Merge pull request #25 from iRobotEducation/shamlian/catch_and_kill

Catch all exit-related exceptions in order to safely shut down the BLE connection
iRobotEducation · Sep 5, 2023 · f1b701a · f1b701a
2 parents 807419c + ceb3d9d
commit f1b701a
Show file tree

Hide file tree

Showing 2 changed files with 9 additions and 3 deletions.
diff --git a/irobot_edu_sdk/backend/bluetooth_desktop.py b/irobot_edu_sdk/backend/bluetooth_desktop.py
@@ -1,5 +1,5 @@
 #
-# Licensed under 3-Clause BSD license available in the License file. Copyright (c) 2020-2022 iRobot Corporation. All rights reserved.
+# Licensed under 3-Clause BSD license available in the License file. Copyright (c) 2020-2023 iRobot Corporation. All rights reserved.
 #
 
 """
@@ -49,10 +49,11 @@ async def connect(self):
                             self._address = device.address
                             self._device = device
                             break
-        print(f'Connecting to {device.name} ({device.address})')
         if self._device:
+            print(f'Connecting to {device.name} ({device.address})')
             self._client = BleakClient(self._device)
         else:
+            print(f'Connecting to {self._address}')
             self._client = BleakClient(self._address)
 
         if await self._client.connect():

diff --git a/irobot_edu_sdk/robot.py b/irobot_edu_sdk/robot.py
@@ -1,5 +1,5 @@
 #
-# Licensed under 3-Clause BSD license available in the License file. Copyright (c) 2020-2022 iRobot Corporation. All rights reserved.
+# Licensed under 3-Clause BSD license available in the License file. Copyright (c) 2020-2023 iRobot Corporation. All rights reserved.
 #
 
 try:
@@ -92,7 +92,12 @@ def __init__(self, backend: Backend):
 
         self.sound_enabled = True
 
+        # Catch all signals and direct to the _exit_handler
         signal.signal(signal.SIGINT, _exit_handler)
+        signal.signal(signal.SIGTSTP, _exit_handler)
+        signal.signal(signal.SIGQUIT, _exit_handler)
+        signal.signal(signal.SIGHUP, _exit_handler)
+        signal.signal(signal.SIGTERM, _exit_handler)
 
     def __enter__(self):
         return self