common exit handler (#19661)

* common signal handle

* fix typo

* rename to ExitHandler

* remove include signal.h

* remove include csignal

* rename variable exit to v

* rebase master

selfdrive/boardd/boardd.cc

@@ -1,7 +1,6 @@
 #include <stdio.h>
 #include <stdint.h>
 #include <stdlib.h>
-#include <signal.h>
 #include <unistd.h>
 #include <sched.h>
 #include <errno.h>
@@ -45,11 +44,7 @@ bool fake_send = false;
 bool connected_once = false;
 bool ignition = false;
 
-volatile sig_atomic_t do_exit = 0;
-static void set_do_exit(int sig) {
-  do_exit = 1;
-}
-
+ExitHandler do_exit;
 struct tm get_time(){
   time_t rawtime;
   time(&rawtime);
@@ -525,10 +520,6 @@ int main() {
   err = set_core_affinity(3);
   LOG("set affinity returns %d", err);
 
-  // setup signal handlers
-  signal(SIGINT, (sighandler_t)set_do_exit);
-  signal(SIGTERM, (sighandler_t)set_do_exit);
-
   // check the environment
   if (getenv("STARTED")) {
     spoofing_started = true;

selfdrive/camerad/cameras/camera_common.cc

@@ -1,6 +1,5 @@
 #include <thread>
 #include <stdio.h>
-#include <signal.h>
 #include <assert.h>
 #include <unistd.h>
 
@@ -22,6 +21,7 @@
 #include "common/params.h"
 #include "common/swaglog.h"
 #include "common/util.h"
+#include "common/utilpp.h"
 #include "imgproc/utils.h"
 
 const int env_xmin = getenv("XMIN") ? atoi(getenv("XMIN")) : 0;
@@ -349,7 +349,7 @@ void set_exposure_target(CameraState *c, const uint8_t *pix_ptr, int x_start, in
   camera_autoexposure(c, lum_med / 256.0);
 }
 
-extern volatile sig_atomic_t do_exit;
+extern ExitHandler do_exit;
 
 void *processing_thread(MultiCameraState *cameras, const char *tname,
                           CameraState *cs, process_thread_cb callback) {

selfdrive/camerad/cameras/camera_frame_stream.cc

@@ -3,12 +3,12 @@
 #include <unistd.h>
 #include <cassert>
 #include <string.h>
-#include <signal.h>
 
 #include <libyuv.h>
 #include "messaging.hpp"
 
 #include "common/util.h"
+#include "common/utilpp.h"
 #include "common/timing.h"
 #include "common/swaglog.h"
 #include "buffering.h"
@@ -17,7 +17,7 @@ extern "C" {
 #include <libavcodec/avcodec.h>
 }
 
-extern volatile sig_atomic_t do_exit;
+extern ExitHandler do_exit;
 
 #define FRAME_WIDTH 1164
 #define FRAME_HEIGHT 874

selfdrive/camerad/cameras/camera_qcom.cc

@@ -34,7 +34,7 @@
 #include "camera_qcom.h"
 
 
-extern volatile sig_atomic_t do_exit;
+extern ExitHandler do_exit;
 
 // global var for AE/AF ops
 std::atomic<CameraExpInfo> rear_exp{{0}};

selfdrive/camerad/cameras/camera_qcom2.cc

@@ -3,7 +3,6 @@
 #include <string.h>
 #include <errno.h>
 #include <unistd.h>
-#include <signal.h>
 #include <assert.h>
 #include <fcntl.h>
 #include <sys/ioctl.h>
@@ -32,7 +31,7 @@
 #define FRAME_STRIDE 2416  // for 10 bit output
 
 
-extern volatile sig_atomic_t do_exit;
+extern ExitHandler do_exit;
 
 // global var for AE ops
 std::atomic<CameraExpInfo> cam_exp[3] = {{{0}}};

selfdrive/camerad/cameras/camera_webcam.cc

@@ -3,10 +3,10 @@
 #include <unistd.h>
 #include <assert.h>
 #include <string.h>
-#include <signal.h>
 #include <pthread.h>
 
 #include "common/util.h"
+#include "common/utilpp.h"
 #include "common/timing.h"
 #include "common/clutil.h"
 #include "common/swaglog.h"
@@ -20,7 +20,7 @@
 #pragma clang diagnostic pop
 
 
-extern volatile sig_atomic_t do_exit;
+extern ExitHandler do_exit;
 
 #define FRAME_WIDTH  1164
 #define FRAME_HEIGHT 874

selfdrive/camerad/main.cc

@@ -1,6 +1,5 @@
 #include <thread>
 #include <stdio.h>
-#include <signal.h>
 #include <poll.h>
 #include <assert.h>
 #include <unistd.h>
@@ -23,15 +22,12 @@
 #include "common/params.h"
 #include "common/swaglog.h"
 #include "common/util.h"
+#include "common/utilpp.h"
 #include "common/visionipc.h"
 
