root / branches / simulator / projects / simulator / libsim / libsim.c @ 1020
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1 | 986 | bneuman | #include <stdio.h> |
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2 | #include <stdlib.h> |
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3 | #include <sys/time.h> |
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4 | #include <signal.h> |
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5 | #include <unistd.h> |
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6 | #include <stdlib.h> |
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7 | #include <sys/shm.h> |
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8 | #include <sys/ipc.h> |
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9 | 993 | ayeager | #include <robot_shared.h> |
10 | 986 | bneuman | #include <string.h> |
11 | 993 | ayeager | RobotShared* shared_state; |
12 | 986 | bneuman | |
13 | void *tick(int sig) |
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14 | { |
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15 | 993 | ayeager | printf("robot process paused. suspending\n");
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16 | 986 | bneuman | |
17 | if(raise(SIGTSTP)<0) |
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18 | printf("could not kill self!\n");
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19 | |||
20 | printf("robot resumed\n");
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21 | |||
22 | return NULL; |
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23 | } |
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24 | |||
25 | |||
26 | 906 | bcoltin | void dragonfly_init(int config) |
27 | { |
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28 | 986 | bneuman | struct itimerval iv;
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29 | int ret;
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30 | 906 | bcoltin | |
31 | 996 | bneuman | shared_state = shmat(atoi(getenv("memory_id")), NULL, 0); |
32 | |||
33 | 986 | bneuman | if(shared_state < 0) |
34 | { |
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35 | 996 | bneuman | printf("unable to get shared memory region\n");
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36 | return 1; |
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37 | 993 | ayeager | } |
38 | 986 | bneuman | |
39 | |||
40 | printf("hello. I am a robot w/ memory_id %s\n", getenv("memory_id")); |
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41 | |||
42 | |||
43 | 1020 | bcoltin | iv.it_interval.tv_sec = 0;
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44 | iv.it_interval.tv_usec = 50000;
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45 | iv.it_value.tv_sec = 0;
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46 | iv.it_value.tv_usec = 50000;
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47 | 986 | bneuman | |
48 | signal(SIGVTALRM, tick); |
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49 | |||
50 | ret = setitimer(ITIMER_VIRTUAL, &iv, NULL);
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51 | |||
52 | printf("setitimer returned %d.\n waiting...\n", ret);
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53 | fflush(stdout); |
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54 | |||
55 | //TODO: clean up code??
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56 | |||
57 | 906 | bcoltin | } |