[arch/linux] use sigaction instead of signal

also print message if sys_time timer couldn't be set up
KevinC1 · Feb 23, 2015 · ed2eea2 · ed2eea2
1 parent b77c6a3
commit ed2eea2
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Showing 2 changed files with 13 additions and 3 deletions.
diff --git a/sw/airborne/arch/linux/mcu_arch.c b/sw/airborne/arch/linux/mcu_arch.c
@@ -30,8 +30,10 @@
 #include "mcu_arch.h"
 
 #if USE_LINUX_SIGNAL
+#include "message_pragmas.h"
+PRINT_CONFIG_MSG("Catching SIGINT. Press CTRL-C twice to stop program.")
 
-/**
+/*
  * Handle linux signals by hand if the program is not launch
  * by a shell already doing it
  */
@@ -61,7 +63,11 @@ static void sig_handler(int signo)
 
 void mcu_arch_init(void)
 {
-  if (signal(SIGINT, sig_handler) == SIG_ERR) {
+  struct sigaction sa;
+  sigemptyset(&sa.sa_mask);
+  sa.sa_flags = 0;
+  sa.sa_handler = &sig_handler;
+  if (sigaction(SIGINT, &sa, NULL) == -1) {
     printf("Can't catch SIGINT\n");
   }
 }

diff --git a/sw/airborne/arch/linux/mcu_periph/sys_time_arch.c b/sw/airborne/arch/linux/mcu_periph/sys_time_arch.c
@@ -28,6 +28,7 @@
 #include <sys/time.h>
 #include <signal.h>
 #include <string.h>
+#include <stdio.h>
 
 #ifdef SYS_TIME_LED
 #include "led.h"
@@ -45,7 +46,10 @@ void sys_time_arch_init(void)
 
   memset(&sa, 0, sizeof(sa));
   sa.sa_handler = &sys_tick_handler;
-  sigaction(SIGALRM, &sa, NULL);
+  if (sigaction(SIGALRM, &sa, NULL) == -1) {
+    printf("Couldn't set up sys_time timer!\n");
+    return;
+  }
 
   // timer expires after sys_time.resolution sec
   timer.it_value.tv_sec = 0;