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--- getting_started:practical_problems:abort [2018/05/31 10:37] – external edit 127.0.0.1
+++ getting_started:practical_problems:abort [2024/02/16 08:16] (current) – ursgraf
@@ Line 1: / Line 1: @@
 ====== Shutting down a System Properly ======
 How does a robot control system properly shut down? In general it does never stop. Pressing an emergency button might switch to a emergency safety level. From there it might restart again after certain steps are taken. \\ However, in a system under development it is often desirable to end an application. That usually means to switch to a specific safety level where the necessary steps for a well controlled stopping of the application takes place. Only after this happened the executor stops running and returns control to the main program, which then stops as well. \\
-The following example shows how this can be accomplished. The code can be found in [[getting_started:tutorials:safetysystem|]]. First of all you have to define a signal handler which handles all kind of signals, among them the ''SIGINT'' signal which is sent by pressing ''Ctrl-C''.
+The following example shows how this can be accomplished. The code can be found in [[getting_started:tutorials:system2|]]. First of all you have to define a signal handler which handles all kind of signals, among them the ''SIGINT'' signal which is sent by pressing ''Ctrl-C''.
 <code cpp>
 #include "MySafetyProperties.hpp>
@@ Line 32: / Line 32: @@
 In the example this function triggers a safety event ''seShutDown''. You have to add this event to all safety levels where you actually want to allow shutting down the machine.
-After pressing ''Ctrl-C'' the safety system will go into the safety level ''slShuttingDown'', see example in [[getting_started:tutorials:safetysystem|]].
+After pressing ''Ctrl-C'' the safety system will go into the safety level ''slShuttingDown'', see example in [[getting_started:tutorials:system2|]].
 The system will stay in the level as long as the shutting down will take. This could include a whole sequence of steps such as applying brakes or driving to a safe position. As soon as this point is reached another safety event, ''seSwitchingOff'' is triggered which leads to a safety level change to ''slOff''. The action to be taken in this level is stopping the executor. Therefore, you have to assign a level action in your safety properties as follows:
 <code cpp>