universalrobots/single_ursim_control
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Pünkösd Marcell 2021-04-11 14:15:04 +02:00
parent 964a072e80
commit 99dfb8e2ce
2 changed files with 2 additions and 1 deletions
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2
single_ursim_control/main.py
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@ -50,7 +50,7 @@ def main():
executor = ProgramExecutor(program, loop=True) executor = ProgramExecutor(program, loop=True)
def handle_stop_signal(signum, frame): def handle_stop_signal(signum, frame):
logging.warning(f"Signal {signum} received. Stopping execution!") logging.warning(f"Signal {signum} received. Aborting execution!")
executor.abort() executor.abort()
# Should be possible to call only once # Should be possible to call only once

1
single_ursim_control/program_executor.py
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@ -32,6 +32,7 @@ class ProgramExecutor(Thread):
self._logger = logging.getLogger("program_executor") self._logger = logging.getLogger("program_executor")
def abort(self): def abort(self):
self._logger.debug("Aborting due to external request...")
self._state = ProgramExecutorStates.ABORTED self._state = ProgramExecutorStates.ABORTED
self._program[self._pc].abort() self._program[self._pc].abort()