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Function rc_enable_signal_handler

• Defined in File start_stop.h

Function Documentation

int rc_enable_signal_handler(void)

Enables a generic signal handler. Optional but recommended.

This catches SIGINT, SIGTERM, SIGHUP, and SIGSEGV and does the following:

• SIGINT (ctrl-c) Sets process state to EXITING indicating to the user threads to shut down cleanly. All user threads should check rc_get_state to catch this.

• SITERM: Same as SIGINT above

• SIGHUP: Ignored to prevent process from stopping due to loose USB network connection. Also allows robot control programs to keep running after USB cable in intentionally removed.

• SIGSEGV: Segfaults will be caught and print some debugging info to the screen before setting rc_state to EXITING. Behavior with segfaults is no guaranteed to be predictable.

Returns

Returns 0 on success or -1 on error