Colony

#include <stdio.h>

#include <stdlib.h>

#include <sys/time.h>

#include <signal.h>

#include <unistd.h>

#include <stdlib.h>

#include <sys/shm.h>

#include <sys/ipc.h>

#include <robot_shared.h>

#include <string.h>

#define TICK_USEC 100

RobotShared* shared_state;

void *tick(int sig)

{

  if(raise(SIGTSTP)<0)

    printf("could not kill self!\n");

  return NULL;

}

void dragonfly_init(int config)

{

  struct itimerval iv;

  int ret;

  shared_state = shmat(atoi(getenv("memory_id")), NULL, 0);

  if(shared_state < 0)

  {

    fprintf(stderr, "unable to get shared memory region\n");

    return;

  }

  printf("hello. I am a robot w/ memory_id %s\n", getenv("memory_id"));

  iv.it_interval.tv_sec = 0;

  iv.it_interval.tv_usec = TICK_USEC;

  iv.it_value.tv_sec = 0;

  iv.it_value.tv_usec = TICK_USEC;

  signal(SIGVTALRM, tick);

  ret = setitimer(ITIMER_VIRTUAL, &iv, NULL);

  //printf("setitimer returned %d.\n waiting...\n", ret);

  fflush(stdout);

  //TODO: clean up code??

}