Hi Rogers,
Thanks for your interesting C-code!
Occasionally I am experiencing the same problem.
The program freezes due to a FUTEX_WAIT call (detected by the use of strace), 
directly after the arrival of SIGCHLD.
After reading some documents on futexes I believe to know, that the reason for 
the deadlock is a missing FUTEX_WAKE call by the kernel to wake up the 
suspended processes/threads again.
In your program your are writing a zero to the futex value.
Why is this working? Did you refer to a specific document?

Cheers,
Wayne

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Futex hang when exiting using the window close button
https://bugs.launchpad.net/bugs/57731
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