compAIR/libcreate
compAIR/libcreate
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Add option to disable signal handlers (#65)

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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>
This commit is contained in:
Jacob Perron 2021-05-05 23:25:40 -07:00 • committed by GitHub
parent fbc87dea3f
commit 1563e2b3e1
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8 changed files with 35 additions and 19 deletions
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12
include/create/create.h
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@ -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.