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.
| main.c | ||
|---|---|---|
| 4 | 4 |
#include <stdlib.h> |
| 5 | 5 |
#include <signal.h> |
| 6 | 6 |
#include <sys/wait.h> |
| 7 |
#include <robot_shared.h> |
|
| 8 |
#include <sys/ipc.h> |
|
| 9 |
#include <sys/types.h> |
|
| 10 |
#include <sys/shm.h> |
|
| 7 | 11 |
|
| 8 |
int create_robot(char *execname, int id) |
|
| 12 |
int create_robot(char *execname, int id, RobotShared** robot_memory, SimulatorRobot* sim_memory)
|
|
| 9 | 13 |
{
|
| 10 | 14 |
/* do shared memory stuff here */ |
| 15 |
key_t key = IPC_PRIVATE; |
|
| 16 |
/*Memory accessible only to children and gives them read/write priveledge*/ |
|
| 17 |
sim_memory->robotSharedMemoryID = shmget(key, sizeof(RobotShared), IPC_CREAT | 0666); |
|
| 18 |
|
|
| 19 |
if(sim_memory->robotSharedMemoryID < 0) |
|
| 20 |
{
|
|
| 21 |
printf("error getting shared memory\n");
|
|
| 22 |
return -1; |
|
| 23 |
} |
|
| 11 | 24 |
|
| 12 |
int child; |
|
| 25 |
*robot_memory = shmat(sim_memory->robotSharedMemoryID, NULL, 0); |
|
| 26 |
if(!(*robot_memory)) |
|
| 27 |
{
|
|
| 28 |
printf("error attaching parent process\n");
|
|
| 29 |
return -1; |
|
| 30 |
} |
|
| 31 |
|
|
| 32 |
int pid; |
|
| 13 | 33 |
|
| 14 |
if((child = fork())<0){
|
|
| 15 |
printf("error with fork!\n");
|
|
| 34 |
if((pid = fork())<0){
|
|
| 35 |
printf("error with fork!\n");
|
|
| 16 | 36 |
return -1; |
| 17 |
} |
|
| 37 |
} |
|
| 38 |
|
|
| 39 |
//Need to consider if this actually works... |
|
| 40 |
char var[21]; |
|
| 41 |
sprintf(var, "memory_id=%d", sim_memory->robotSharedMemoryID); |
|
| 42 |
char *envp[] = {var, NULL};
|
|
| 18 | 43 |
|
| 19 |
char *envp[] = {"test=1", NULL};
|
|
| 20 |
|
|
| 21 |
if(!child){
|
|
| 44 |
if(!pid){
|
|
| 22 | 45 |
/* restore default sigchld handler */ |
| 23 | 46 |
signal(SIGCHLD, SIG_DFL); |
| 24 | 47 |
|
| ... | ... | |
| 26 | 49 |
printf ("error! exec failed\n");
|
| 27 | 50 |
exit(-1); |
| 28 | 51 |
} |
| 29 |
|
|
| 30 |
return child;
|
|
| 52 |
|
|
| 53 |
return pid;
|
|
| 31 | 54 |
} |
| 32 | 55 |
|
| 33 | 56 |
void *sig_chld_handler(int sig) |
| ... | ... | |
| 50 | 73 |
{
|
| 51 | 74 |
signal(SIGCHLD, sig_chld_handler); |
| 52 | 75 |
|
| 53 |
create_robot("robot_test/robot", 0);
|
|
| 76 |
RobotShared* robot; |
|
| 77 |
SimulatorRobot* sim; |
|
| 54 | 78 |
|
| 79 |
create_robot("robot_test/robot", 0, &robot, sim);
|
|
| 80 |
|
|
| 55 | 81 |
printf("returned to parent\n");
|
| 56 | 82 |
|
| 57 | 83 |
|
Also available in: Unified diff