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AP_HAL_Linux: add signal handler for normal termination

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This allows to terminate the flight stack nicely, ensuring it returns 0
so init system can check by return code if it terminated nicely or if it
was due to a crash.
This commit is contained in:
Lucas De Marchi 2016-10-26 19:27:12 -02:00
parent fa540429f9
commit 89420e4b2d
3 changed files with 38 additions and 5 deletions
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32
libraries/AP_HAL_Linux/HAL_Linux_Class.cpp
View File

@ -1,6 +1,7 @@
#include "HAL_Linux_Class.h"
#include <assert.h>
#include <signal.h>
#include <stdio.h>
#include <stdlib.h>
#include <unistd.h>
@ -348,6 +349,8 @@ void HAL_Linux::run(int argc, char* const argv[], Callbacks* callbacks) const
}
}
setup_signal_handlers();
scheduler->init();
gpio->init();
rcout->init();
@ -372,12 +375,33 @@ void HAL_Linux::run(int argc, char* const argv[], Callbacks* callbacks) const
callbacks->setup();
AP_Module::call_hook_setup_complete();
for (;;) {
while (!_should_exit) {
callbacks->loop();
}
rcin->teardown();
I2CDeviceManager::from(i2c_mgr)->teardown();
SPIDeviceManager::from(spi)->teardown();
}
const AP_HAL::HAL& AP_HAL::get_HAL() {
static const HAL_Linux hal;
return hal;
void HAL_Linux::setup_signal_handlers() const
{
struct sigaction sa = { };
sa.sa_flags = SA_NOCLDSTOP;
sa.sa_handler = HAL_Linux::exit_signal_handler;
sigaction(SIGTERM, &sa, NULL);
sigaction(SIGINT, &sa, NULL);
}
static HAL_Linux halInstance;
void HAL_Linux::exit_signal_handler(int signum)
{
halInstance._should_exit = true;
}
const AP_HAL::HAL &AP_HAL::get_HAL()
{
return halInstance;
}

7
libraries/AP_HAL_Linux/HAL_Linux_Class.h
View File

@ -6,4 +6,11 @@ class HAL_Linux : public AP_HAL::HAL {
public:
HAL_Linux();
void run(int argc, char* const* argv, Callbacks* callbacks) const override;
void setup_signal_handlers() const;
static void exit_signal_handler(int);
protected:
bool _should_exit = false;
};

4
libraries/AP_HAL_Linux/RCInput_RPI.cpp
View File

@ -379,7 +379,9 @@ void RCInput_RPI::init_DMA()
void RCInput_RPI::set_sigaction()
{
for (int i = 0; i < NSIG; i++) {
//catch all signals (like ctrl+c, ctrl+z, ...) to ensure DMA is disabled
// catch all signals to ensure DMA is disabled - some of them may
// already be handled elsewhere in cases we consider normal
// termination. In those cases the teardown() method must be called.
struct sigaction sa, sa_old;
memset(&sa, 0, sizeof(sa));
sigaction(i, nullptr, &sa_old);