/* *  Copyright 2002-2005, Mersad Team, Allameh Helli High School (NODET). * *  This program is free software, you can redistribute it and/or modify *  it under the terms of the GNU General Public License as published by *  the Free Software Foundation. * *  This program is distributed in the hope that it will be useful, *  but WITHOUT ANY WARRANTY; without even the implied warranty of *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *  GNU Library General Public License for more details. * *  This file is created by: Mohsen Izadi * *  Released on Monday 1 August 2005, 10 Mordad 1384 by Mersad RoboCup Team. *  For more information please read README file.*/#include <SignalHandler.h>#include <SignalsMask.h>#include <csignal>#include <sys/time.h>#ifndef NULL#	define NULL 0#endif // NULLSignalHandled *SignalHandler::sh = NULL;bool SignalHandler::finished;void SignalHandler::sigAlrmHandler(int/* signum*/){	if (sh) finished = !sh->sigAlrmHandler();}void SignalHandler::sigIntHandler(int/* signum*/){	if (sh) finished = !sh->sigIntHandler();}void SignalHandler::sigIOHandler(int/* signum*/){	if (sh) finished = !sh->sigIOHandler();}void SignalHandler::sigKillHandler(int/* signum*/){	if (sh) finished = !sh->sigKillHandler();}void SignalHandler::sigQuitHandler(int/* signum*/){	if (sh) finished = !sh->sigQuitHandler();}void SignalHandler::sigSegVHandler(int/* signum*/){	if (sh) finished = !sh->sigSegVHandler();}void SignalHandler::sigTermHandler(int/* signum*/){	if (sh) finished = !sh->sigTermHandler();}void SignalHandler::initSignalHandlers(SignalHandled *sh){	if (!sh)		return;	SignalHandler::sh = sh;	struct sigaction sa;	SignalsMask mask = sh->signalsMask();	if (mask & SIG_ALRM)	{		sa.sa_flags = 0;		sigemptyset(&sa.sa_mask);		sigaddset(&sa.sa_mask, SIGALRM);		sigaddset(&sa.sa_mask, SIGIO);		sa.sa_handler = sigAlrmHandler;		sigaction(SIGALRM, &sa, NULL);		sigprocmask(SIG_UNBLOCK, &sa.sa_mask, NULL);		long begin, interval;		sh->sigAlrmTiming(begin, interval);		itimerval itv;		itv.it_value.tv_sec = begin / 1000;		itv.it_value.tv_usec = (begin % 1000) * 1000;		itv.it_interval.tv_sec = interval / 1000;		itv.it_interval.tv_usec = (interval % 1000) * 1000;		setitimer(ITIMER_REAL, &itv, NULL);	}	if (mask & SIG_INT)	{		sa.sa_flags = 0;		sigemptyset(&sa.sa_mask);		sigaddset(&sa.sa_mask, SIGINT);		sa.sa_handler = sigIntHandler;		sigaction(SIGINT, &sa, NULL);		sigprocmask(SIG_UNBLOCK, &sa.sa_mask, NULL);	}	if (mask & SIG_IO)	{		sa.sa_flags = 0;		sigemptyset(&sa.sa_mask);		sigaddset(&sa.sa_mask, SIGIO);		sigaddset(&sa.sa_mask, SIGALRM);		sa.sa_handler = sigIOHandler;		sigaction(SIGIO, &sa, NULL);		sigprocmask(SIG_UNBLOCK, &sa.sa_mask, NULL);	}	if (mask & SIG_KILL)	{		sa.sa_flags = 0;		sigemptyset(&sa.sa_mask);		sigaddset(&sa.sa_mask, SIGKILL);		sa.sa_handler = sigKillHandler;		sigaction(SIGKILL, &sa, NULL);		sigprocmask(SIG_UNBLOCK, &sa.sa_mask, NULL);	}	if (mask & SIG_QUIT)	{		sa.sa_flags = 0;		sigemptyset(&sa.sa_mask);		sigaddset(&sa.sa_mask, SIGQUIT);		sa.sa_handler = sigQuitHandler;		sigaction(SIGQUIT, &sa, NULL);		sigprocmask(SIG_UNBLOCK, &sa.sa_mask, NULL);	}	if (mask & SIG_SEGV)	{		sa.sa_flags = 0;		sigemptyset(&sa.sa_mask);		sigaddset(&sa.sa_mask, SIGSEGV);		sa.sa_handler = sigSegVHandler;		sigaction(SIGSEGV, &sa, NULL);		sigprocmask(SIG_UNBLOCK, &sa.sa_mask, NULL);	}	if (mask & SIG_TERM)	{		sa.sa_flags = 0;		sigemptyset(&sa.sa_mask);		sigaddset(&sa.sa_mask, SIGTERM);		sa.sa_handler = sigTermHandler;		sigaction(SIGTERM, &sa, NULL);		sigprocmask(SIG_UNBLOCK, &sa.sa_mask, NULL);	}	finished = false;}void SignalHandler::finalSignalHandlers(){	signal(SIGALRM, SIG_DFL);	signal(SIGINT, SIG_DFL);	signal(SIGIO, SIG_DFL);	signal(SIGKILL, SIG_DFL);	signal(SIGQUIT, SIG_DFL);	signal(SIGSEGV, SIG_DFL);	signal(SIGTERM, SIG_DFL);}void SignalHandler::run(){	sigset_t ss;	sigprocmask(SIG_BLOCK, NULL, &ss);	while (!finished)		sigsuspend(&ss);}