From b824c2f5bd6d52f004839b0c26028fe586b1ecea Mon Sep 17 00:00:00 2001
From: Tomoya Fujita <tomoya.fujita825@gmail.com>
Date: Sat, 4 May 2024 10:15:18 -0700
Subject: [PATCH] add signal handler for SIGINT and SIGTERM. (#29)

* add signal handler for SIGINT and SIGTERM.

Signed-off-by: Tomoya Fujita <Tomoya.Fujita@sony.com>

* doc update for pip install.

Signed-off-by: Tomoya Fujita <Tomoya.Fujita@sony.com>

* adapt pip install option based on system and distro.

Signed-off-by: Tomoya Fujita <Tomoya.Fujita@sony.com>

---------

Signed-off-by: Tomoya Fujita <Tomoya.Fujita@sony.com>
---
 README.md                   |  8 ++++++++
 docker/Dockerfile           | 10 +++++++++-
 ros2ai/api/utils.py         | 13 +++++++++++++
 scripts/github_workflows.sh | 14 +++++++++++++-
 4 files changed, 43 insertions(+), 2 deletions(-)

diff --git a/README.md b/README.md
index 4664745..c9b18cf 100644
--- a/README.md
+++ b/README.md
@@ -47,6 +47,8 @@ https://github.com/fujitatomoya/ros2ai/assets/43395114/2af4fd44-2ccf-472c-9153-c
 
 ### Required Package
 
+- `rolling` / `jazzy`
+
 ```bash
 pip install openai --break-system-packages
 ```
@@ -54,6 +56,12 @@ pip install openai --break-system-packages
 > [!NOTE]
 > see [PEP 668 – Marking Python base environments as “externally managed”](PEP 668 – Marking Python base environments as “externally managed”) why `--break-system-packages` is required.
 
+- `iron` / `humble`
+
+```bash
+pip install openai
+```
+
 ### Build
 
 No released package is available, needs to be build in colcon workspace.
diff --git a/docker/Dockerfile b/docker/Dockerfile
index 46669ea..4a03a82 100644
--- a/docker/Dockerfile
+++ b/docker/Dockerfile
@@ -36,7 +36,15 @@ RUN apt-get update \
     pip curl\
     --no-install-recommends \
     && rm -rf /var/lib/apt/lists/*
-RUN pip install openai
+
+# Adapt pip install option based on distro (technically ubuntu version)
+RUN if [ "$ROS_DISTRO" = "humble" ]; then \
+        pip install openai; \
+    elif [ "$ROS_DISTRO" = "iron" ]; then \
+        pip install openai; \
+    else \
+        pip install openai --break-system-packages; \
+    fi
 
 # Build and source colcon workspace
 RUN cd $COLCON_WS \
diff --git a/ros2ai/api/utils.py b/ros2ai/api/utils.py
index e83839b..3e0ad3b 100644
--- a/ros2ai/api/utils.py
+++ b/ros2ai/api/utils.py
@@ -48,6 +48,19 @@ def run_executable(*, command, argv = None, prefix=None):
         command = prefix + command
 
     process = subprocess.Popen(command, shell = True)
+
+    # add signal handler for the parent process, so that we can finalize the child process
+    # child process could be `ros2 run` process and that also should pass the signal to
+    # executables running underneath. finally executables can handle the signals.
+    def signal_handler(sig, frame):
+        print('[ros2ai]:', 'Received signal: ', signal.strsignal(sig))
+        if process.poll() is None:
+            # If child process is running, forward the signal to it
+            process.send_signal(sig)
+
+    signal.signal(signal.SIGINT, signal_handler)
+    signal.signal(signal.SIGTERM, signal_handler)
+
     while process.returncode is None:
         try:
             process.communicate()
diff --git a/scripts/github_workflows.sh b/scripts/github_workflows.sh
index f9afc4c..e633ca1 100755
--- a/scripts/github_workflows.sh
+++ b/scripts/github_workflows.sh
@@ -27,13 +27,23 @@ function exit_trap() {
     fi
 }
 
+function get_ubuntu_version () {
+    trap exit_trap ERR
+    echo "[${FUNCNAME[0]}]: get ubuntu version."
+    UBUNTU_VERSION=$(grep '^VERSION_ID=' /etc/os-release | awk -F'=' '{print $2}' | tr -d '"')
+}
+
 function install_prerequisites () {
     trap exit_trap ERR
     echo "[${FUNCNAME[0]}]: update and install dependent packages."
     apt update && apt upgrade -y
     # TODO@fujitatomoya: should install openai via package.xml
     apt install -y pip
-    pip install openai --break-system-packages
+    if [ $UBUNTU_VERSION == "24.04" ]; then
+        pip install openai --break-system-packages
+    else
+        pip install openai
+    fi
     #apt install -y ros-${ROS_DISTRO}-desktop --no-install-recommends
     cd $there
 }
@@ -61,6 +71,7 @@ function build_colcon_package () {
 
 export DEBIAN_FRONTEND=noninteractive
 export COLCON_WORKSPACE=/tmp/colcon_ws
+export UBUNTU_VERSION=24.04
 
 # mark the working space root directory, so that we can come back anytime with `cd $there`
 mark there
@@ -69,6 +80,7 @@ mark there
 trap exit_trap ERR
 
 # call install functions in sequence
+get_ubuntu_version
 install_prerequisites
 setup_build_colcon_env
 build_colcon_package