root / branches / simulator / projects / simulator / libsim / libsim.c @ 1064
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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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} |
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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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