Added signal handler

single_ursim_control/main.py

@@ -7,6 +7,7 @@ from plugin_repository import PluginRepository
 from program_executor import ProgramExecutor
 from http_server import ControllerHTTPServer
 import logging
+import signal
 
 
 class HTTPControl:
@@ -30,6 +31,7 @@ def main():
     )
     http_server = ControllerHTTPServer(HTTPControl())
     http_server.start()
+
     compiler_repo = PluginRepository()
     compiler_repo.register_plugin(WaitPlugin)
 
@@ -41,8 +43,21 @@ def main():
     program.append(compiler_repo.get_compiler("wait").compile(secs=10))
     program.append(compiler_repo.get_compiler("wait").compile(secs=10))
 
-    # execute:
-    executor = ProgramExecutor(program)
+    # prepare execution
+    executor = ProgramExecutor(program, loop=True)
+
+    def handle_stop_signal(signum, frame):
+        logging.warning(f"Signal {signum} received. Stopping execution!")
+        executor.abort()
+
+        # Should be possible to call only once
+        signal.signal(signal.SIGINT, signal.SIG_IGN)
+        signal.signal(signal.SIGTERM, signal.SIG_IGN)
+
+    signal.signal(signal.SIGINT, handle_stop_signal)
+    signal.signal(signal.SIGTERM, handle_stop_signal)
+
+    # start execution
     executor.start()
 
     # End of execution