If the robot program stops a program node “BeforeStop” like: “BeforeStart” with a parameter e.g. “stopReason”:
- user pressed stop/pause
- robot went in safety stop
The possibility to place commands in this handler e.g. messages, stop other components, capture current state of components, […]
Surely safety must be guaranteed and most parts can be done via daemon. With a program node it would be more comfortable.