Revision 1039
works with 20 robots! but its incredibly slow and destroys computers
also fixed a bug in the robot creation code (it didn't init robots array to -1 after a resize)
| robot.c | ||
|---|---|---|
| 21 | 21 |
#include <sys/shm.h> |
| 22 | 22 |
#include <errno.h> |
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#include <pthread.h> |
| 24 |
#include <err.h> |
|
| 24 | 25 |
|
| 25 | 26 |
#include "robot.h" |
| 26 | 27 |
#include "motion.h" |
| ... | ... | |
| 70 | 71 |
**/ |
| 71 | 72 |
int robot_create(char *execname) |
| 72 | 73 |
{
|
| 73 |
int pid;
|
|
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int pid,i;
|
|
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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);
|
| ... | ... | |
| 79 | 80 |
//Memory accessible only to children with r/w privileges |
| 80 | 81 |
r->sharedMemID = shmget(key, sizeof(RobotShared), IPC_CREAT | 0666); |
| 81 | 82 |
|
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|
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//hack!! TODO: remove!! |
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r->pose.x=first_available_id*100; |
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r->pose.y=first_available_id*50; |
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|
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|
|
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if(r->sharedMemID < 0) |
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{
|
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fprintf(stderr, "Failed to get shared memory.\n"); |
| ... | ... | |
| 126 | 133 |
putenv(var); |
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//TODO: keep the other env. stuff around |
| 128 | 135 |
execv(execname, NULL); |
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fprintf(stderr, "exec failed to run child process.\n"); |
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exit(-1); |
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err(errno, "exec failed to run child process.\n"); |
|
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} |
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else |
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{
|
| ... | ... | |
| 146 | 152 |
fprintf(stderr, "Out of memory.\n"); |
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return -1; |
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} |
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for (i = robots_size=first_available_id; i < robots_size; i++) |
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robots[i].id = -1; |
|
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|
|
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} |
| 150 | 159 |
} |
| 151 | 160 |
|
| ... | ... | |
| 213 | 222 |
|
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void sig_chld_handler(int sig) |
| 215 | 224 |
{
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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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int ret,stat; |
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|
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pthread_mutex_lock(&all_finished_mutex); |
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|
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while((ret = waitpid(-1, &stat, WUNTRACED | WNOHANG))) |
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{
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if(ret==-1) |
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err(errno,"error waiting on robot"); |
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|
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if(WIFSTOPPED(stat)) |
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finished++; |
|
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} |
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|
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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); |
|
| 223 | 243 |
} |
| 224 | 244 |
|
| 225 | 245 |
void* robot_event_loop(void* arg) |
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