Revision dcf49526
| ID | dcf49526269a0df9a064ad37dfff13efdea10d97 |
Overwrote the ROS sigint handler so now behaviours stop and die and stop motors upon exiting.
| scout/libscout/src/Behavior.h | ||
|---|---|---|
| 39 | 39 |
|
| 40 | 40 |
#include <ros/ros.h> |
| 41 | 41 |
#include <std_msgs/String.h> |
| 42 |
#include <iostream> |
|
| 42 | 43 |
|
| 43 | 44 |
#include "MotorControl.h" |
| 44 | 45 |
#include "HeadlightControl.h" |
| ... | ... | |
| 70 | 71 |
|
| 71 | 72 |
// Name of behaviour |
| 72 | 73 |
std::string name; |
| 74 |
|
|
| 75 |
// Flag to check if sigint recieved. |
|
| 76 |
static bool keep_running; |
|
| 73 | 77 |
|
| 74 | 78 |
protected: |
| 75 | 79 |
ros::NodeHandle node; |
| ... | ... | |
| 91 | 95 |
void default_callback(std::vector<uint8_t> data); |
| 92 | 96 |
|
| 93 | 97 |
// Wrappers for ROS functions |
| 94 |
bool ok(); |
|
| 95 |
void spin(); |
|
| 96 |
void spinOnce(); |
|
| 98 |
static bool ok();
|
|
| 99 |
static void spin();
|
|
| 100 |
static void spinOnce();
|
|
| 97 | 101 |
}; |
| 98 | 102 |
|
| 99 | 103 |
#endif |
Also available in: Unified diff