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Examples: clean stop of the bt_example controller, patrol route, Python performer Ctrl-C - #62
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The bt_example controller took the result without checking it and aborted when PlanSys2 stopped; it now reports it and exits once the plan is over. The patrol controller moves on to the next state after each waypoint. charge_action_node.py exits quietly on Ctrl-C. Fixes #61 Signed-off-by: Francisco Martín Rico <fmrico@gmail.com>
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Part of a step-by-step bug-fixing plan towards PlanSys2 4.0.0, a robustness and reliability release. Sorry for all the notifications!
Hello PlanSys2 developers,
Fixes #61. The bt_example controller aborted when PlanSys2 stopped during the plan, as it took the result without checking it; now it reports that the plan finished without result, and it exits once the plan is over. The patrol controller moves on to the next state after each waypoint, so it visits wp1, wp2, wp3, wp4 and starts again, instead of staying on wp3.
charge_action_node.pyexits quietly on Ctrl-C.Checked end to end: bt_example stopped with Ctrl-C in the middle of the plan (the controller exits with 0, and all PlanSys2 and performer processes exit cleanly), the normal bt_example run, the patrol route in order over five plans, and simple_example_py with a clean shutdown.