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include/robot/init.h

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+#ifndef ROBOT_INIT_H_INCLUDED
+#define ROBOT_INIT_H_INCLUDED
+
+#include <atomic>
+#include <csignal>
+#include <string>
+
+namespace robot
+{
+
+/**
+ * @brief Check if the robot system is still running
+ * 
+ * Similar to ros::ok(), this function returns false when the system
+ * has finished shutting down. Use this in main loops and thread loops
+ * to check if the system should continue running.
+ * 
+ * @return true if system is running, false if shutdown is complete
+ * 
+ * @note This returns false only after shutdown is complete, not when
+ *       shutdown is requested. Use isShuttingDown() to check if shutdown
+ *       has been requested.
+ * 
+ * Example:
+ * @code
+ * while (robot::ok())
+ * {
+ *   // Do work
+ * }
+ * @endcode
+ */
+bool ok();
+
+/**
+ * @brief Check if shutdown has been requested
+ * 
+ * Similar to ros::isShuttingDown(), this function returns true as soon
+ * as shutdown() is called, not when shutdown is complete. Use this in
+ * long-running callbacks to check if they should exit early.
+ * 
+ * @return true if shutdown has been requested, false otherwise
+ * 
+ * @note This returns true immediately when shutdown() is called, while
+ *       ok() returns false only after shutdown is complete.
+ * 
+ * Example:
+ * @code
+ * void longCallback()
+ * {
+ *   for (int i = 0; i < 1000000; i++)
+ *   {
+ *     if (robot::isShuttingDown())
+ *       return;  // Exit early
+ *     // Do work...
+ *   }
+ * }
+ * @endcode
+ */
+bool isShuttingDown();
+
+/**
+ * @brief Shutdown the robot system
+ * 
+ * Similar to ros::shutdown(), this function initiates the shutdown process.
+ * After calling this:
+ * - isShuttingDown() will return true immediately
+ * - ok() will return false after shutdown is complete
+ * 
+ * @note This function is thread-safe and can be called multiple times.
+ *       Subsequent calls have no effect.
+ * 
+ * Example:
+ * @code
+ * // Custom signal handler
+ * void mySigintHandler(int sig)
+ * {
+ *   // Do custom cleanup
+ *   robot::shutdown();
+ * }
+ * @endcode
+ */
+void shutdown();
+
+/**
+ * @brief Initialize the robot system
+ * 
+ * Similar to ros::init(), this function initializes the robot system.
+ * It sets up signal handlers and initializes internal state.
+ * 
+ * @param argc Number of command line arguments (can be modified)
+ * @param argv Command line arguments (can be modified)
+ * @param node_name Name of the node (optional, for logging purposes)
+ * @param install_sigint_handler If true, install SIGINT handler (default: true)
+ * 
+ * @note If install_sigint_handler is true, Ctrl-C will automatically
+ *       call shutdown(). Set to false if you want custom signal handling.
+ * 
+ * Example:
+ * @code
+ * int main(int argc, char** argv)
+ * {
+ *   robot::init(argc, argv, "my_node");
+ *   // ... use robot system ...
+ *   return 0;
+ * }
+ * @endcode
+ */
+void init(int& argc, char** argv, const std::string& node_name = "", bool install_sigint_handler = true);
+
+/**
+ * @brief Initialize the robot system without command line arguments
+ * 
+ * Simplified version of init() that doesn't require argc/argv.
+ * 
+ * @param node_name Name of the node (optional, for logging purposes)
+ * @param install_sigint_handler If true, install SIGINT handler (default: true)
+ */
+void init(const std::string& node_name = "", bool install_sigint_handler = true);
+
+namespace detail
+{
+  /**
+   * @brief Internal signal handler for SIGINT
+   * 
+   * This is called automatically when SIGINT is received (Ctrl-C).
+   * It calls shutdown() to gracefully shut down the system.
+   */
+  void sigintHandler(int sig);
+}
+
+} // namespace robot
+
+#endif // ROBOT_INIT_H_INCLUDED
+