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#include <ros/ros.h>

#include "manager_gui.h"
#include <gtkmm/application.h>

#include <signal.h>
#include <ros/xmlrpc_manager.h>

using namespace std;

// Signal-safe flag for whether shutdown is requested
sig_atomic_t volatile request_shutdown = 0;

void sigHandler(int s)
{
        request_shutdown=1;
}

//Replacement "shutdown" XMLRPC callback
void shutdownCallback(XmlRpc::XmlRpcValue& params, XmlRpc::XmlRpcValue& result)
{
        int num_params = 0;
        if (params.getType() == XmlRpc::XmlRpcValue::TypeArray)
                num_params = params.size();
        if (num_params > 1)
        {
                std::string reason = params[1];
                ROS_WARN("Shutdown request received. Reason: [%s]", reason.c_str());
                request_shutdown=1; // Set flag
        }

        result = ros::xmlrpc::responseInt(1, "", 0);
}

int main(int argc,char**argv)
{
        ros::init(argc,argv,"manager_gui",ros::init_options::NoSigintHandler);
        signal(SIGINT,sigHandler);
        
        // Override XMLRPC shutdown
        ros::XMLRPCManager::instance()->unbind("shutdown");
        ros::XMLRPCManager::instance()->bind("shutdown", shutdownCallback);
  
        Glib::RefPtr<Gtk::Application> app = Gtk::Application::create(argc, argv, "org.gtkmm.example");
        
        ManagerGui gui(&request_shutdown);
        
        return app->run(gui);
}

---

atlascar_base
Author(s): Jorge Almeida, Miguel Oliveira, Pedro Salvado, Andre Oliveira and Pedro Pinheiro
autogenerated on Wed Jul 23 04:34:34 2014