getting_started:tutorials:stoppingsystem
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Shutting down a System
How does a robot control system properly shut down?
#include "MySafetyProperties.hpp> #include <signal.h> void signalHandler(int signum) { SafetySystem::exitHandler(); } int main() { signal(SIGHUP, signalHandler); signal(SIGINT, signalHandler); signal(SIGQUIT, signalHandler); signal(SIGKILL, signalHandler); signal(SIGTERM, signalHandler); signal(SIGPWR, signalHandler); ... // Create and initialize safety system double period = 1; MySafetyProperties ssProperties; SafetySystem safetySys(ssProperties, period); ... }
exitFunction = [&](SafetyContext* privateContext) { privateContext->triggerEvent(seShutDown); };
SafetyEvent seShutDown;
getting_started/tutorials/stoppingsystem.1478275005.txt.gz · Last modified: 2016/11/04 16:56 (external edit)