 #define MAX_CLIENTS 6
 
-volatile sig_atomic_t do_exit = 0;
-
-static void set_do_exit(int sig) {
-  do_exit = 1;
-}
+ExitHandler do_exit;
 
 struct VisionState;
 
@@ -331,9 +327,6 @@ int main(int argc, char *argv[]) {
   set_core_affinity(6);
 #endif
 
-  signal(SIGINT, (sighandler_t)set_do_exit);
-  signal(SIGTERM, (sighandler_t)set_do_exit);
-
   cl_device_id device_id = cl_get_device_id(CL_DEVICE_TYPE_DEFAULT);
 
    // TODO: do this for QCOM2 too

selfdrive/clocksd/clocksd.cc

@@ -1,6 +1,5 @@
 #include <stdio.h>
 #include <stdint.h>
-#include <signal.h>
 #include <unistd.h>
 #include <sys/resource.h>
 #include <sys/time.h>
@@ -18,12 +17,9 @@
 #include "messaging.hpp"
 #include "common/timing.h"
 #include "common/util.h"
+#include "common/utilpp.h"
 
-volatile sig_atomic_t do_exit = 0;
-static void set_do_exit(int sig) {
-  do_exit = 1;
-}
-
+ExitHandler do_exit;
 
 #ifdef QCOM
 namespace {
@@ -37,10 +33,6 @@ namespace {
 
 int main() {
   setpriority(PRIO_PROCESS, 0, -13);
-
-  signal(SIGINT, (sighandler_t)set_do_exit);
-  signal(SIGTERM, (sighandler_t)set_do_exit);
-
   PubMaster pm({"clocks"});
 
 #ifndef __APPLE__

selfdrive/common/util.h

@@ -3,10 +3,6 @@
 
 #include <stdio.h>
 
-#ifndef sighandler_t
-typedef void (*sighandler_t)(int sig);
-#endif
-
 #ifndef __cplusplus
 
 #define min(a,b) \

selfdrive/common/utilpp.h

@@ -2,14 +2,19 @@
 
 #include <cstdio>
 #include <unistd.h>
-
+#include <csignal>
 #include <string>
 #include <memory>
+#include <atomic>
 #include <sstream>
 #include <fstream>
 #include <thread>
 #include <chrono>
 
+#ifndef sighandler_t
+typedef void (*sighandler_t)(int sig);
+#endif
+
 namespace util {
 
 inline bool starts_with(std::string s, std::string prefix) {
@@ -76,6 +81,22 @@ inline void sleep_for(const int milliseconds) {
 }
 }
 
+class ExitHandler {
+public:
+  ExitHandler() {
+    std::signal(SIGINT, (sighandler_t)set_do_exit);
+    std::signal(SIGTERM, (sighandler_t)set_do_exit);
+  };
+  inline operator bool() { return do_exit; }
+  inline ExitHandler& operator=(bool v) {
+    do_exit = v;
+    return *this;
+  }
+private:
+  static void set_do_exit(int sig) { do_exit = true; }
+  inline static std::atomic<bool> do_exit = false;
+};
+
 struct unique_fd {
   unique_fd(int fd = -1) : fd_(fd) {}
   unique_fd& operator=(unique_fd&& uf) {

selfdrive/locationd/ubloxd_main.cc

@@ -1,7 +1,6 @@
 #include <stdio.h>
 #include <stdlib.h>
 #include <string.h>
-#include <signal.h>
 #include <unistd.h>
 #include <errno.h>
 #include <sys/time.h>
@@ -14,23 +13,17 @@
 
 #include "messaging.hpp"
 #include "common/util.h"
+#include "common/utilpp.h"
 #include "common/params.h"
 #include "common/swaglog.h"
 #include "common/timing.h"
 
 #include "ublox_msg.h"
 
-volatile sig_atomic_t do_exit = 0; // Flag for process exit on signal
-
-void set_do_exit(int sig) {
-  do_exit = 1;
-}
-
+ExitHandler do_exit;
 using namespace ublox;
 int ubloxd_main(poll_ubloxraw_msg_func poll_func, send_gps_event_func send_func) {
   LOGW("starting ubloxd");
-  signal(SIGINT, (sighandler_t) set_do_exit);
-  signal(SIGTERM, (sighandler_t) set_do_exit);
 
   UbloxMsgParser parser;
 

selfdrive/logcatd/logcatd_android.cc

@@ -11,20 +11,13 @@
 #include <log/logprint.h>
 
 #include "common/timing.h"
+#include "common/utilpp.h"
 #include "messaging.hpp"
 
-volatile sig_atomic_t do_exit = 0;
-static void set_do_exit(int sig) {
-  do_exit = 1;
-}
-
+ExitHandler do_exit;
 int main() {
   int err;
 
