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changed signal handling to consider sigaction

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Specifically we must always use sa_sigaction and
then when chaining to the original signal handler
we must determine if it is a sa_sigaction or a
sa_handler type function and call it accordingly.
This commit is contained in:
William Woodall 2014-09-03 17:49:13 -07:00
parent 7820b5380b
commit 7d8e60dd61
1 changed files with 50 additions and 4 deletions
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54
rclcpp/include/rclcpp/utilities.hpp
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@ -30,6 +30,11 @@
#include <ros_middleware_interface/functions.h> #include <ros_middleware_interface/functions.h>
#include <ros_middleware_interface/handles.h> #include <ros_middleware_interface/handles.h>
// Determine if sigaction is available
#if _POSIX_C_SOURCE >= 1 || _XOPEN_SOURCE || _POSIX_SOURCE
#define HAS_SIGACTION
#endif
namespace namespace
{ {
volatile sig_atomic_t g_signal_status = 0; volatile sig_atomic_t g_signal_status = 0;
@ -38,21 +43,48 @@ namespace
std::condition_variable g_interrupt_condition_variable; std::condition_variable g_interrupt_condition_variable;
std::mutex g_interrupt_mutex; std::mutex g_interrupt_mutex;
#ifdef HAS_SIGACTION
struct sigaction old_action;
#else
void (*old_signal_handler)(int) = 0; void (*old_signal_handler)(int) = 0;
#endif
void void
#ifdef HAS_SIGACTION
signal_handler(int signal_value, siginfo_t *siginfo, void *context)
#else
signal_handler(int signal_value) signal_handler(int signal_value)
#endif
{ {
// TODO: remove // TODO: remove
std::cout << "signal_handler(" << signal_value << ")" << std::endl; std::cout << "signal_handler(" << signal_value << ")" << std::endl;
#ifdef HAS_SIGACTION
if (old_action.sa_flags & SA_SIGINFO)
{
if (old_action.sa_sigaction != NULL)
{
old_action.sa_sigaction(signal_value, siginfo, context);
}
}
else
{
if (old_action.sa_handler != NULL && // Is set
old_action.sa_handler != SIG_DFL && // Is not default
old_action.sa_handler != SIG_IGN) // Is not ignored
{
old_action.sa_handler(signal_value);
}
}
#else
if (old_signal_handler)
{
old_signal_handler(signal_value);
}
#endif
g_signal_status = signal_value; g_signal_status = signal_value;
using ros_middleware_interface::trigger_guard_condition; using ros_middleware_interface::trigger_guard_condition;
trigger_guard_condition(g_sigint_guard_cond_handle); trigger_guard_condition(g_sigint_guard_cond_handle);
g_interrupt_condition_variable.notify_all(); g_interrupt_condition_variable.notify_all();
if (old_signal_handler)
{
return old_signal_handler(signal_value);
}
} }
} }
@ -68,8 +100,18 @@ void
init(int argc, char *argv[]) init(int argc, char *argv[])
{ {
ros_middleware_interface::init(); ros_middleware_interface::init();
#ifdef HAS_SIGACTION
struct sigaction action;
memset(&action, 0, sizeof(action));
sigemptyset(&action.sa_mask);
action.sa_sigaction = ::signal_handler;
action.sa_flags = SA_SIGINFO;
ssize_t ret = sigaction(SIGINT, &action, &old_action);
if (ret == -1)
#else
::old_signal_handler = std::signal(SIGINT, ::signal_handler); ::old_signal_handler = std::signal(SIGINT, ::signal_handler);
if (::old_signal_handler == SIG_ERR) if (::old_signal_handler == SIG_ERR)
#endif
{ {
throw std::runtime_error( throw std::runtime_error(
std::string("Failed to set SIGINT signal handler: (" + std::string("Failed to set SIGINT signal handler: (" +
@ -103,4 +145,8 @@ sleep_for(const std::chrono::duration<Rep, Period>& sleep_duration)
} /* namespace utilities */ } /* namespace utilities */
} /* namespace rclcpp */ } /* namespace rclcpp */
#ifdef HAS_SIGACTION
#undef HAS_SIGACTION
#endif
#endif /* RCLCPP_RCLCPP_UTILITIES_HPP_ */ #endif /* RCLCPP_RCLCPP_UTILITIES_HPP_ */