ArSignalHandler.h

/*
MobileRobots Advanced Robotics Interface for Applications (ARIA)
Copyright (C) 2004, 2005 ActivMedia Robotics LLC
Copyright (C) 2006, 2007 MobileRobots Inc.

     This program is free software; you can redistribute it and/or modify
     it under the terms of the GNU General Public License as published by
     the Free Software Foundation; either version 2 of the License, or
     (at your option) any later version.

     This program is distributed in the hope that it will be useful,
     but WITHOUT ANY WARRANTY; without even the implied warranty of
     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
     GNU General Public License for more details.

     You should have received a copy of the GNU General Public License
     along with this program; if not, write to the Free Software
     Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA

If you wish to redistribute ARIA under different terms, contact 
MobileRobots for information about a commercial version of ARIA at 
robots@mobilerobots.com or 
MobileRobots Inc, 19 Columbia Drive, Amherst, NH 03031; 800-639-9481
*/

#ifndef ARSIGNALHANDLER_H
#define ARSIGNALHANDLER_H


#include <list>
#ifdef WIN32
#else
#include <signal.h>
#endif
#include "ariaTypedefs.h"
#include "ArASyncTask.h"
#include "ArFunctor.h"



class ArSignalHandler : public ArASyncTask
{
public:

  typedef enum
  {
    SigHUP=1, SigINT, SigQUIT, SigILL, SigTRAP, SigABRT, SigBUS, SigFPE, 
    SigKILL, SigUSR1, SigSEGV, SigUSR2, SigPIPE, SigALRM, SigTERM, SigSTKFLT, 
    SigCHLD, SigCONT, SigSTOP, SigTSTP, SigTTIN, SigTTOU, SigURG,
    SigXCPU, SigXFSZ, SigVTALRM, SigPROF, SigWINCH, SigIO, SigPWR
  } Signal;

  AREXPORT static void createHandlerNonThreaded();

  AREXPORT static void createHandlerThreaded();

  AREXPORT static void blockCommon();

  AREXPORT static void unblockAll();

  AREXPORT static void block(Signal sig);

  AREXPORT static void unblock(Signal sig);

  AREXPORT static void handle(Signal sig);

  AREXPORT static void unhandle(Signal sig);

  AREXPORT static void addHandlerCB(ArFunctor1<int> *func,
                    ArListPos::Pos position);

  AREXPORT static void delHandlerCB(ArFunctor1<int> *func);

  AREXPORT static void delAllHandlerCBs(void);

  AREXPORT static ArSignalHandler * getHandler();

  AREXPORT static const char * nameSignal(int sig);

  AREXPORT static void blockCommonThisThread();

  AREXPORT static void blockAllThisThread();

  virtual ~ArSignalHandler();

  AREXPORT virtual void * runThread(void *arg);

  AREXPORT static void signalCB(int sig);

  AREXPORT static void logThread(void);
protected:

  ArSignalHandler();

  static void initSigMap();

  bool ourIgnoreQUIT;

  static ArSignalHandler *ourSignalHandler;
  static ArStrMap ourSigMap;
#ifdef WIN32
#else
  static sigset_t ourBlockSigSet;
  static sigset_t ourHandleSigSet;
#endif
  static std::list<ArFunctor1<int>*> ourHandlerList;
};


#endif // ARSIGNALHANDLER_H

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