Revision 1006
Threading issues worked out better... Ready to add motion.
| robot.c | ||
|---|---|---|
| 20 | 20 |
#include <sys/types.h> |
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#include <sys/shm.h> |
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#include <errno.h> |
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#include <pthread.h> |
|
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|
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#include "robot.h" |
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#include "gtk_gui.h" |
|
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|
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void sig_chld_handler(int sig); |
| 27 | 29 |
|
| ... | ... | |
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// an expanding array of robots |
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Robot* robots = NULL; |
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int robots_size = 0; |
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int num_robots = 0; |
|
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|
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int iterator_pos = 0; |
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// signalled when all robots have run for a bit |
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pthread_mutex_t all_finished_mutex; |
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pthread_cond_t all_finished_cond; |
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int finished = 0; |
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|
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int robots_initialize(void) |
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{
|
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int i; |
| ... | ... | |
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memset(robots, 0, sizeof(Robot) * robots_size); |
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for (i = 0; i < robots_size; i++) |
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robots[i].id = -1; |
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|
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finished = 0; |
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pthread_mutex_init(&all_finished_mutex, NULL); |
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pthread_cond_init(&all_finished_cond, NULL); |
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|
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return 0; |
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} |
| ... | ... | |
| 59 | 71 |
int pid; |
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int id = first_available_id; |
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Robot* r = &robots[id]; |
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printf("ID: %d\n", id);
|
|
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// do shared memory stuff here |
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key_t key = IPC_PRIVATE; |
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//Memory accessible only to children with r/w privileges |
| ... | ... | |
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do {
|
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first_available_id++; |
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} while (first_available_id < robots_size && |
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robots[first_available_id].id != 0);
|
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robots[first_available_id].id != -1);
|
|
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// resize the array if necessary |
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if (first_available_id >= robots_size) |
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{
|
| ... | ... | |
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} |
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} |
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} |
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|
|
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num_robots++; |
|
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|
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return id; |
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} |
| ... | ... | |
| 182 | 197 |
// allocated memory |
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Robot* robot_iterator_next(void) |
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{
|
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if (iterator_pos >= robots_size) |
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return NULL; |
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do iterator_pos++; |
|
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while (iterator_pos < robots_size && |
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robots[iterator_pos].id == -1) |
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iterator_pos++; |
|
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robots[iterator_pos].id == -1); |
|
| 188 | 205 |
|
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if (iterator_pos >= robots_size) |
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return NULL; |
| ... | ... | |
| 194 | 211 |
|
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void sig_chld_handler(int sig) |
| 196 | 213 |
{
|
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pid_t pid; |
|
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int cstat; |
|
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pthread_mutex_lock(&all_finished_mutex); |
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finished++; |
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if (finished >= num_robots) |
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{
|
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pthread_cond_signal(&all_finished_cond); |
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} |
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pthread_mutex_unlock(&all_finished_mutex); |
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} |
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|
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printf("SIGCHLD: parent waiting\n");
|
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void* robot_event_loop(void* arg) |
|
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{
|
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int i; |
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//TODO: errors |
|
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|
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pid = waitpid(0, &cstat, WUNTRACED); |
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while (1) |
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{
|
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pthread_mutex_lock(&all_finished_mutex); |
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// TODO: race condition for adding robots? |
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if (finished < num_robots) |
|
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{
|
|
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pthread_cond_wait(&all_finished_cond, &all_finished_mutex); |
|
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} |
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finished = 0; |
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pthread_mutex_unlock(&all_finished_mutex); |
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for (i = 0; i < robots_size; i++) |
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{
|
|
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if (robots[i].id == -1) |
|
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continue; |
|
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kill(robots[i].pid, SIGCONT); |
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} |
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|
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printf("got %d from %d\n", cstat, pid);
|
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|
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kill(pid, SIGCONT); |
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gui_refresh(); |
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} |
|
| 207 | 247 |
} |
| 208 | 248 |
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