Revision dcf49526
| ID | dcf49526269a0df9a064ad37dfff13efdea10d97 |
Overwrote the ROS sigint handler so now behaviours stop and die and stop motors upon exiting.
| scout/libscout/src/Behavior.cpp | ||
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| 38 | 38 |
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using namespace std; |
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bool Behavior::keep_running; |
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/** |
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* Constructs a behavior and sets up all control classes. |
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* |
| ... | ... | |
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*/ |
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Behavior::Behavior(string scoutname, string my_name, Sensors * sensors) |
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{
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|
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name = my_name; |
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keep_running = true; |
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sensors->init(&motors, &buttons, &sonar, &encoders, &linesensor, |
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&wl_sender, &wl_receiver); |
| 57 | 59 |
wl_receiver->register_callback(std::bind(&Behavior::default_callback, |
| ... | ... | |
| 66 | 68 |
Behavior::~Behavior() |
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{
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motors->set_sides(0, 0, MOTOR_ABSOLUTE); |
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ROS_INFO("I get called");
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spinOnce(); |
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loop_rate->sleep(); |
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delete wl_receiver; |
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delete loop_rate; |
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} |
| ... | ... | |
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*/ |
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bool Behavior::ok() |
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{
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return ros::ok();
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return keep_running;
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} |
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/** |
Also available in: Unified diff