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root / branches / simulator / projects / simulator / libsim / libsim.c @ 1056

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#include <stdio.h>
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#include <stdlib.h>
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#include <sys/time.h>
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#include <signal.h>
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#include <unistd.h>
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#include <stdlib.h>
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#include <sys/shm.h>
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#include <sys/ipc.h>
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#include <robot_shared.h>
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#include <string.h>
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#define TICK_USEC 100
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RobotShared* shared_state;
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void *tick(int sig)
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{
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  if(raise(SIGTSTP)<0)
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    printf("could not kill self!\n");
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  return NULL;
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}
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void dragonfly_init(int config)
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{
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  struct itimerval iv;
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  int ret;
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  shared_state = shmat(atoi(getenv("memory_id")), NULL, 0);
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  if(shared_state < 0)
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  {
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    fprintf(stderr, "unable to get shared memory region\n");
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    return;
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  }
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  printf("hello. I am a robot w/ memory_id %s\n", getenv("memory_id"));
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  iv.it_interval.tv_sec = 0;
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  iv.it_interval.tv_usec = TICK_USEC;
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  iv.it_value.tv_sec = 0;
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  iv.it_value.tv_usec = TICK_USEC;
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  signal(SIGVTALRM, tick);
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  ret = setitimer(ITIMER_VIRTUAL, &iv, NULL);
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  //printf("setitimer returned %d.\n waiting...\n", ret);
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  fflush(stdout);
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  //TODO: clean up code??
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}
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