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AP_HAL_SITL: use sigaction over signal API in SITL_State

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Staroselskii Georgii 2016-07-13 16:27:56 +03:00 committed by Andrew Tridgell
parent 61e066513d
commit d69aeb4808
2 changed files with 18 additions and 3 deletions
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2
libraries/AP_HAL_SITL/SITL_State.h
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@ -89,6 +89,8 @@ private:
void _update_compass(float rollDeg, float pitchDeg, float yawDeg);
void _update_flow(void);
void _set_signal_handlers(void) const;
struct gps_data {
double latitude;
double longitude;

19
libraries/AP_HAL_SITL/SITL_cmdline.cpp
View File

@ -94,6 +94,21 @@ static const struct {
{ "calibration", Calibration::create },
};
void SITL_State::_set_signal_handlers(void) const
{
struct sigaction sa_fpe;
sigemptyset(&sa_fpe.sa_mask);
sa_fpe.sa_handler = _sig_fpe;
sigaction(SIGFPE, &sa_fpe, nullptr);
struct sigaction sa_pipe;
sigemptyset(&sa_pipe.sa_mask);
sa_pipe.sa_handler = SIG_IGN; /* No-op SIGPIPE handler */
sigaction(SIGPIPE, &sa_pipe, nullptr);
}
void SITL_State::_parse_command_line(int argc, char * const argv[])
{
int opt;
@ -107,9 +122,7 @@ void SITL_State::_parse_command_line(int argc, char * const argv[])
AP_HAL::panic("out of memory");
}
signal(SIGFPE, _sig_fpe);
// No-op SIGPIPE handler
signal(SIGPIPE, SIG_IGN);
_set_signal_handlers();
setvbuf(stdout, (char *)0, _IONBF, 0);
setvbuf(stderr, (char *)0, _IONBF, 0);