Unable to stop an application with ctrl+c with handleQuitSignals

[LoreMoretti]

I have written a cpp application which spawns 2 threads. Each thread is running an advanceable runner.

I am trying to use the BipedalLocomotion::System::handleQuitSignals to implement the logic that should stop the application when clicking ctrl+C.

It follows the portion of the application related to this logic:

  // handle the ctrl+c signal
  BipedalLocomotion::System::handleQuitSignals([&]() {
    plannerRunner.stop();
    controllerRunner.stop();
  });

  // barrier to synchronize the controller and the planner
  auto barrier = BipedalLocomotion::System::Barrier::create(2);

  // run the planner and controller
  auto plannerThread = plannerRunner.run(barrier);
  auto controllerThread = controllerRunner.run(barrier);

  // wait for the planner and controller threads to finish
  while (plannerRunner.isRunning() && controllerRunner.isRunning()) {
    using namespace std::chrono_literals;

    BipedalLocomotion::clock().yield();
    BipedalLocomotion::clock().sleepFor(200ms);
  }

  // stop the the planner and controller threads
  plannerRunner.stop();
  controllerRunner.stop();

What happens is that when clicking ctrl+c most of the times the application does not get stopped.

[GiulioRomualdi]

This is really tricky and dangerous. I was wondering if you are using library which carch the ctrl-c.

Cc @traversaro

[traversaro]

What happens is that when clicking ctrl+c most of the times the application does not get stopped.

Can you check if the lambda is getting called or not? Can you provide more context of how the handleQuitSignals is being called? Are you calling it from a main() function?

[LoreMoretti]

Can you check if the lambda is getting called or not? Can you provide more context of how the handleQuitSignals is being called? Are you calling it from a main() function?

Yes I am calling it from a main() function.

I have verified that when clicking ctrl+c, the function handleQuitSignals does not get invoked.

[GiulioRomualdi]

Are you able to provide a minimum example like a main wirh an empty synchronous thread running