smach shutdown handler #105
Open
+97
−10
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
senceryazici
previously approved these changes
Dec 22, 2024
| "/taluy/control/align_frame/cancel", Trigger | ||
| ) | ||
|
|
||
| signal.signal(signal.SIGINT, self.shutdown_handler) |
There was a problem hiding this comment.
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
There was a problem hiding this comment.
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.
talhabw
force-pushed
the
talha/smach-shutdown-handler
branch
from
1fed630 to
ee70ac7
Compare
talhabw
force-pushed
the
talha/smach-shutdown-handler
branch
from
7ce6428 to
620d5d1
Compare
senceryazici
previously approved these changes
Dec 23, 2024
talhabw
force-pushed
the
talha/smach-shutdown-handler
branch
from
f9f3486 to
b724ebd
Compare
senceryazici
approved these changes
Dec 27, 2024
|
this waits until #91 is merged |
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
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.