px4-firmware/apps/examples/ostest/sighand.c

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/***********************************************************************
* apps/examples/ostest/sighand.c
*
* Copyright (C) 2007, 2008, 2011 Gregory Nutt. All rights reserved.
* Author: Gregory Nutt <spudmonkey@racsa.co.cr>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name NuttX nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
***********************************************************************/
#include <sys/types.h>
#include <stdbool.h>
#include <stdio.h>
#include <unistd.h>
#include <semaphore.h>
#include <signal.h>
#include <sched.h>
#include <errno.h>
#include "ostest.h"
#ifndef NULL
# define NULL (void*)0
#endif
#define WAKEUP_SIGNAL 17
#define SIGVALUE_INT 42
static sem_t sem;
static bool sigreceived = false;
static bool threadexited = false;
static void wakeup_action(int signo, siginfo_t *info, void *ucontext)
{
sigset_t oldset;
sigset_t allsigs;
int status;
printf("wakeup_action: Received signal %d\n" , signo);
sigreceived = true;
/* Check signo */
if (signo != WAKEUP_SIGNAL)
{
printf("wakeup_action: ERROR expected signo=%d\n" , WAKEUP_SIGNAL);
}
/* Check siginfo */
if (info->si_value.sival_int != SIGVALUE_INT)
{
printf("wakeup_action: ERROR sival_int=%d expected %d\n",
info->si_value.sival_int, SIGVALUE_INT);
}
else
{
printf("wakeup_action: sival_int=%d\n" , info->si_value.sival_int);
}
if (info->si_signo != WAKEUP_SIGNAL)
{
printf("wakeup_action: ERROR expected si_signo=%d, got=%d\n",
WAKEUP_SIGNAL, info->si_signo);
}
printf("wakeup_action: si_code=%d\n" , info->si_code);
/* Check ucontext_t */
printf("wakeup_action: ucontext=%p\n" , ucontext);
/* Check sigprocmask */
(void)sigfillset(&allsigs);
status = sigprocmask(SIG_SETMASK, NULL, &oldset);
if (status != OK)
{
printf("wakeup_action: ERROR sigprocmask failed, status=%d\n",
status);
}
if (oldset != allsigs)
{
printf("wakeup_action: ERROR sigprocmask=%x expected=%x\n",
oldset, allsigs);
}
}
static int waiter_main(int argc, char *argv[])
{
sigset_t sigset;
struct sigaction act;
struct sigaction oact;
int status;
printf("waiter_main: Waiter started\n" );
printf("waiter_main: Unmasking signal %d\n" , WAKEUP_SIGNAL);
(void)sigemptyset(&sigset);
(void)sigaddset(&sigset, WAKEUP_SIGNAL);
status = sigprocmask(SIG_UNBLOCK, &sigset, NULL);
if (status != OK)
{
printf("waiter_main: ERROR sigprocmask failed, status=%d\n",
status);
}
printf("waiter_main: Registering signal handler\n" );
act.sa_sigaction = wakeup_action;
act.sa_flags = SA_SIGINFO;
(void)sigfillset(&act.sa_mask);
(void)sigdelset(&act.sa_mask, WAKEUP_SIGNAL);
status = sigaction(WAKEUP_SIGNAL, &act, &oact);
if (status != OK)
{
printf("waiter_main: ERROR sigaction failed, status=%d\n" , status);
}
#ifndef SDCC
printf("waiter_main: oact.sigaction=%p oact.sa_flags=%x oact.sa_mask=%x\n",
oact.sa_sigaction, oact.sa_flags, oact.sa_mask);
#endif
/* Take the semaphore */
printf("waiter_main: Waiting on semaphore\n" );
FFLUSH();
status = sem_wait(&sem);
if (status != 0)
{
int error = errno;
if (error == EINTR)
{
printf("waiter_main: sem_wait() successfully interrupted by signal\n" );
}
else
{
printf("waiter_main: ERROR sem_wait failed, errno=%d\n" , error);
}
}
else
{
printf("waiter_main: ERROR awakened with no error!\n" );
}
/* Detach the signal handler */
act.sa_sigaction = SIG_DFL;
status = sigaction(WAKEUP_SIGNAL, &act, &oact);
printf("waiter_main: done\n" );
FFLUSH();
threadexited = true;
return 0;
}
void sighand_test(void)
{
struct sched_param param;
union sigval sigvalue;
pid_t waiterpid;
int policy;
int status;
printf("sighand_test: Initializing semaphore to 0\n" );
sem_init(&sem, 0, 0);
/* Start waiter thread */
printf("sighand_test: Starting waiter task\n" );
status = sched_getparam (0, &param);
if (status != OK)
{
printf("sighand_test: ERROR sched_getparam() failed\n" );
param.sched_priority = PTHREAD_DEFAULT_PRIORITY;
}
policy = sched_getscheduler(0);
if (policy == ERROR)
{
printf("sighand_test: ERROR sched_getscheduler() failed\n" );
policy = SCHED_FIFO;
}
waiterpid = task_create("waiter", param.sched_priority,
PTHREAD_STACK_DEFAULT, waiter_main, NULL);
if (waiterpid == ERROR)
{
printf("sighand_test: ERROR failed to start waiter_main\n" );
}
else
{
printf("sighand_test: Started waiter_main pid=%d\n", waiterpid);
}
/* Wait a bit */
FFLUSH();
sleep(2);
/* Then signal the waiter thread. */
printf("sighand_test: Signaling pid=%d with signo=%d sigvalue=%d\n",
waiterpid, WAKEUP_SIGNAL, SIGVALUE_INT);
sigvalue.sival_int = SIGVALUE_INT;
#ifdef CONFIG_CAN_PASS_STRUCTS
status = sigqueue(waiterpid, WAKEUP_SIGNAL, sigvalue);
#else
status = sigqueue(waiterpid, WAKEUP_SIGNAL, sigvalue.sival_ptr);
#endif
if (status != OK)
{
printf("sighand_test: ERROR sigqueue failed\n" );
task_delete(waiterpid);
}
/* Wait a bit */
FFLUSH();
sleep(2);
/* Then check the result */
if (!threadexited)
{
printf("sighand_test: ERROR waiter task did not exit\n" );
}
if (!sigreceived)
{
printf("sighand_test: ERROR signal handler did not run\n" );
}
printf("sighand_test: done\n" );
FFLUSH();
}