Revision 984
Function to free memory added, not sure how to test if its working.
| main.c | ||
|---|---|---|
| 8 | 8 |
#include <sys/ipc.h> |
| 9 | 9 |
#include <sys/types.h> |
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#include <sys/shm.h> |
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#include <errno.h> |
|
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|
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int create_robot(char *execname, int id, RobotShared** robot_memory, SimulatorRobot* sim_memory)
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int create_robot(char *execname, int id, 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; |
| ... | ... | |
| 22 | 23 |
return -1; |
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} |
| 24 | 25 |
|
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*robot_memory = shmat(sim_memory->robotSharedMemoryID, NULL, 0); |
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if(!(*robot_memory)) |
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sim_memory->robotState = shmat(sim_memory->robotSharedMemoryID, NULL, 0); |
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|
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if(!(sim_memory->robotState)) |
|
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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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|
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/*Init robot structure here*/ |
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sim_memory->robotState->motor1 = 0; |
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sim_memory->robotState->motor2 = 0; |
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|
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int pid; |
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|
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if((pid = fork())<0){
|
| ... | ... | |
| 45 | 51 |
signal(SIGCHLD, SIG_DFL); |
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|
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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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printf ("error! exec failed\n");
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|
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exit(-1); |
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} |
| ... | ... | |
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return pid; |
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} |
| 55 | 61 |
|
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int free_robot(SimulatorRobot sim) |
|
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{
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shmdt(sim.robotState); |
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return shmctl(sim.robotSharedMemoryID, IPC_RMID, NULL); |
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} |
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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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{
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signal(SIGCHLD, sig_chld_handler); |
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|
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RobotShared* robot; |
|
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SimulatorRobot sim; |
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|
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create_robot("robot_test/robot", 0, &robot, &sim);
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create_robot("robot_test/robot", 0, &sim);
|
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| 80 | 91 |
|
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printf("returned to parent\n");
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| 82 | 93 |
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int x; |
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for(x = 0; x <10000; x++) |
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printf("motor 1: %d\n", x);
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| 83 | 97 |
|
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gtk_gui_run(argc, argv); |
| 85 | 99 |
|
| ... | ... | |
| 87 | 101 |
|
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return 0; |
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} |
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