root / branches / simulator / projects / simulator / simulator / core / main.c @ 1006
History | View | Annotate | Download (871 Bytes)
1 |
/**
|
---|---|
2 |
* @file main.c
|
3 |
* @author Colony Project
|
4 |
* @brief Initializes the program.
|
5 |
*
|
6 |
* Contains only the main function, which
|
7 |
* initializes the program.
|
8 |
**/
|
9 |
|
10 |
#include <stdlib.h> |
11 |
#include <stdio.h> |
12 |
#include <gtk/gtk.h> |
13 |
#include <glib.h> |
14 |
#include <signal.h> |
15 |
|
16 |
#include "gtk_gui.h" |
17 |
#include "robot.h" |
18 |
|
19 |
int main(int argc, char** argv) |
20 |
{ |
21 |
if (robots_initialize())
|
22 |
return -1; |
23 |
|
24 |
if(argc<=1){ |
25 |
printf("Usage: simulator <robot execetuable>\n");
|
26 |
exit(-1);
|
27 |
} |
28 |
|
29 |
robot_create(argv[1]);
|
30 |
|
31 |
sigset_t set; |
32 |
//TODO: errors
|
33 |
sigemptyset(&set); |
34 |
sigaddset(&set, SIGCHLD); |
35 |
pthread_sigmask(SIG_BLOCK, &set, NULL);
|
36 |
g_thread_init(NULL);
|
37 |
gdk_threads_init(); |
38 |
g_thread_create(robot_event_loop, NULL, TRUE, NULL); |
39 |
|
40 |
//TODO: better thread to put this in?
|
41 |
sigemptyset(&set); |
42 |
sigaddset(&set, SIGCHLD); |
43 |
pthread_sigmask(SIG_UNBLOCK, &set, NULL);
|
44 |
|
45 |
gtk_gui_run(argc, argv); |
46 |
|
47 |
return 0; |
48 |
} |
49 |
|