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Try to allow children to shut down gracefully
Since signals will no longer be handled once foreman goes into `terminate_gracefully`, default signal handlers are restored so as not to cause it to get stuck in an unTERMable state. This necessitates not using the process group for signalling except as a last resort, as foreman itself will receive the signals it sends. This splits `killall` into two methods, one which signals only processes foreman itself has started, and one which signals all processes in the process group to try to clean up more aggressively, and then reworks `terminate_gracefully` to use them.
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