-  // setup signal handlers
-  signal(SIGINT, (sighandler_t)set_do_exit);
-  signal(SIGTERM, (sighandler_t)set_do_exit);
-
   struct logger_list *logger_list = android_logger_list_alloc(ANDROID_LOG_RDONLY | ANDROID_LOG_NONBLOCK, 0, 0);
   assert(logger_list);
   struct logger *main_logger = android_logger_open(logger_list, LOG_ID_MAIN);

selfdrive/logcatd/logcatd_systemd.cc

@@ -8,20 +8,12 @@
 #include <systemd/sd-journal.h>
 
 #include "common/timing.h"
+#include "common/utilpp.h"
 #include "messaging.hpp"
 
-volatile sig_atomic_t do_exit = 0;
-
-static void set_do_exit(int sig) {
-  do_exit = 1;
-}
-
+ExitHandler do_exit;
 int main(int argc, char *argv[]) {
 
-  // setup signal handlers
-  signal(SIGINT, (sighandler_t)set_do_exit);
-  signal(SIGTERM, (sighandler_t)set_do_exit);
-
   PubMaster pm({"androidLog"});
 
   sd_journal *journal;

selfdrive/loggerd/loggerd.cc

@@ -3,7 +3,6 @@
 #include <cstdint>
 #include <cassert>
 #include <unistd.h>
-#include <signal.h>
 #include <errno.h>
 #include <poll.h>
 #include <string.h>
@@ -120,11 +119,7 @@ double randrange(double a, double b) {
   return dist(gen);
 }
 
-
-volatile sig_atomic_t do_exit = 0;
-static void set_do_exit(int sig) {
-  do_exit = 1;
-}
+ExitHandler do_exit;
 
 static bool file_exists(const std::string& fn) {
   std::ifstream f(fn);
@@ -541,10 +536,6 @@ int main(int argc, char** argv) {
 
   clear_locks();
 
-  signal(SIGINT, (sighandler_t)set_do_exit);
-  signal(SIGTERM, (sighandler_t)set_do_exit);
-
-
   typedef struct QlogState {
     int counter, freq;
   } QlogState;

selfdrive/modeld/dmonitoringmodeld.cc

@@ -1,7 +1,6 @@
 #include <stdio.h>
 #include <stdlib.h>
 #include <unistd.h>
-#include <signal.h>
 #include <cassert>
 #include <sys/resource.h>
 
@@ -17,19 +16,12 @@
 #endif
 
 
-volatile sig_atomic_t do_exit = 0;
-
-static void set_do_exit(int sig) {
-  do_exit = 1;
-}
+ExitHandler do_exit;
 
 int main(int argc, char **argv) {
   int err;
   setpriority(PRIO_PROCESS, 0, -15);
 
-  signal(SIGINT, (sighandler_t)set_do_exit);
-  signal(SIGTERM, (sighandler_t)set_do_exit);
-
   PubMaster pm({"driverState"});
 
   // init the models

selfdrive/modeld/modeld.cc

@@ -1,6 +1,5 @@
 #include <stdio.h>
 #include <stdlib.h>
-#include <signal.h>
 #include <unistd.h>
 #include <eigen3/Eigen/Dense>
 
@@ -13,11 +12,7 @@
 #include "models/driving.h"
 #include "messaging.hpp"
 
-volatile sig_atomic_t do_exit = 0;
-static void set_do_exit(int sig) {
-  do_exit = 1;
-}
-
+ExitHandler do_exit;
 // globals
 bool run_model;
 mat3 cur_transform;
@@ -103,9 +98,6 @@ int main(int argc, char **argv) {
   set_core_affinity(4);
 #endif
 
-  signal(SIGINT, (sighandler_t)set_do_exit);
-  signal(SIGTERM, (sighandler_t)set_do_exit);
-
   pthread_mutex_init(&transform_lock, NULL);
 
   // start calibration thread

selfdrive/proclogd/proclogd.cc

@@ -5,7 +5,6 @@
 #include <cstdlib>
 #include <climits>
 #include <cassert>
-#include <csignal>
 #include <memory>
 #include <utility>
 #include <sstream>
@@ -20,15 +19,9 @@
 #include "common/util.h"
 #include "common/utilpp.h"
 
-
-volatile sig_atomic_t do_exit = 0;
+ExitHandler do_exit;
 
 namespace {
-
-static void set_do_exit(int sig) {
-  do_exit = 1;
-}
-
 struct ProcCache {
   std::string name;
   std::vector<std::string> cmdline;
@@ -38,9 +31,6 @@ struct ProcCache {
 }
 
 int main() {
-  signal(SIGINT, (sighandler_t)set_do_exit);
-  signal(SIGTERM, (sighandler_t)set_do_exit);
-
   PubMaster publisher({"procLog"});
 
   double jiffy = sysconf(_SC_CLK_TCK);

selfdrive/sensord/gpsd.cc

@@ -1,7 +1,6 @@
 #include <stdio.h>
 #include <stdint.h>
 #include <string.h>
-#include <signal.h>
 #include <unistd.h>
 #include <assert.h>
 #include <sys/time.h>
@@ -18,9 +17,10 @@
 
