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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GPG key ID: 4AEE18F83AFDEB23
8 changed files with 35 additions and 19 deletions
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17
src/create.cpp
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@ -14,7 +14,7 @@ namespace create {
namespace ublas = boost::numeric::ublas;
void Create::init() {
void Create::init(bool install_signal_handler) {
mainMotorPower = 0;
sideMotorPower = 0;
vacuumMotorPower = 0;
@ -44,18 +44,21 @@ namespace create {
dtHistoryLength = 100;
data = std::shared_ptr<Data>(new Data(model.getVersion()));
if (model.getVersion() == V_1) {
serial = std::make_shared<SerialQuery>(data);
serial = std::make_shared<SerialQuery>(data, install_signal_handler);
} else {
serial = std::make_shared<SerialStream>(data);
serial = std::make_shared<SerialStream>(
data, create::util::STREAM_HEADER, install_signal_handler);
}
}
Create::Create(RobotModel m) : model(m) {
init();
Create::Create(RobotModel m, bool install_signal_handler) : model(m) {
init(install_signal_handler);
}
Create::Create(const std::string& dev, const int& baud, RobotModel m) : model(m) {
init();
Create::Create(const std::string& dev, const int& baud, RobotModel m, bool install_signal_handler)
: model(m)
{
init(install_signal_handler);
serial->connect(dev, baud);
}

11
src/serial.cpp
View file

@ -7,14 +7,19 @@
namespace create {
Serial::Serial(std::shared_ptr<Data> d) :
signals(io, SIGINT, SIGTERM),
Serial::Serial(std::shared_ptr<Data> d, bool install_signal_handler) :
signals(io),
port(io),
dataReady(false),
isReading(false),
data(d),
corruptPackets(0),
totalPackets(0) {
totalPackets(0)
{
if (install_signal_handler) {
signals.add(SIGINT);
signals.add(SIGTERM);
}
}
Serial::~Serial() {

3
src/serial_query.cpp
View file

@ -8,7 +8,8 @@
namespace create {
SerialQuery::SerialQuery(std::shared_ptr<Data> d) : Serial(d),
SerialQuery::SerialQuery(std::shared_ptr<Data> d, bool install_signal_handler)
: Serial(d, install_signal_handler),
streamRecoveryTimer(io),
packetID(ID_BUMP_WHEELDROP),
packetByte(0),

2
src/serial_stream.cpp
View file

@ -6,7 +6,7 @@
namespace create {
SerialStream::SerialStream(std::shared_ptr<Data> d, const uint8_t& header) : Serial(d), readState(READ_HEADER), headerByte(header) {
SerialStream::SerialStream(std::shared_ptr<Data> d, const uint8_t& header, bool install_signal_handler) : Serial(d, install_signal_handler), readState(READ_HEADER), headerByte(header) {
}
bool SerialStream::startSensorStream() {