eeros_architecture:sequencer:sequencer
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eeros_architecture:sequencer:sequencer [2017/09/11 13:58] – [Sequencer] graf | eeros_architecture:sequencer:sequencer [2021/04/20 15:33] – [Sequencer] ursgraf | ||
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Line 4: | Line 4: | ||
First, get the instance of the sequencer. | First, get the instance of the sequencer. | ||
<code cpp> | <code cpp> | ||
- | auto& sequencer = Sequencer::getInstance(); // get instance | + | auto& sequencer = Sequencer::instance(); |
</ | </ | ||
- | The next step is to define a meaningfull | + | The next step is to define a meaningfull sequence (see [[.: |
<code cpp> | <code cpp> | ||
MainSequence mainSequence(" | MainSequence mainSequence(" | ||
- | | + | mainSequence(); |
- | | + | |
... // do other things such as starting the executor | ... // do other things such as starting the executor | ||
- | | + | |
</ | </ | ||
+ | ===== Forcing the Sequencer to Stop Immediately ===== | ||
+ | For a system under development you often want to abort a running system. This case must be handled carefully. As described in [[getting_started: | ||
+ | <code cpp> | ||
+ | void signalHandler(int signum) { | ||
+ | SafetySystem:: | ||
+ | Sequencer:: | ||
+ | } | ||
+ | </ | ||
+ | not only the safety system will gracefully shutdown but the sequencer running any set of sequences will abort as well. Please make sure that your program waits for those sequences to abort before your main program stops. This can be accomplished as follows: | ||
+ | <code cpp> | ||
+ | ... | ||
+ | sequencer.wait(); | ||
+ | ... | ||
+ | </ | ||
eeros_architecture/sequencer/sequencer.txt · Last modified: 2021/12/23 17:40 by ursgraf