rc_kill.c

/**
 * @file rc_kill.c
 * @example    rc_kill
 *
 * Example program for shutting down any existing process that uses the robot
 * control library PID file functionality in <rc/start_stop.h> such as the
 * rc_balance and rc_test_start_stop examples.
 */
 
#include <stdio.h>
#include <rc/start_stop.h>
 
#define TIMEOUT 1.5 // seconds
 
int main()
{
        int ret = rc_kill_existing_process(TIMEOUT);
        // print success messages since rc_kill_existing_process is normally
        // quiet on success but prints errors and warnings already.
        switch(ret){
        case 0:
                printf("No existing robot control program is running.\n");
                break;
        case 1:
                printf("An existing program was running and shut down cleanly.\n");
                break;
        default:
                break;
        }
        return ret;
}