164 lines
5.7 KiB
C++
164 lines
5.7 KiB
C++
/*
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Adept MobileRobots Robotics Interface for Applications (ARIA)
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Copyright (C) 2004, 2005 ActivMedia Robotics LLC
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Copyright (C) 2006, 2007, 2008, 2009, 2010 MobileRobots Inc.
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Copyright (C) 2011, 2012, 2013 Adept Technology
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This program is free software; you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation; either version 2 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program; if not, write to the Free Software
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Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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If you wish to redistribute ARIA under different terms, contact
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Adept MobileRobots for information about a commercial version of ARIA at
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robots@mobilerobots.com or
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Adept MobileRobots, 10 Columbia Drive, Amherst, NH 03031; +1-603-881-7960
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*/
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#ifndef ARSIGNALHANDLER_H
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#define ARSIGNALHANDLER_H
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#include <list>
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#ifdef WIN32
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#else
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#include <signal.h>
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#endif
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#include "ariaTypedefs.h"
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#include "ArASyncTask.h"
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#include "ArFunctor.h"
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/// Signal handling class
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/**
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This is a signal handling class. It has both a threaded and non-threaded
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mode of operation. The non-threaded mode will work in a threaded application
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but it is best to use the threaded mode. The benefit of the threaded mode
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is that if the signal incures some processing, but does not shutdown the
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program (ie. SIGUSR1 or SIGUSR2), the threaded mode will handle the signal
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in its own thread and hopefully that will not hurt the performance of the
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tight loop robot control. Exaclty how much performance you get out of this
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depends on your machines physical hardware and exactly what the processing
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the signal handler does. For instance, a multi-processor machine has a much
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greater chance of the signal handler not interfering with the robot control
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loop.
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See the Aria main class for how to initialize a default setup of the
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signal handling.
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There are functions to block, unblock, handle and unhandle signals. These
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functions all must be called before creating the signalhandler. In either
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single or multi-threaded mode. The functions to block and handle signals
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creates a set of blocking and handling which is then used by the create
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functions to tell the Linux kernel what to do.
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In the threaded mode, there is a signal handler thread that is created.
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That thread is created in a detached state, which means it can not be
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joined on. When the program exits, the signal handler thread will be
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ignored and that thread will never exit its run loop. This is perfectly
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fine behavior. There is no state that can be messed up in this fashion.
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It is just easier to exit the program than to try to wake up that thread
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and get it to exit itself.
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This class is for Linux only. Windows has virtualy no support for signals
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and the little support that it does have is not realy usefull. There is
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an empty implementation of this class for Windows so that code can compile
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in both Linux and Windows. Just do not expect the code that uses this
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signal handling to do anything in Windows. This should not be a problem
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since signals are not used in Windows.
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*/
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class ArSignalHandler : public ArASyncTask
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{
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public:
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typedef enum
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{
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SigHUP=1, SigINT, SigQUIT, SigILL, SigTRAP, SigABRT, SigBUS, SigFPE,
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SigKILL, SigUSR1, SigSEGV, SigUSR2, SigPIPE, SigALRM, SigTERM, SigSTKFLT,
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SigCHLD, SigCONT, SigSTOP, SigTSTP, SigTTIN, SigTTOU, SigURG,
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SigXCPU, SigXFSZ, SigVTALRM, SigPROF, SigWINCH, SigIO, SigPWR
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} Signal;
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/// Setup the signal handling for a non-threaded program
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AREXPORT static void createHandlerNonThreaded();
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/// Setup the signal handling for a multi-threaded program
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AREXPORT static void createHandlerThreaded();
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/// Block all the common signals the kill a program
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AREXPORT static void blockCommon();
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/// Unblock all the signals
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AREXPORT static void unblockAll();
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/// Block the given signal
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AREXPORT static void block(Signal sig);
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/// Unblock the given signal
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AREXPORT static void unblock(Signal sig);
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/// Handle the given signal
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AREXPORT static void handle(Signal sig);
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/// Dont handle the given signal
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AREXPORT static void unhandle(Signal sig);
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/// Add a handler callback
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AREXPORT static void addHandlerCB(ArFunctor1<int> *func,
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ArListPos::Pos position);
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/// Remove a handler callback
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AREXPORT static void delHandlerCB(ArFunctor1<int> *func);
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/// Removes all the handlers
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AREXPORT static void delAllHandlerCBs(void);
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/// Get a pointer to the single ArSignalHandler instance
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AREXPORT static ArSignalHandler * getHandler();
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/// Get the name of the given signal
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AREXPORT static const char * nameSignal(int sig);
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/// Block all the common signals for the calling thread only
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AREXPORT static void blockCommonThisThread();
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/// Block all the signals for the calling thread only
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AREXPORT static void blockAllThisThread();
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/// Destructor
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virtual ~ArSignalHandler();
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AREXPORT virtual void * runThread(void *arg);
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AREXPORT static void signalCB(int sig);
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AREXPORT static void logThread(void);
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protected:
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ArSignalHandler();
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static void initSigMap();
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bool ourIgnoreQUIT;
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static ArSignalHandler *ourSignalHandler;
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static ArStrMap ourSigMap;
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#ifdef WIN32
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#else
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static sigset_t ourBlockSigSet;
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static sigset_t ourHandleSigSet;
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#endif
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static std::list<ArFunctor1<int>*> ourHandlerList;
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};
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#endif // ARSIGNALHANDLER_H
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