Revision 981
Added signal handling code to core simulator
added a robot_test directory which contiains code to run the timer and deal with the robot side signaling. To compile it you need to run gcc
robot_test/robot.c -o robot_test/robot. This whole file is temporary. It is just proof of concept until it gets added to the simulator library
| main.c | ||
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#include "gtk_gui.h" |
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#include <stdio.h> |
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#include <unistd.h> |
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#include <stdlib.h> |
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#include <signal.h> |
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#include <sys/wait.h> |
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int create_robot(char *execname, int id) |
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{
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/* do shared memory stuff here */ |
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int child; |
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if((child = fork())<0){
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printf("error with fork!\n");
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return -1; |
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} |
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char *envp[] = {"test=1", NULL};
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if(!child){
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/* restore default sigchld handler */ |
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signal(SIGCHLD, SIG_DFL); |
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execve(execname, NULL, envp); //TODO: keep the other env. stuff around |
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printf ("error! exec failed\n");
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exit(-1); |
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} |
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return child; |
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} |
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void *sig_chld_handler(int sig) |
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{
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pid_t pid; |
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int cstat; |
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printf("SIGCHLD: parent waiting\n");
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pid = waitpid(0, &cstat, WUNTRACED); |
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printf("got %d from %d\n", cstat, pid);
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kill(pid, SIGCONT); |
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return NULL; |
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} |
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int main(int argc, char** argv) |
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{
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return gtk_gui_run(argc, argv); |
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signal(SIGCHLD, sig_chld_handler); |
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create_robot("robot_test/robot", 0);
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printf("returned to parent\n");
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gtk_gui_run(argc, argv); |
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printf("parent exiting.\n");
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return 0; |
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} |
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