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replace detached spin thread with std::jthread #200

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replace detached spin thread with std::jthread #200

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21 changes: 14 additions & 7 deletions turtlesim/tutorials/teleop_turtle_key.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -28,8 +28,10 @@
#include <signal.h>
#include <stdio.h>

#include <atomic>
#include <functional>
#include <stdexcept>
#include <stop_token>
#include <thread>

#include <rclcpp/rclcpp.hpp>
Expand Down Expand Up @@ -61,7 +63,7 @@ static constexpr char KEYCODE_R = 0x72;
static constexpr char KEYCODE_T = 0x74;
static constexpr char KEYCODE_V = 0x76;

bool running = true;
std::atomic<bool> running = true;

class KeyboardReader final
{
Expand Down Expand Up @@ -200,7 +202,17 @@ class TeleopTurtle final
{
char c;

std::thread{std::bind(&TeleopTurtle::spin, this)}.detach();
// Spin the node on a background thread. std::jthread joins automatically
// when keyLoop() returns, and the stop_token cancels the executor cleanly,
// so the spinner is guaranteed to have stopped touching the node before it
// is destroyed -- unlike the previous detach() which raced shutdown.
std::jthread spin_thread(
[this](std::stop_token stop_token) {
rclcpp::executors::SingleThreadedExecutor executor;
executor.add_node(nh_);
std::stop_callback cancel_on_stop(stop_token, [&executor]() {executor.cancel();});
executor.spin();
});

puts("Reading from keyboard");
puts("---------------------------");
Expand Down Expand Up @@ -298,11 +310,6 @@ class TeleopTurtle final
}

private:
void spin()
{
rclcpp::spin(nh_);
}

void sendGoal(float theta)
{
using Rotate = turtlesim_msgs::action::RotateAbsolute;
Expand Down