Install signal handlers in recorder only inside record method (#1464)

Signed-off-by: Michael Orlov <michael.orlov@apex.ai>
(cherry picked from commit 195e406)

# Conflicts:
#	rosbag2_py/src/rosbag2_py/_transport.cpp

rosbag2_py/src/rosbag2_py/_transport.cpp

@@ -144,6 +144,7 @@ class Recorder
 public:
   Recorder()
   {
+<<<<<<< HEAD
     auto init_options = rclcpp::InitOptions();
     init_options.shutdown_on_signal = false;
     rclcpp::init(0, nullptr, init_options, rclcpp::SignalHandlerOptions::SigInt);
@@ -157,6 +158,9 @@ class Recorder
       SIGINT, [](int /* signal */) {
         rosbag2_py::Recorder::cancel();
       });
+=======
+    rclcpp::init(0, nullptr);
+>>>>>>> 195e406 (Install signal handlers in recorder only inside record method (#1464))
   }
 
   virtual ~Recorder()
@@ -169,6 +173,7 @@ class Recorder
     const rosbag2_storage::StorageOptions & storage_options,
     RecordOptions & record_options)
   {
+<<<<<<< HEAD
     exit_ = false;
     auto exec = std::make_unique<rclcpp::executors::SingleThreadedExecutor>();
     if (record_options.rmw_serialization_format.empty()) {
@@ -186,19 +191,66 @@ class Recorder
     auto spin_thread = std::thread(
       [&exec]() {
         exec->spin();
+=======
+    auto old_sigterm_handler = std::signal(
+      SIGTERM, [](int /* signal */) {
+        rosbag2_py::Recorder::cancel();
+>>>>>>> 195e406 (Install signal handlers in recorder only inside record method (#1464))
+      });
+    auto old_sigint_handler = std::signal(
+      SIGINT, [](int /* signal */) {
+        rosbag2_py::Recorder::cancel();
       });
-    {
-      // Release the GIL for long-running record, so that calling Python code can use other threads
-      py::gil_scoped_release release;
-      std::unique_lock<std::mutex> lock(wait_for_exit_mutex_);
-      wait_for_exit_cv_.wait(lock, [] {return rosbag2_py::Recorder::exit_.load();});
-      recorder->stop();
+
+    try {
+      exit_ = false;
+      auto exec = std::make_unique<rclcpp::executors::SingleThreadedExecutor>();
+      if (record_options.rmw_serialization_format.empty()) {
+        record_options.rmw_serialization_format = std::string(rmw_get_serialization_format());
+      }
+
+      auto writer = rosbag2_transport::ReaderWriterFactory::make_writer(record_options);
+      auto recorder = std::make_shared<rosbag2_transport::Recorder>(
+        std::move(writer), storage_options, record_options, node_name);
+      recorder->record();
+
+      exec->add_node(recorder);
+      // Run exec->spin() in a separate thread, because we need to call exec->cancel() after
+      // recorder->stop() to be able to send notifications about bag split and close.
+      auto spin_thread = std::thread(
+        [&exec]() {
+          exec->spin();
+        });
+      {
+        // Release the GIL for long-running record, so that calling Python code
+        // can use other threads
+        py::gil_scoped_release release;
+        std::unique_lock<std::mutex> lock(wait_for_exit_mutex_);
+        wait_for_exit_cv_.wait(lock, [] {return rosbag2_py::Recorder::exit_.load();});
+        recorder->stop();
+      }
+      exec->cancel();
+      if (spin_thread.joinable()) {
+        spin_thread.join();
+      }
+      exec->remove_node(recorder);
+    } catch (...) {
+      // Return old signal handlers anyway
+      if (old_sigterm_handler != SIG_ERR) {
+        std::signal(SIGTERM, old_sigterm_handler);
+      }
+      if (old_sigint_handler != SIG_ERR) {
+        std::signal(SIGTERM, old_sigint_handler);
+      }
+      throw;
+    }
+    // Return old signal handlers
+    if (old_sigterm_handler != SIG_ERR) {
+      std::signal(SIGTERM, old_sigterm_handler);
     }
-    exec->cancel();
-    if (spin_thread.joinable()) {
-      spin_thread.join();
+    if (old_sigint_handler != SIG_ERR) {
+      std::signal(SIGTERM, old_sigint_handler);
     }
-    exec->remove_node(recorder);
   }
 
   static void cancel()