Revision dcf49526
| ID | dcf49526269a0df9a064ad37dfff13efdea10d97 |
Overwrote the ROS sigint handler so now behaviours stop and die and stop motors upon exiting.
| scout/libscout/src/BehaviorProcess.cpp | ||
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| 36 | 36 |
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| 37 | 37 |
#include "BehaviorProcess.h" |
| 38 | 38 |
#include "Sensors.h" |
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#include "assert.h" |
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#include <assert.h> |
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#include <signal.h> |
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// Make the behavior's ok() function return false. |
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void sigint_handler(int sig) |
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{
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Behavior::keep_running = false; |
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} |
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| 40 | 47 |
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| 41 | 48 |
int main (int argc, char **argv) |
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{
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| ... | ... | |
| 58 | 65 |
scoutname = argv[1]; |
| 59 | 66 |
behavior_num = atoi(argv[2]); |
| 60 | 67 |
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ros::init(argc, argv, scoutname + "_behavior"); |
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ros::init(argc, argv, scoutname + "_behavior", |
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ros::init_options::NoSigintHandler); |
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// Initialize the signal handler after initializing rosnode. |
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// Otherwise it will be overwritten and you will be sad. |
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signal(SIGINT, sigint_handler); |
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| 62 | 75 |
// one Sensor instance per-class |
| 63 | 76 |
Sensors* sensors = new Sensors(scoutname); |
| 64 | 77 |
BehaviorList* list = new BehaviorList(); |
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