From 7a32fdd1f8f6aa5c31b8ffc99654ae7412eb6de3 Mon Sep 17 00:00:00 2001
From: Christian Eltzschig <me@elchris.org>
Date: Thu, 23 Jun 2022 11:19:36 +0200
Subject: [PATCH] iox-#751 Fix rpc c++ example by signalling waitset SIGTERM

Signed-off-by: Christian Eltzschig <me@elchris.org>
---
 .../request_response/client_cxx_waitset.cpp   | 23 +++++++++++++++----
 .../request_response_in_c/client_c_waitset.c  |  9 +++-----
 .../posix_wrapper/unnamed_semaphore.cpp       |  2 +-
 3 files changed, 22 insertions(+), 12 deletions(-)

diff --git a/iceoryx_examples/request_response/client_cxx_waitset.cpp b/iceoryx_examples/request_response/client_cxx_waitset.cpp
index 88704092d4..9c00a1f017 100644
--- a/iceoryx_examples/request_response/client_cxx_waitset.cpp
+++ b/iceoryx_examples/request_response/client_cxx_waitset.cpp
@@ -17,16 +17,19 @@
 //! [iceoryx includes]
 #include "request_and_response_types.hpp"
 
+#include "iceoryx_hoofs/posix_wrapper/signal_handler.hpp"
 #include "iceoryx_hoofs/posix_wrapper/signal_watcher.hpp"
 #include "iceoryx_posh/popo/client.hpp"
 #include "iceoryx_posh/popo/wait_set.hpp"
 #include "iceoryx_posh/runtime/posh_runtime.hpp"
 //! [iceoryx includes]
 
+#include <atomic>
 #include <iostream>
 
 constexpr char APP_NAME[] = "iox-cpp-request-response-client-waitset";
-
+std::atomic_bool keepRunning = {true};
+iox::cxx::optional<iox::popo::WaitSet<>> waitset;
 
 //! [context data to store Fibonacci numbers and sequence ids]
 struct ContextData
@@ -38,8 +41,17 @@ struct ContextData
 };
 //! [context data to store Fibonacci numbers and sequence ids]
 
+void signalHandler(int)
+{
+    keepRunning = false;
+    waitset.and_then([&](auto& w) { w.markForDestruction(); });
+}
+
 int main()
 {
+    auto sigTermGuard = iox::posix::registerSignalHandler(iox::posix::Signal::TERM, signalHandler);
+    auto sigIntGuard = iox::posix::registerSignalHandler(iox::posix::Signal::INT, signalHandler);
+
     //! [initialize runtime]
     iox::runtime::PoshRuntime::initRuntime(APP_NAME);
     //! [initialize runtime]
@@ -47,7 +59,7 @@ int main()
     ContextData ctx;
 
     //! [create waitset]
-    iox::popo::WaitSet<> waitset;
+    waitset.emplace();
 
     //! [create client]
     iox::popo::ClientOptions options;
@@ -56,14 +68,14 @@ int main()
     //! [create client]
 
     // attach client to waitset
-    waitset.attachState(client, iox::popo::ClientState::HAS_RESPONSE).or_else([](auto) {
+    waitset->attachState(client, iox::popo::ClientState::HAS_RESPONSE).or_else([](auto) {
         std::cerr << "failed to attach client" << std::endl;
         std::exit(EXIT_FAILURE);
     });
     //! [create waitset]
 
     //! [mainloop]
-    while (!iox::posix::hasTerminationRequested())
+    while (keepRunning)
     {
         //! [send request]
         client.loan()
@@ -84,7 +96,7 @@ int main()
 
         // We block and wait for samples to arrive, when the time is up we send the request again
         //! [wait and check if the client triggered]
-        auto notificationVector = waitset.timedWait(iox::units::Duration::fromSeconds(5));
+        auto notificationVector = waitset->timedWait(iox::units::Duration::fromSeconds(5));
 
         for (auto& notification : notificationVector)
         {
@@ -117,6 +129,7 @@ int main()
     }
     //! [mainloop]
 
+    waitset.reset();
     std::cout << "shutting down" << std::endl;
 
     return (EXIT_SUCCESS);
diff --git a/iceoryx_examples/request_response_in_c/client_c_waitset.c b/iceoryx_examples/request_response_in_c/client_c_waitset.c
index 1420516d4c..5c6e8df157 100644
--- a/iceoryx_examples/request_response_in_c/client_c_waitset.c
+++ b/iceoryx_examples/request_response_in_c/client_c_waitset.c
@@ -59,7 +59,7 @@ int main()
     int64_t expectedResponseSequenceId = requestSequenceId;
 
     //! [create waitset and attach client]
-    iox_ws_t waitset = iox_ws_init(&waitsetStorage);
+    waitset = iox_ws_init(&waitsetStorage);
 
     if (iox_ws_attach_client_state(waitset, client, ClientState_HAS_RESPONSE, 0U, NULL) != WaitSetResult_SUCCESS)
     {
@@ -136,11 +136,8 @@ int main()
         }
         //! [process responses]
 
-        if (keepRunning)
-        {
-            const uint32_t SLEEP_TIME_IN_MS = 950U;
-            sleep_for(SLEEP_TIME_IN_MS);
-        }
+        const uint32_t SLEEP_TIME_IN_MS = 950U;
+        sleep_for(SLEEP_TIME_IN_MS);
     }
 
     //! [cleanup]
diff --git a/iceoryx_hoofs/source/posix_wrapper/unnamed_semaphore.cpp b/iceoryx_hoofs/source/posix_wrapper/unnamed_semaphore.cpp
index 342a5a9b1c..3ff469a414 100644
--- a/iceoryx_hoofs/source/posix_wrapper/unnamed_semaphore.cpp
+++ b/iceoryx_hoofs/source/posix_wrapper/unnamed_semaphore.cpp
@@ -37,7 +37,7 @@ UnnamedSemaphoreBuilder::create(cxx::optional<UnnamedSemaphore>& uninitializedSe
     uninitializedSemaphore.emplace();
 
     auto result = posixCall(iox_sem_init)(&uninitializedSemaphore.value().m_handle,
-                                          (m_isInterProcessCapable) ? 0 : 1,
+                                          (m_isInterProcessCapable) ? 1 : 0,
                                           static_cast<unsigned int>(m_initialValue))
                       .failureReturnValue(-1)
                       .evaluate();