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add sigaction handler to Example Browser, to always shutdown shared memory

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make GUI_SERVER more reliable
next attempt to connect to SHARED_MEMORY in Gym envs, if available, before DIRECT/GUI
allow software rendering fallback, even if ER_BULLET_HARDWARE_OPENGL is chosen in getCameraImage
This commit is contained in:
Erwin Coumans
2017-09-13 13:30:16 -07:00
parent c250a5f0b9
commit 340a8f4704
6 changed files with 57 additions and 10 deletions
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46
examples/ExampleBrowser/main.cpp
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@@ -20,8 +20,51 @@
static double gMinUpdateTimeMicroSecs = 1000.;
static bool interrupted=false;
static OpenGLExampleBrowser* sExampleBrowser=0;
#ifndef _WIN32
#include <signal.h>
#include <err.h>
#include <unistd.h>
static void cleanup(int signo)
{
printf("SIG cleanup: %d\n", signo);
if (interrupted) { // this is the second time, we're hanging somewhere
// if (example) {
// example->abort();
// }
b3Printf("Aborting and deleting SharedMemoryCommon object");
sleep(1);
delete sExampleBrowser;
sExampleBrowser = 0;
errx(EXIT_FAILURE, "aborted example on signal %d", signo);
} else
{
b3Printf("no action");
}
interrupted = true;
warnx("caught signal %d", signo);
}
#endif//_WIN32
int main(int argc, char* argv[])
{
#ifndef _WIN32
struct sigaction action;
memset(&action, 0x0, sizeof(action));
action.sa_handler = cleanup;
static const int signos[] = { SIGHUP, SIGINT, SIGQUIT, SIGABRT, SIGSEGV, SIGPIPE, SIGTERM };
for (int ii(0); ii < sizeof(signos) / sizeof(*signos); ++ii) {
if (0 != sigaction(signos[ii], &action, NULL)) {
err(EXIT_FAILURE, "signal %d", signos[ii]);
}
}
#endif
{
b3CommandLineArgs args(argc, argv);
b3Clock clock;
@@ -31,6 +74,7 @@ int main(int argc, char* argv[])
examples.initExampleEntries();
OpenGLExampleBrowser* exampleBrowser = new OpenGLExampleBrowser(&examples);
sExampleBrowser = exampleBrowser;//for <CTRL-C> etc, cleanup shared memory
bool init = exampleBrowser->init(argc, argv);
exampleBrowser->registerFileImporter(".urdf", ImportURDFCreateFunc);
exampleBrowser->registerFileImporter(".sdf", ImportSDFCreateFunc);
@@ -57,7 +101,7 @@ int main(int argc, char* argv[])
clock.reset();
exampleBrowser->update(deltaTimeInSeconds);
}
} while (!exampleBrowser->requestedExit());
} while (!exampleBrowser->requestedExit() && !interrupted);
}
delete exampleBrowser;