eeros_architecture:sequencer:sequencer
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eeros_architecture:sequencer:sequencer [2017/09/24 10:55] – [Forcing the Sequencer to Stop Immediately] graf | eeros_architecture:sequencer:sequencer [2021/04/20 15:33] – [Sequencer] ursgraf | ||
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</ | </ | ||
- | The next step is to define a meaningfull sequence (see [[.: | + | 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 ===== | ===== 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: | + | 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> | <code cpp> | ||
void signalHandler(int signum) { | void signalHandler(int signum) { | ||
Line 24: | Line 23: | ||
} | } | ||
</ | </ | ||
- | not only the safety system will gracefully shutdown but the sequencer running any set of sequences will terminate | + | 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