From 9230b1728f04a692020fc9bf17dbe518b9c0a7c2 Mon Sep 17 00:00:00 2001
From: Pavel Lutskov <pavel.lutskov@gmail.com>
Date: Sat, 30 Jun 2018 10:54:40 +0200
Subject: [PATCH] Forbid interrupt when initializing

---
 pykick/__main__.py    | 15 ++++++++-------
 pykick/colorpicker.py | 27 ++++++++++++++-------------
 pykick/utils.py       | 17 ++++++++++++++++-
 3 files changed, 38 insertions(+), 21 deletions(-)

diff --git a/pykick/__main__.py b/pykick/__main__.py
index 3c9214c..898a4c8 100644
--- a/pykick/__main__.py
+++ b/pykick/__main__.py
@@ -4,7 +4,7 @@ from time import time, sleep
 from math import cos, pi
 
 from .striker import Striker
-from .utils import read_config
+from .utils import read_config, InterruptDelayed
 
 
 
@@ -59,12 +59,13 @@ if __name__ == '__main__':
 
     try:  # Hit Ctrl-C to stop, cleanup and exit
         cfg = read_config()
-        striker = Striker(
-            nao_ip=cfg['ip'], nao_port=cfg['port'],
-            res=cfg['res'], ball_hsv=cfg['ball'],
-            goal_hsv=cfg['goal'], field_hsv=cfg['field'],
-            ball_min_radius=cfg['ball_min_radius'],
-        )
+        with InterruptDelayed():
+            striker = Striker(
+                nao_ip=cfg['ip'], nao_port=cfg['port'],
+                res=cfg['res'], ball_hsv=cfg['ball'],
+                goal_hsv=cfg['goal'], field_hsv=cfg['field'],
+                ball_min_radius=cfg['ball_min_radius'],
+            )
 
         state = 'init'
         init_soll = 0.0
diff --git a/pykick/colorpicker.py b/pykick/colorpicker.py
index a64ef95..7b40da6 100644
--- a/pykick/colorpicker.py
+++ b/pykick/colorpicker.py
@@ -8,7 +8,7 @@ import cv2
 
 from .imagereaders import VideoReader, NaoImageReader, PictureReader
 from .finders import GoalFinder, BallFinder, FieldFinder
-from .utils import read_config, imresize, hsv_mask
+from .utils import read_config, imresize, hsv_mask, InterruptDelayed
 
 class Colorpicker(object):
 
@@ -203,18 +203,19 @@ if __name__ == '__main__':
     if args.input_config:
         cp.load(args.input_config, args.target)
 
-    if args.video_file:
-        rdr = VideoReader(args.video_file, loop=True)
-    elif args.image_file:
-        rdr = PictureReader(args.image_file)
-    elif args.nao_ip:
-        rdr = NaoImageReader(
-            args.nao_ip,
-            cam_id=args.nao_cam,
-            res=args.nao_res
-        )
-    else:
-        rdr = VideoReader(0)
+    with InterruptDelayed():
+        if args.video_file:
+            rdr = VideoReader(args.video_file, loop=True)
+        elif args.image_file:
+            rdr = PictureReader(args.image_file)
+        elif args.nao_ip:
+            rdr = NaoImageReader(
+                args.nao_ip,
+                cam_id=args.nao_cam,
+                res=args.nao_res
+            )
+        else:
+            rdr = VideoReader(0)
 
     try:
         if args.still:
diff --git a/pykick/utils.py b/pykick/utils.py
index cbb949b..5dee47e 100644
--- a/pykick/utils.py
+++ b/pykick/utils.py
@@ -2,9 +2,9 @@ from __future__ import division
 
 import os
 import json
+import signal
 
 import cv2
-import numpy as np
 
 
 HERE = os.path.dirname(os.path.realpath(__file__))
@@ -40,3 +40,18 @@ def hsv_mask(hsv, hsv_lower, hsv_upper):
         return cv2.add(mask_l, mask_u)
     else:
         return cv2.inRange(hsv, tuple(hsv_lower), tuple(hsv_upper))
+
+class InterruptDelayed(object):
+
+    def __enter__(self):
+        self.signal_received = False
+        self.old_handler = signal.signal(signal.SIGINT, self.handler)
+
+    def handler(self, sig, frame):
+        self.signal_received = (sig, frame)
+        print('SIGINT received. Delaying KeyboardInterrupt.')
+
+    def __exit__(self, type, value, traceback):
+        signal.signal(signal.SIGINT, self.old_handler)
+        if self.signal_received:
+            self.old_handler(*self.signal_received)