Handle OS signals

robotology-legacy · Mar 31, 2020 · 2ef6f6e · 2ef6f6e
1 parent ccb32c5
commit 2ef6f6e
Showing 1 changed file with 14 additions and 0 deletions.
diff --git a/cpp/scenario/gazebo/src/GazeboSimulator.cpp b/cpp/scenario/gazebo/src/GazeboSimulator.cpp
@@ -31,6 +31,7 @@
 #include "scenario/gazebo/components/SimulatedTime.h"
 #include "scenario/gazebo/components/Timestamp.h"
 #include "scenario/gazebo/helpers.h"
+#include "scenario/gazebo/signals.h"
 #include "scenario/gazebo/utils.h"
 #include "scenario/plugins/gazebo/ECMSingleton.h"
 
@@ -50,6 +51,7 @@
 #include <cassert>
 #include <chrono>
 #include <cmath>
+#include <csignal>
 #include <limits>
 #include <optional>
 #include <thread>
@@ -171,6 +173,18 @@ bool GazeboSimulator::initialize()
         return false;
     }
 
+    auto cb = [&](int sig) {
+        this->close();
+        exit(sig);
+    };
+
+    // Setup signals callbacks.
+    // It must be done after the creation of the simulator since
+    // we oveeride override their callbacks.
+    base::SignalManager::Instance().setCallback(SIGINT, cb);
+    base::SignalManager::Instance().setCallback(SIGTERM, cb);
+    base::SignalManager::Instance().setCallback(SIGABRT, cb);
+
     return true;
 }