CSemaphore::waitForSignal() : Fixed error when thread got an external signal

Author: jlblancoc

doc/doxygen-pages/changeLog_doc.h

@@ -89,7 +89,7 @@
 		- mrpt::topography::geodeticToENU_WGS84() and related functions used a local +Z axis aligned to the line towards the Earth center; now the Z axis points normally to the ellipsoid surface. The difference with the previous behavior is small but may be of a few millimeters for each meter from the reference point. [(commit)](http://code.google.com/p/mrpt/source/detail?r=3473)
 		- Potential crash when setting mpPolygon::setPoints() with empty vectors - [(commit)](http://code.google.com/p/mrpt/source/detail?r=3478)
 		- mrpt::reactivenav::CReactiveNavigationSystem and mrpt::reactivenav::CReactiveNavigationSystem3D didn't obey the "enableConsoleOutput" constructor flag - [(commit)](https://github.com/jlblancoc/mrpt/commit/db7b0e76506af2c24f119a28443a1e8f1a217861)
-
+		- mrpt::synch::CSemaphore::waitForSignal() : Fixed error when thread got an external signal [(commit)]()
 
  <hr>
  <a name="1.0.2">

libs/base/src/synch/CSemaphore_LIN.cpp

@@ -163,17 +163,22 @@ bool CSemaphore::waitForSignal( unsigned int timelimit )
 	}
 
 #else
-	rc = timelimit==0 ?
+	if (timelimit==0)
+	{
 		// No timeout
-		sem_wait( token->semid )
-		:
+		rc = sem_wait( token->semid );
+	}
+	else
+	{
 		// We have a timeout:
-		sem_timedwait( token->semid, &tm );
-#endif
-	
+		while ((rc = sem_timedwait( token->semid, &tm )) == -1 && errno == EINTR)
+			continue; // Restart if interrupted by handler
+	}
+
 	// If there's an error != than a timeout, dump to stderr:
 	if (rc!=0 && errno!=ETIMEDOUT)
 		std::cerr << format("[CSemaphore::waitForSignal] In semaphore named '%s', error: %s\n", m_name.c_str(),strerror(errno) );
+#endif
 
 	return rc==0; // true: all ok.