Add option to disable signal handlers (#65)

This gives the user the option to create their own signal handler without having create::Create interfere.
They can disable the sigint/sigterm handler and be responsible for disconnecting from the robot themselves.

Signed-off-by: Jacob Perron <jacobmperron@gmail.com>

include/create/create.h

@@ -92,7 +92,7 @@ namespace create {
       float requestedLeftVel;
       float requestedRightVel;
 
-      void init();
+      void init(bool install_signal_handler);
       // Add two matrices and handle overflow case
       Matrix addMatrices(const Matrix &A, const Matrix &B) const;
       void onData();
@@ -109,8 +109,10 @@ namespace create {
        * Calling this constructor Does not attempt to establish a serial connection to the robot.
        *
        * \param model the type of the robot. See RobotModel to determine the value for your robot.
-        */
-      Create(RobotModel model = RobotModel::CREATE_2);
+       * \param install_signal_handler if true, then register a signal handler to disconnect from
+       *   the robot on SIGINT or SIGTERM.
+       */
+      Create(RobotModel model = RobotModel::CREATE_2, bool install_signal_handler = true);
 
       /**
        * \brief Attempts to establish serial connection to Create.
@@ -119,8 +121,10 @@ namespace create {
        * \param baud rate to communicate with Create. Typically,
        *        115200 for Create 2 and 57600 for Create 1.
        * \param model type of robot. See RobotModel to determine the value for your robot.
+       * \param install_signal_handler if true, then register a signal handler to disconnect from
+       *   the robot on SIGINT or SIGTERM.
        */
-      Create(const std::string& port, const int& baud, RobotModel model = RobotModel::CREATE_2);
+      Create(const std::string& port, const int& baud, RobotModel model = RobotModel::CREATE_2, bool install_signal_handler = true);
 
       /**
        * \brief Attempts to disconnect from serial.

include/create/serial.h

@@ -86,7 +86,7 @@ namespace create {
       void notifyDataReady();
 
     public:
-      Serial(std::shared_ptr<Data> data);
+      Serial(std::shared_ptr<Data> data, bool install_signal_handler);
       ~Serial();
       bool connect(const std::string& port, const int& baud = 115200, std::function<void()> cb = 0);
       void disconnect();

include/create/serial_query.h

@@ -67,7 +67,7 @@ namespace create {
       void processByte(uint8_t byteRead);
 
     public:
-      SerialQuery(std::shared_ptr<Data> data);
+      SerialQuery(std::shared_ptr<Data> data, bool install_signal_handler = true);
   };
 }  // namespace create
 

include/create/serial_stream.h

@@ -69,7 +69,10 @@ namespace create {
       void processByte(uint8_t byteRead);
 
     public:
-      SerialStream(std::shared_ptr<Data> data, const uint8_t& header = create::util::STREAM_HEADER);
+      SerialStream(
+        std::shared_ptr<Data> data,
+        const uint8_t& header = create::util::STREAM_HEADER,
+        bool install_signal_handler = true);
 
   };
 }  // namespace create