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/**
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* @file robot.c
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* @author Colony Project
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* @brief Simulator Robot Management
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*
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* Contains implementations of functions managing robots
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* in the simulator, including process control and memory
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* management.
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**/
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#include <stdlib.h> |
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#include <stdio.h> |
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#include <string.h> |
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#include <unistd.h> |
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#include <signal.h> |
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#include <sys/wait.h> |
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#include <robot_shared.h> |
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#include <sys/ipc.h> |
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#include <sys/types.h> |
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#include <sys/shm.h> |
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#include <errno.h> |
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#include <pthread.h> |
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#include <err.h> |
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#include <unistd.h> |
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#include "gtk_gui.h" |
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#include "robot.h" |
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#include "motion.h" |
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#include "rangefinders.h" |
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#include "world.h" |
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#include "logger.h" |
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#include "gtk_gui.h" |
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void sig_chld_handler(int sig); |
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void robot_update(int i); |
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// global variables
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int first_available_id = 0; |
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// an expanding array of robots
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Robot* robots = NULL;
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int robots_size = 0; |
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int num_robots = 0; |
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int iterator_pos = 0; |
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int timeStep = 0; |
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// signalled when all robots have run for a bit
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pthread_mutex_t all_finished_mutex; |
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pthread_cond_t all_finished_cond; |
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int finished = 0; |
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int pausing = 0; |
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int paused = 0; |
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int robots_initialize(void) |
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{ |
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int i;
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if (signal(SIGCHLD, sig_chld_handler) == SIG_ERR)
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return -1; |
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robots_size = 10;
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robots = (Robot*)malloc(sizeof(Robot) * robots_size);
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if (!robots)
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return -1; |
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memset(robots, 0, sizeof(Robot) * robots_size); |
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for (i = 0; i < robots_size; i++) |
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robots[i].id = -1;
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finished = 0;
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pthread_mutex_init(&all_finished_mutex, NULL);
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pthread_cond_init(&all_finished_cond, NULL);
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return 0; |
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} |
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int robots_cleanup(void) |
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{ |
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int i,ret;
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//wait for all robots to be suspended to avoid race conditions
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//TODO: what if this never comes...
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ret = pthread_cond_wait(&all_finished_cond, &all_finished_mutex); |
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if(ret)
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err(errno, "error waiting on condition variable");
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//clear the sigchild handler
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signal(SIGCHLD, SIG_DFL); |
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//destroy the robots
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for(i=0; i<num_robots; i++) |
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robot_destroy(i); |
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free(robots); |
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return 0; |
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} |
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void robots_pause(void) |
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{ |
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pausing++; |
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while (!paused) usleep(10000); |
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} |
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void robots_resume(void) |
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{ |
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pausing--; |
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if (pausing < 0) |
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fprintf(stderr, "More resuming than pausing....\n");
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} |
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/**
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* Creates a new robot. Returns its id on
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* success, or a negative integer on failure.
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**/
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int robot_create(char *execname) |
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{ |
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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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// do shared memory stuff here
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key_t key = IPC_PRIVATE; |
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/* colony simulator executable must end in .csim */
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if(strstr(execname, ".csim") - execname != strlen(execname) - 5) |
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{ |
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fprintf(stderr, "Error, \"%s\" is not recognized as a colony simulator executable\n", execname);
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return -1; |
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} |
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//Memory accessible only to children with r/w privileges
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r->sharedMemID = shmget(key, sizeof(RobotShared), IPC_CREAT | 0666); |
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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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if(r->sharedMemID < 0) |
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{ |
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fprintf(stderr, "Failed to get shared memory.\n");
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return -1; |
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} |
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r->shared = (RobotShared*)shmat(r->sharedMemID, NULL, 0); |
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if(!(r->shared))
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{ |
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//Free shared memory region
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if (!shmctl(r->sharedMemID, IPC_RMID, NULL)) |
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fprintf(stderr, "Failed to free shared memory.\n");
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fprintf(stderr, "Error attaching memory to parent.\n");
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return -1; |
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} |
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// Initialize robot structure here
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r->shared->motor1 = 0;
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r->shared->motor2 = 0;
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r->id = id; |
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if(execname != NULL) |
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{ |
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if((pid = fork()) < 0) |
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{ |
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//Free Shared Memory Region
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//TODO: this doesn't work
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if (!shmdt(r->shared))
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fprintf(stderr, "Failed to free shared memory.\n");
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if (!shmctl(r->sharedMemID, IPC_RMID, NULL)) |
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fprintf(stderr, "Failed to free shared memory.\n");
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r->id = -1;
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fprintf(stderr, "Failed to fork robot process.\n");
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return -1; |
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} |
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} |
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if(!pid && execname)
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{ |
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char var[21]; |
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/* restore default sigchld handler */
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signal(SIGCHLD, SIG_DFL); |
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sprintf(var, "memory_id=%d", r->sharedMemID);
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putenv(var); |
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//TODO: keep the other env. stuff around
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execv(execname, NULL);
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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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{ |
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r->pid = pid; |
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do {
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first_available_id++; |
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} while (first_available_id < robots_size &&
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robots[first_available_id].id != -1);
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// resize the array if necessary
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if (first_available_id >= robots_size)
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{ |
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robots_size *= 2;
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robots = realloc(robots, sizeof(Robot) * robots_size);
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if (!robots)
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{ |
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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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} |
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//Log creation
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if(execname != NULL) |
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{ |
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//printf("commiting %d\n", num_robots);
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commit(r, num_robots, CREATE_STEP); |
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} |
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num_robots++; |
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return id;
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} |
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/**
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* Frees all resources associated with a robot, including
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* killing its process if necessary.
