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Removed signal handling. #22

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Removed signal handling. #22

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52 changes: 0 additions & 52 deletions src/Spawner.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -15,68 +15,16 @@
#include <boost/filesystem.hpp>
#include "CorbaNameService.hpp"
#include <lib_config/Bundle.hpp>
#include <signal.h>
#include <backward/backward.hpp>
#include <rtt/transports/corba/TaskContextProxy.hpp>

using namespace orocos_cpp;
using namespace libConfig;

struct sigaction originalSignalHandler[SIGTERM + 1];

backward::SignalHandling sh;

void shutdownHandler(int signum, siginfo_t *info, void *data);

void restoreSignalHandler(int signum)
{
if(sigaction(signum, originalSignalHandler + signum, nullptr))
{
throw std::runtime_error("Error, failed to reregister original signal handler");
}
}

void setSignalHandler(int signum)
{
struct sigaction act;

act.sa_sigaction = shutdownHandler;

/* The SA_SIGINFO flag tells sigaction() to use the sa_sigaction field, not sa_handler. */
act.sa_flags = SA_SIGINFO;

if(sigaction(signum, &act, originalSignalHandler + signum))
{
throw std::runtime_error("Error, failed to register signal handler");
}
}

void shutdownHandler(int signum, siginfo_t *info, void *data)
{
std::cout << "Shutdown: trying to kill all childs" << std::endl;

try {
Spawner::getInstace().killAll();
std::cout << "Done " << std::endl;
} catch (...)
{
std::cout << "Error, during killall" << std::endl;
}
restoreSignalHandler(signum);
raise(signum);

}

Spawner::Spawner()
{
nameService = new CorbaNameService();
nameService->connect();

setSignalHandler(SIGINT);
setSignalHandler(SIGQUIT);
setSignalHandler(SIGABRT);
setSignalHandler(SIGSEGV);
setSignalHandler(SIGTERM);
}

Spawner& Spawner::getInstace()
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