merge with stable

worker: stop using a separate thread waiting for children Now that we have a SIGCHLD hander, and it could get executed when waiting for I/O. It's no longer necessary to have a separated waitpid thread. So just remove it.

worker: add a SIGCHLD handler to collect worker immediately As planned by previous patches, add a SIGCHLD handler to get notifications about worker exits, and deals with worker failure immediately. Note that the SIGCHLD handler gets unregistered before killworkers(), so SIGCHLD won't interrupt "killworkers" - making it harder to send kill signals to waited processes.

worker: make waitforworkers reentrant We are going to use it in the SIGCHLD handler. The handler will be executed in the main thread with the non-blocking version of waitpid, while the waitforworkers thread runs the blocking version. It's possible that one of them collects a worker and makes the other error out (no child to wait). This patch handles these errors: ECHILD is ignored. EINTR needs a retry. The "pids" set is designed to be only modifiable by "waitforworkers". And we only remove items after a successful waitpid. Since a child process can only be "waitpid"-ed once. It's guaranteed that "pids.remove(p)" won't be called with duplicated "p"s. And once a "p" is removed from "pids", that "p" does not need to be killed or waited any more.