smach shutdown handler #105
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| "/taluy/control/align_frame/cancel", Trigger | ||
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| signal.signal(signal.SIGINT, self.shutdown_handler) |
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I believe the SIGINT signal already puts the main state machine in to preempted outcome, maybe when that outcome is achieved we just call the align frame controller and cancel it? Just asking if this signal handling is necessary
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SIGINT puts the main state machine to aborted outcome.
Maybe we can set each state's aborted outcome to CancelAlignControllerState we already have. I think this may be a better way than signal handling.
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this waits until #91 is merged |
ozanhakantunca
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What is the status here? after resolving the conflicts this can be merged no? |
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This didn't had the intended effects in hardware tests. We somehow couldn't catch the 'ctrl + c' exception and run the preempted/aborted states. |
Closes #104
Sometimes we need to shutdown the smach to prevent the robot from getting damaged. This results in robot trying to align itself to the latest frame we have sent to
align_frame_controller.With this change we call the
taluy/control/align_frame/cancelservice when the smach is killed, which cancels thealign_frame_controller, so the robot stays stable.