h>
#include <poll.h>
#include <chrono>
@@ -181,8 +182,9 @@ void signal_handler(int signum)
running = 0;
transport_node->close();
}
@[if recv_topics]@
@[if recv_topics]@
std::atomic<bool> exit_sender_thread(false);
void t_send(void *data)
{
char data_buffer[BUFFER_SIZE] = {};
@@ -192,7 +194,7 @@ void t_send(void *data)
while (running)
{
// Send subscribed topics over UART
while (topics.hasMsg(&topic_ID))
while (topics.hasMsg(&topic_ID) && !exit_sender_thread.load())
{
uint16_t header_length = transport_node->get_header_length();
/* make room for the header to fill in later */
@@ -301,6 +303,7 @@ int main(int argc, char** argv)
usleep(_options.sleep_us);
}
@[if recv_topics]@
exit_sender_thread = true;
sender_thread.join();
@[end if]@
delete transport_node;