Ubermensch
The Ubermensch is the top level controller responsible for starting and stopping nodes and for handling the system break process.
This process listens for system critical events such as under voltage and performs a clean shutdown.
Example
The example below shows the implementation of the Ubermensch:
ubermensch.py
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The Ubermensch node is called with a list of nodes to manage. Each of these is recorded in shared data, the started. Ubermensch registers the global signal CTRL+Z and once all nodes are running, this node waits for the CTRL+Z event to be raised.
Ubermensch subscribes to two other events that cause the Ubermensch to immediately shut down:
- under-voltage-detected
- shutdown
This node is called from the main application entry point and is responsible to orchestrating all other nodes:
robot.py
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