From 2d1ec73bdff27401703a2a8be662005c55ca7d14 Mon Sep 17 00:00:00 2001
From: Mehmet Killioglu <mehmet.killioglu@unikie.com>
Date: Tue, 19 Dec 2023 13:07:59 +0200
Subject: [PATCH] Add entrypoint script to exit properly

---
 Dockerfile    |  3 ++-
 entrypoint.sh | 42 ++++++++++++++++++++++++++++++++++++++++++
 2 files changed, 44 insertions(+), 1 deletion(-)
 create mode 100755 entrypoint.sh

diff --git a/Dockerfile b/Dockerfile
index d4b0677..0572e11 100644
--- a/Dockerfile
+++ b/Dockerfile
@@ -18,6 +18,7 @@ RUN apt-get update \
         nmea-msgs \
     && rm -rf /var/lib/apt/lists/*
 
-ENTRYPOINT ros-with-env ros2 launch ntrip_client ntrip_client_launch.py
+COPY entrypoint.sh /entrypoint.sh
+ENTRYPOINT [ "/entrypoint.sh" ]
 
 COPY --from=builder $INSTALL_DIR $INSTALL_DIR
diff --git a/entrypoint.sh b/entrypoint.sh
new file mode 100755
index 0000000..9ea9371
--- /dev/null
+++ b/entrypoint.sh
@@ -0,0 +1,42 @@
+#!/bin/bash -e
+
+_term() {
+    # FILL UP PROCESS SEARCH PATTERN HERE TO FIND PROPER PROCESS FOR SIGINT:
+    pattern="ntrip_client/ntrip_ros.py"
+
+    pid_value="$(ps -e | grep $pattern | grep -v grep | awk '{ print $1 }')"
+    if [ "$pid_value" != "" ]; then
+        pid=$pid_value
+        echo "Send SIGINT to pid $pid"
+    else
+        pid=1
+        echo "Pattern not found, send SIGINT to pid $pid"
+    fi
+    kill -s SIGINT $pid
+}
+# Use SIGTERM or TERM, does not seem to make any difference.
+trap _term TERM
+
+ros-with-env ros2 launch ntrip_client ntrip_client_launch.py &
+child=$!
+
+echo "Waiting for pid $child"
+# * Calling "wait" will then wait for the job with the specified by $child to finish, or for any signals to be fired.
+#   Due to "or for any signals to be fired", "wait" will also handle SIGTERM and it will shutdown before
+#   the node ends gracefully.
+#   The solution is to add a second "wait" call and remove the trap between the two calls.
+# * Do not use -e flag in the first wait call because wait will exit with error after catching SIGTERM.
+set +e
+wait $child
+set -e
+trap - TERM
+wait $child
+RESULT=$?
+
+if [ $RESULT -ne 0 ]; then
+    echo "ERROR: ntrip node failed with code $RESULT" >&2
+    exit $RESULT
+else
+    echo "INFO: ntrip node finished successfully, but returning 125 code for docker to restart properly." >&2
+    exit 125
+fi