Improves shutdown handling and adds logging

Adds logging to heart component and signal handler for improved debugging.
Changes signal handler to set a "StopPending" state to allow the main loop to handle shutdown.
Fixes a potential thread join issue during shutdown.

src/RobotNode/CardioCenter/Heart.cpp

@@ -9,7 +9,8 @@ namespace cardio
         : _lastBeat(std::chrono::steady_clock::now()),
           chip_(std::string("/dev/") + chipName),
           isOn_(false),
-          request_(get_line_request(chip_, lineOffset))
+          request_(get_line_request(chip_, lineOffset)),
+    logger_("Heart")
     {
     }
 
@@ -27,14 +28,19 @@ namespace cardio
             const auto val = isOn_ ? gpiod::line::value::ACTIVE : gpiod::line::value::INACTIVE;
             request_.set_value(DEFAULT_HEART_PIN, val);
             _lastBeat = now;
+
+            if (isOn_) {
+                logger_.debug("Heart::beat()");
+            }
         }
     }
 
     void Heart::stop()
     {
-        std::cout << "Heart::stop() called.\n";
+        logger_.info("Stopping heart.");
         isOn_ = false;
         request_.set_value(DEFAULT_HEART_PIN, gpiod::line::value::INACTIVE);
+        logger_.info("Stopped heart.");
     }
 
     gpiod::line_request Heart::get_line_request(gpiod::chip& chip, const unsigned int lineOffset)

src/RobotNode/CardioCenter/Heart.h

@@ -1,4 +1,5 @@
 #pragma once
+#include "../Logging/DixonLogger.h"
 #include <gpiod.hpp>
 #include <chrono>
 
@@ -21,5 +22,6 @@ namespace cardio
         gpiod::chip chip_;
         bool isOn_;
         gpiod::line_request request_;
+        Dixon::DixonLogger logger_;
     };
 }

src/RobotNode/DixonBrain.cpp

@@ -37,14 +37,14 @@ void DixonBrain::stop()
 
     state_.setNodeStatus(NodeStatus::Stopping);
 
-    if (loopThread_.joinable())
-        loopThread_.join();
-
     heart_.stop();
 
     state_.setNodeStatus(NodeStatus::Stopped);
 
     logger_.info("DixonBrain stopped.");
+
+    if (loopThread_.joinable())
+        loopThread_.join();
 }
 
 void DixonBrain::runLoop()

src/RobotNode/main.cpp

@@ -7,16 +7,30 @@
 
 void signal_thread_func(sigset_t set) {
     int sig;
-    // Loop so we can catch multiple signals if the shutdown takes a moment
+    Dixon::DixonLogger logger("signal_thread_func");
-    while (DixonNodeState::instance().getNodeStatus() != NodeStatus::Stopping) {
+
+    while (true) {
+        // This blocks until a signal actually happens
         if (sigwait(&set, &sig) == 0) {
-            std::cout << "\nShutdown signal received (" << sig << ")." << std::endl;
+            logger.info("Signal {} received.", sig);
-            DixonNodeState::instance().setNodeStatus(NodeStatus::Stopping);
+
-            // After setting 'Stopping', the loop will exit on next check
+            // Set the state so the main loop starts the shutdown
+            DixonNodeState::instance().setNodeStatus(NodeStatus::StopPending);
+
+            // If you want to allow a "Force Quit" on the second Ctrl-C:
+            static int interrupt_count = 0;
+            if (++interrupt_count >= 3) {
+                logger.warn("Force quitting...");
+                exit(1);
+            }
+        }
+
+        // Check if the main thread has finished cleaning up
+        if (DixonNodeState::instance().getNodeStatus() == NodeStatus::Stopped) {
+            break;
         }
     }
 }
-
 sigset_t prepare_signal_set()
 {
     sigset_t set;

src/RobotNode/version.txt

@@ -1 +1 @@
-1.0.47
+1.0.56