From 2bd9e7c93d65fb2086689cc8d51e1ca8950746dc Mon Sep 17 00:00:00 2001
From: Kei Okada <k-okada@jsk.t.u-tokyo.ac.jp>
Date: Mon, 3 Oct 2022 20:01:07 +0900
Subject: [PATCH] supervisor does not have pre-stop like upstart, so we need to
 call /usr/sbin/@(name)-stop explictly when the @(name)-start script receives
 TERM signal

---
 src/robot_upstart/install_script.py | 1 +
 src/robot_upstart/job.py            | 5 ++++-
 templates/job-start.em              | 7 +++++++
 3 files changed, 12 insertions(+), 1 deletion(-)

diff --git a/src/robot_upstart/install_script.py b/src/robot_upstart/install_script.py
index f238f40..a5cb547 100644
--- a/src/robot_upstart/install_script.py
+++ b/src/robot_upstart/install_script.py
@@ -92,6 +92,7 @@ def main():
         name=job_name, interface=args.interface, user=args.user,
         workspace_setup=args.setup, rosdistro=args.rosdistro,
         master_uri=args.master, log_path=args.logdir,
+        sigterm_stop=(args.provider=='supervisor'),
         systemd_after=args.systemd_after,
         supervisor_priority=args.supervisor_priority)
 
diff --git a/src/robot_upstart/job.py b/src/robot_upstart/job.py
index 5062888..561680d 100644
--- a/src/robot_upstart/job.py
+++ b/src/robot_upstart/job.py
@@ -40,7 +40,7 @@ class Job(object):
     """ Represents a ROS configuration to launch on machine startup. """
 
     def __init__(self, name="ros", interface=None, user=None, workspace_setup=None,
-                 rosdistro=None, master_uri=None, log_path=None,
+                 rosdistro=None, master_uri=None, log_path=None, sigterm_stop=None,
                  systemd_after=None, supervisor_priority=None):
         """Construct a new Job definition.
 
@@ -109,6 +109,9 @@ def __init__(self, name="ros", interface=None, user=None, workspace_setup=None,
         # of the generated Supservisor conf file
         self.supervisor_priority = supervisor_priority or 200
 
+        # call @(name)-stop script when received TERM signal
+        self.sigterm_stop = sigterm_stop
+
         # Set of files to be installed for the job. This is only launchers
         # and other user-specified configs--- nothing related to the system
         # startup job itself. List of strs.
diff --git a/templates/job-start.em b/templates/job-start.em
index d69fd03..e31a96b 100644
--- a/templates/job-start.em
+++ b/templates/job-start.em
@@ -107,6 +107,13 @@ fi
 setpriv --reuid @(user) --regid @(user) --init-groups roslaunch $LAUNCH_FILENAME @(roslaunch_wait?'--wait ')&
 PID=$!
 
+@[if sigterm_stop]@
+_term() {
+ /usr/sbin/@(name)-stop
+}
+trap _term SIGTERM
+@[end if]
+
 log info "@(name): Started roslaunch as background process, PID $PID, ROS_LOG_DIR=$ROS_LOG_DIR"
 echo "$PID" > $log_path/@(name).pid