Forbid interrupt when initializing

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
 
 
 
@@ -59,6 +59,7 @@ if __name__ == '__main__':
 
     try:  # Hit Ctrl-C to stop, cleanup and exit
         cfg = read_config()
+        with InterruptDelayed():
             striker = Striker(
                 nao_ip=cfg['ip'], nao_port=cfg['port'],
                 res=cfg['res'], ball_hsv=cfg['ball'],

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):
 
@@ -203,6 +203,7 @@ if __name__ == '__main__':
     if args.input_config:
         cp.load(args.input_config, args.target)
 
+    with InterruptDelayed():
         if args.video_file:
             rdr = VideoReader(args.video_file, loop=True)
         elif args.image_file:

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)