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AP_HAL_Linux: RPI: set signal handler iff nobody has already done it before

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Staroselskii Georgii 2016-07-13 16:51:44 +03:00 committed by Andrew Tridgell
parent 5e8edcb1db
commit 8d2b587f71
1 changed files with 7 additions and 3 deletions
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10
libraries/AP_HAL_Linux/RCInput_RPI.cpp
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@ -378,10 +378,14 @@ void RCInput_RPI::set_sigaction()
{ {
for (int i = 0; i < NSIG; i++) { for (int i = 0; i < NSIG; i++) {
//catch all signals (like ctrl+c, ctrl+z, ...) to ensure DMA is disabled //catch all signals (like ctrl+c, ctrl+z, ...) to ensure DMA is disabled
struct sigaction sa; struct sigaction sa, sa_old;
memset(&sa, 0, sizeof(sa)); memset(&sa, 0, sizeof(sa));
sa.sa_handler = RCInput_RPI::termination_handler; sigaction(i, nullptr, &sa_old);
sigaction(i, &sa, NULL);
if (sa_old.sa_handler == nullptr) {
sa.sa_handler = RCInput_RPI::termination_handler;
sigaction(i, &sa, nullptr);
}
} }
} }