Revision 982
Added shared memory setup code to the create_robot function. Need to
write the cleanup code still. Exec call is failing but wasn't
succeeding before code change either.
branches/simulator/projects/simulator/simulator/core/main.c | ||
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4 | 4 |
#include <stdlib.h> |
5 | 5 |
#include <signal.h> |
6 | 6 |
#include <sys/wait.h> |
7 |
#include <robot_shared.h> |
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8 |
#include <sys/ipc.h> |
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#include <sys/types.h> |
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#include <sys/shm.h> |
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7 | 11 |
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int create_robot(char *execname, int id) |
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int create_robot(char *execname, int id, RobotShared** robot_memory, SimulatorRobot* sim_memory)
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{ |
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/* do shared memory stuff here */ |
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key_t key = IPC_PRIVATE; |
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/*Memory accessible only to children and gives them read/write priveledge*/ |
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sim_memory->robotSharedMemoryID = shmget(key, sizeof(RobotShared), IPC_CREAT | 0666); |
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if(sim_memory->robotSharedMemoryID < 0) |
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{ |
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printf("error getting shared memory\n"); |
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return -1; |
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} |
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11 | 24 |
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int child; |
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*robot_memory = shmat(sim_memory->robotSharedMemoryID, NULL, 0); |
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if(!(*robot_memory)) |
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{ |
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printf("error attaching parent process\n"); |
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return -1; |
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} |
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int pid; |
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13 | 33 |
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if((child = fork())<0){
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printf("error with fork!\n"); |
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if((pid = fork())<0){
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printf("error with fork!\n");
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16 | 36 |
return -1; |
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} |
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} |
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//Need to consider if this actually works... |
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char var[21]; |
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sprintf(var, "memory_id=%d", sim_memory->robotSharedMemoryID); |
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char *envp[] = {var, NULL}; |
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18 | 43 |
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char *envp[] = {"test=1", NULL}; |
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if(!child){ |
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if(!pid){ |
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/* restore default sigchld handler */ |
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signal(SIGCHLD, SIG_DFL); |
24 | 47 |
|
... | ... | |
26 | 49 |
printf ("error! exec failed\n"); |
27 | 50 |
exit(-1); |
28 | 51 |
} |
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return child;
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return pid;
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31 | 54 |
} |
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void *sig_chld_handler(int sig) |
... | ... | |
50 | 73 |
{ |
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signal(SIGCHLD, sig_chld_handler); |
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create_robot("robot_test/robot", 0); |
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RobotShared* robot; |
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SimulatorRobot* sim; |
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create_robot("robot_test/robot", 0, &robot, sim); |
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printf("returned to parent\n"); |
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57 | 83 |
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branches/simulator/projects/simulator/simulator/Makefile | ||
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5 | 5 |
|
6 | 6 |
CORE_DIR := core |
7 | 7 |
GUI_DIR := gui |
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COMMON_DIR := common |
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COMMON_DIR := ../common
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9 | 9 |
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SRCS = $(addprefix $(COMMON_DIR)/, $(COMMON_SRCS)) |
11 | 11 |
SRCS += $(addprefix $(CORE_DIR)/, $(CORE_SRCS)) |
branches/simulator/projects/simulator/common/robot_shared.h | ||
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1 | 1 |
/* shared structs for simulator */ |
2 | 2 |
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#ifndef __ROBOT_SHARED_H |
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#define __ROBOT_SHARED_H |
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3 | 5 |
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typedef struct PositionType |
5 | 7 |
{ |
... | ... | |
32 | 34 |
short motor2; /* motor2 value */ |
33 | 35 |
RangeFinder ranges; /* rangefinders */ |
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/* add other sensors, etc here */ |
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} SimulatorRobot; |
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} SimulatorRobot; |
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#endif |
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