Revision 1006
Threading issues worked out better... Ready to add motion.
| main.c | ||
|---|---|---|
| 9 | 9 |
|
| 10 | 10 |
#include <stdlib.h> |
| 11 | 11 |
#include <stdio.h> |
| 12 |
#include <gtk/gtk.h> |
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#include <glib.h> |
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#include <signal.h> |
|
| 12 | 15 |
|
| 13 | 16 |
#include "gtk_gui.h" |
| 14 | 17 |
#include "robot.h" |
| ... | ... | |
| 22 | 25 |
printf("Usage: simulator <robot execetuable>\n");
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| 23 | 26 |
exit(-1); |
| 24 | 27 |
} |
| 28 |
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| 25 | 29 |
robot_create(argv[1]); |
| 26 | 30 |
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printf("returned to parent\n");
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sigset_t set; |
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//TODO: errors |
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sigemptyset(&set); |
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sigaddset(&set, SIGCHLD); |
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pthread_sigmask(SIG_BLOCK, &set, NULL); |
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g_thread_init(NULL); |
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gdk_threads_init(); |
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g_thread_create(robot_event_loop, NULL, TRUE, NULL); |
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//TODO: better thread to put this in? |
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sigemptyset(&set); |
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sigaddset(&set, SIGCHLD); |
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pthread_sigmask(SIG_UNBLOCK, &set, NULL); |
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| 29 | 45 |
gtk_gui_run(argc, argv); |
| 30 | 46 |
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| 31 | 47 |
return 0; |
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