 #include "messaging.hpp"
 #include "common/timing.h"
+#include "common/utilpp.h"
 #include "common/swaglog.h"
 
-volatile sig_atomic_t do_exit = 0;
+ExitHandler do_exit;
 
 namespace {
 
@@ -29,10 +29,6 @@ PubMaster *pm;
 const GpsInterface* gGpsInterface = NULL;
 const AGpsInterface* gAGpsInterface = NULL;
 
-void set_do_exit(int sig) {
-  do_exit = 1;
-}
-
 void nmea_callback(GpsUtcTime timestamp, const char* nmea, int length) {
 
   uint64_t log_time_wall = nanos_since_epoch();
@@ -149,9 +145,6 @@ void gps_destroy() {
 int main() {
   setpriority(PRIO_PROCESS, 0, -13);
 
-  signal(SIGINT, (sighandler_t)set_do_exit);
-  signal(SIGTERM, (sighandler_t)set_do_exit);
-
   gps_init();
 
   while(!do_exit) pause();

selfdrive/sensord/sensors_qcom.cc

@@ -2,7 +2,6 @@
 #include <stdint.h>
 #include <stdlib.h>
 #include <string.h>
-#include <signal.h>
 #include <unistd.h>
 #include <assert.h>
 #include <sys/time.h>
@@ -19,6 +18,7 @@
 
 #include "messaging.hpp"
 #include "common/timing.h"
+#include "common/utilpp.h"
 #include "common/swaglog.h"
 
 // ACCELEROMETER_UNCALIBRATED is only in Android O
@@ -32,15 +32,11 @@
 #define SENSOR_PROXIMITY 6
 #define SENSOR_LIGHT 7
 
-volatile sig_atomic_t do_exit = 0;
+ExitHandler do_exit;
 volatile sig_atomic_t re_init_sensors = 0;
 
 namespace {
 
-void set_do_exit(int sig) {
-  do_exit = 1;
-}
-
 void sigpipe_handler(int sig) {
   LOGE("SIGPIPE received");
   re_init_sensors = true;
@@ -224,8 +220,6 @@ void sensor_loop() {
 
 int main(int argc, char *argv[]) {
   setpriority(PRIO_PROCESS, 0, -13);
-  signal(SIGINT, (sighandler_t)set_do_exit);
-  signal(SIGTERM, (sighandler_t)set_do_exit);
   signal(SIGPIPE, (sighandler_t)sigpipe_handler);
 
   sensor_loop();

selfdrive/sensord/sensors_qcom2.cc

@@ -1,5 +1,4 @@
 #include <vector>
-#include <csignal>
 #include <chrono>
 #include <thread>
 #include <sys/resource.h>
@@ -7,6 +6,7 @@
 #include "messaging.hpp"
 #include "common/i2c.h"
 #include "common/timing.h"
+#include "common/utilpp.h"
 #include "common/swaglog.h"
 
 #include "sensors/sensor.hpp"
@@ -25,11 +25,7 @@
 
 #define I2C_BUS_IMU 1
 
-volatile sig_atomic_t do_exit = 0;
-
-void set_do_exit(int sig) {
-  do_exit = 1;
-}
+ExitHandler do_exit;
 
 int sensor_loop() {
   I2CBus *i2c_bus_imu;
@@ -98,8 +94,5 @@ int sensor_loop() {
 
 int main(int argc, char *argv[]) {
   setpriority(PRIO_PROCESS, 0, -13);
-  signal(SIGINT, set_do_exit);
-  signal(SIGTERM, set_do_exit);
-
   return sensor_loop();
 }

selfdrive/ui/android/ui.cc

@@ -15,11 +15,7 @@
 #include "paint.hpp"
 #include "android/sl_sound.hpp"
 
-volatile sig_atomic_t do_exit = 0;
-static void set_do_exit(int sig) {
-  do_exit = 1;
-}
-
+ExitHandler do_exit;
 static void ui_set_brightness(UIState *s, int brightness) {
   static int last_brightness = -1;
   if (last_brightness != brightness && (s->awake || brightness == 0)) {
@@ -114,7 +110,6 @@ static void update_offroad_layout_state(UIState *s, PubMaster *pm) {
 
 int main(int argc, char* argv[]) {
   setpriority(PRIO_PROCESS, 0, -14);
-  signal(SIGINT, (sighandler_t)set_do_exit);
   SLSound sound;
 
   UIState uistate = {};