render_loop_exit.hpp

 
#ifndef MUJOCO_ROS2_CONTROL__RENDER_LOOP_EXIT_HPP_
#define MUJOCO_ROS2_CONTROL__RENDER_LOOP_EXIT_HPP_
 
#include <atomic>
#include <memory>
 
#include <rclcpp/context.hpp>
 
namespace mujoco_ros2_control::detail
{
 
inline bool handle_render_loop_exit(std::atomic<int>& exit_request,
                                    const std::atomic<bool>& explicit_shutdown_requested,
                                    const std::shared_ptr<rclcpp::Context>& context)
{
  // MuJoCo sets exitrequest when the window closes, so it cannot distinguish a user close from
  // MujocoSimulation::shutdown(). The owner marks the latter before waking RenderLoop().
  exit_request.store(1);
  if (explicit_shutdown_requested.load())
  {
    return false;
  }
 
  return context && context->shutdown("MuJoCo rendering window closed");
}
 
}  // namespace mujoco_ros2_control::detail
 
#endif  // MUJOCO_ROS2_CONTROL__RENDER_LOOP_EXIT_HPP_