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*
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* @return zero on success, nonzero on failure
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**/
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int robot_destroy(int id) |
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{ |
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Robot* r; |
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if (id < 0 || id >= robots_size) |
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return -1; |
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r = &robots[id]; |
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if (r->id == -1) |
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return -1; |
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// TODO: this doesn't work
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if (shmdt(r->shared))
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{ |
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warn("Failed to free shared memory.");
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return -1; |
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} |
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//mark the shared meory to be destroyed
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if (shmctl(r->sharedMemID, IPC_RMID, NULL)) |
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{ |
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warn("Failed to mark shared memory for deletion\n");
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return -1; |
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} |
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//TODO: send a signal that the robot can catch to detach its shared mem
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if (kill(r->pid, SIGKILL))
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{ |
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warn( "Failed to kill robot process.\n");
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return -1; |
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} |
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memset(r, 0, sizeof(Robot)); |
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r->id = -1;
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if (id < first_available_id)
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first_available_id = 0;
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return 0; |
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} |
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void robot_destroy_all()
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{ |
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int i;
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for(i = 0; i < num_robots; i++) |
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robot_destroy(i); |
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} |
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void robot_iterator_reset(void) |
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{ |
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iterator_pos = -1;
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} |
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// note: addresses may change, replace with
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// allocated memory
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Robot* robot_iterator_next(void)
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{ |
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if (iterator_pos >= robots_size)
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return NULL; |
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do iterator_pos++;
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while (iterator_pos < robots_size &&
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robots[iterator_pos].id == -1);
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if (iterator_pos >= robots_size)
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return NULL; |
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return &(robots[iterator_pos]);
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} |
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Robot* robot_get(int id)
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{ |
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if (id >= 0 && id < robots_size) |
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return &(robots[id]);
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else
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return NULL; |
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} |
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void sig_chld_handler(int sig) |
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{ |
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int ret,stat,i;
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pthread_mutex_lock(&all_finished_mutex); |
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for(i=0; i<num_robots; i++) { |
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ret = waitpid(robots[i].pid, &stat, WUNTRACED | WNOHANG); |
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if(ret==-1) |
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err(errno,"error waiting on robot");
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if(WIFSTOPPED(stat))
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finished++; |
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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); |
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} |
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void* robot_event_loop(void* arg) |
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{ |
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int i;
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int ret;
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//TODO: not exit if there is an error?
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while (1) |
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{ |
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//sleep to avoid 100% CPU usage
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usleep(10000);
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while (pausing)
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{ |
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paused = 1;
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usleep(50000);
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} |
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paused = 0;
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ret = pthread_mutex_lock(&all_finished_mutex); |
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if(ret)
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err(errno, "error locking mutex in even loop");
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// TODO: race condition for adding robots?
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if (finished < num_robots)
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{ |
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ret = pthread_cond_wait(&all_finished_cond, &all_finished_mutex); |
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if(ret)
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err(errno, "error waiting on condition variable");
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} |
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finished = 0;
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ret = pthread_mutex_unlock(&all_finished_mutex); |
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if(ret)
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fprintf(stderr, "hmmm, error unlocking. errno: %d", errno);
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timeStep++; |
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for (i = 0; i < robots_size; i++) |
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if (robots[i].id != -1) |
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{ |
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robot_update(i); |
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commit(&robots[i],i,timeStep); |
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} |
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for (i = 0; i < robots_size; i++) |
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{ |
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if (robots[i].id == -1) |
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continue;
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ret = kill(robots[i].pid, SIGCONT); |
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if(ret)
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warn("error: could not kill resume robot proc.");
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} |
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if (timeStep % 5 == 0) |
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gui_refresh(); |
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} |
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} |
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void* logger_step_loop(void* arg) |
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{ |
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printf("going into logger\n");
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int timeStep;
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int index;
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int prevStep = -1; |
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if(fread(&timeStep, sizeof(int), 1, file) < 1) |
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{ |
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robot_destroy_all(); |
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fprintf(stderr, "problem reading timestep\n");
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return (void*)-1; |
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} |
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while(1){ |
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prevStep = timeStep; |
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do
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{ |
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if(fread(&index, sizeof(int), 1, file) < 1) |
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{ |
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robot_destroy_all(); |
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return (void*) -1; |
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} |
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//Update the robot
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if(timeStep == CREATE_STEP)
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{ |
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robot_create(NULL);
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} |
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if(getLog(&robots[index]) < 0) |
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{ |
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robot_destroy_all(); |
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return (void*) -1; |
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} |
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//Read in next logfile and check number
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if(fread(&timeStep, sizeof(int), 1, file) < 1) |
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{ |
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robot_destroy_all(); |
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return (void*)-1; |
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} |
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if (prevStep < 0) |
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prevStep = timeStep; |
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}while(timeStep == prevStep || timeStep == CREATE_STEP);
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gui_refresh(); |
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usleep(100);
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} |
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} |
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void robot_update(int i) |
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{ |
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Robot* r = &(robots[i]); |
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if (r->id == -1) |
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return;
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move_robot(r); |
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update_rangefinders(r); |
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} |
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