Improves Dixon's shutdown and control flow.

Adds signal handling for graceful shutdown via SIGINT and SIGTERM.

Updates the control loop to be interruptible, allowing for a clean exit when a shutdown signal is received.

Changes the node state management to use an enum for clarity and better control the run states (starting, running, stopping, stopped).

The heartbeat is stopped when the node is stopping or stopped.

Also updates the line request to force an inactive state when claiming the pin.

Also updates the version number.

src/RobotNode/.run/Dixon-Attach.run.xml

@@ -0,0 +1,7 @@
+<component name="ProjectRunConfigurationManager">
+  <configuration default="false" name="Dixon-Attach" type="CLion_Remote" version="1" remoteCommand="tcp:Dixon1:9090" symbolFile="$PROJECT_DIR$/cmake-build-pi/dixon" sysroot="">
+    <debugger kind="GDB" isBundled="true" />
+    <pathMapping remote=":/mnt/C/source/Dixon/src/Robotnode" local="$PROJECT_DIR$" />
+    <method v="2" />
+  </configuration>
+</component>

src/RobotNode/CardioCenter/Heart.cpp

@@ -1,6 +1,8 @@
 #include "Heart.h"
 #include <gpiod.hpp>
 
+#include "../DixonNodeState.h"
+
 namespace cardio
 {
     Heart::Heart(const char* chipName, const unsigned int lineOffset)
@@ -13,6 +15,10 @@ namespace cardio
 
     void Heart::beat()
     {
+        if (const auto nodeStatus = DixonNodeState::instance().getNodeStatus();
+            nodeStatus == NodeStatus::Stopped || nodeStatus == NodeStatus::Stopping)
+            return;
+
         const auto now = std::chrono::steady_clock::now();
         if (const auto elapsed = std::chrono::duration_cast<std::chrono::milliseconds>
             (now - _lastBeat); elapsed.count() >= 500)
@@ -32,10 +38,12 @@ namespace cardio
 
     gpiod::line_request Heart::get_line_request(gpiod::chip& chip, const unsigned int lineOffset)
     {
-        const auto settings = gpiod::line_settings()
+        const auto settings = gpiod::line_settings() // Force it to a known state immediately on acquisition
+                  .set_output_value(gpiod::line::value::INACTIVE)
                   .set_direction(gpiod::line::direction::OUTPUT);
 
         return chip.prepare_request()
+                   .set_consumer("dixon-robot")
                    .add_line_settings(lineOffset, settings)
                    .do_request();
     }

src/RobotNode/DixonBrain.cpp

@@ -18,10 +18,10 @@ DixonBrain::~DixonBrain()
 
 void DixonBrain::start()
 {
-    if (state_.isBrainRunning())
+    if (state_.getNodeStatus() != NodeStatus::Stopped)
         return;
 
-    state_.setBrainRunning(true);
+    state_.setNodeStatus(NodeStatus::Running);
 
     loopThread_ = std::thread(&DixonBrain::runLoop, this);
 
@@ -30,22 +30,25 @@ void DixonBrain::start()
 
 void DixonBrain::stop()
 {
-    if (!state_.isBrainRunning())
+    if (state_.getNodeStatus() == NodeStatus::Stopped)
         return;
 
-    state_.setBrainRunning(false);
+    state_.setNodeStatus(NodeStatus::Stopping);
+
 
     if (loopThread_.joinable())
         loopThread_.join();
 
     heart_.stop();
 
+    state_.setNodeStatus(NodeStatus::Stopped);
+
     std::cout << "DixonBrain stopped\n";
 }
 
 void DixonBrain::runLoop()
 {
-    while (state_.isBrainRunning())
+    while (state_.getNodeStatus() != NodeStatus::Stopped)
     {
         heart_.beat();
         // TODO: main control logic

src/RobotNode/DixonNodeState.cpp

@@ -16,12 +16,12 @@ bool DixonNodeState::isConnected() const
     return connected_;
 }
 
-void DixonNodeState::setBrainRunning(bool value)
+void DixonNodeState::setNodeStatus(NodeStatus value)
 {
-    brainRunning_ = value;
+    node_status_ = value;
 }
 
-bool DixonNodeState::isBrainRunning() const
+NodeStatus DixonNodeState::getNodeStatus() const
 {
-    return brainRunning_;
+    return node_status_;
 }

src/RobotNode/DixonNodeState.h

@@ -1,16 +1,24 @@
 #pragma once
 #include<atomic>
 
+
+enum class NodeStatus : int {
+    Starting,
+    Running,
+    Stopping,
+    Stopped
+};
+
 class DixonNodeState
 {
 public:
     static DixonNodeState& instance();
 
     void setConnected(bool value);
-    bool isConnected() const;
+    [[nodiscard]] bool isConnected() const;
 
-    void setBrainRunning(bool value);
-    bool isBrainRunning() const;
+    void setNodeStatus(NodeStatus value);
+    [[nodiscard]] NodeStatus getNodeStatus() const;
 
     DixonNodeState(const DixonNodeState&) = delete;
     DixonNodeState& operator=(const DixonNodeState&) = delete;
@@ -22,5 +30,5 @@ private:
     ~DixonNodeState() = default;
 
     std::atomic<bool> connected_ = false;
-    std::atomic<bool> brainRunning_ = false;
+    std::atomic<NodeStatus> node_status_ = NodeStatus::Stopped;
 };

src/RobotNode/main.cpp

@@ -1,25 +1,51 @@
+#include <csignal>
 #include <iostream>
 #include "DixonBrain.h"
-#include "DixonNodeState.h"
 #include "Version.h" // The generated header
 
+
+
+void signal_handler(int signal) {
+    if (signal == SIGINT || signal == SIGTERM) {
+        std::cout << "\nShutdown signal received (" << signal << ")." << std::endl;
+
+        // Use your atomic flag to tell the brain to stop looping
+        DixonNodeState::instance().setNodeStatus(NodeStatus::Stopping);
+    }
+}
+
+
 int main()
 {
     // The "Splash Screen"
     std::cout << "Starting Dixon v" << DIXON_VERSION << "...\n";
 
+    std::signal(SIGINT, signal_handler);
+    std::signal(SIGTERM, signal_handler);
+
     // Create the brain controller
     DixonBrain brain;
 
     // Start the brain's control loop
     brain.start();
 
-    std::cout << "Dixon is running. Press Enter to stop...\n";
-    std::cin.get();
+   std::cout << "Dixon is alive...\n";
 
+    auto count = 1;
+    while (DixonNodeState::instance().getNodeStatus() == NodeStatus::Running)
+    {
+
+        count++;
+        if (count>10)
+        {
+            count = 0;
+            std::cout << "Dixon state is " << static_cast<int>( DixonNodeState::instance().getNodeStatus()) << "\n";
+        }
+        std::this_thread::sleep_for(std::chrono::milliseconds(100));
+
+    }
     // Stop the brain cleanly
     brain.stop();
-
-    std::cout << "Dixon shut down.\n";
+    std::cout << "Dixon has left the building...\n";
     return 0;
 }

src/RobotNode/version.txt

@@ -1 +1 @@
-1.0.12
+1.0.27