Colony

#include <stdio.h>

#include <sys/time.h>

#include <signal.h>

#include <unistd.h>

#include <stdlib.h>

#include <sys/shm.h>

#include <sys/ipc.h>

#include <robot_shared.h>

#include <string.h>

volatile int i;

RobotShared* shared_state;

void *tick(int sig)

{

  printf("robot process paused. suspending\n");

  shared_state->motor1++; 

  if(raise(SIGTSTP)<0)

    printf("could not kill self!\n");

  printf("robot resumed\n");

  return NULL;

}

int main(int argc, char *argp[], char *envp[])

{

  int ret;

  struct itimerval iv;

  shared_state = shmat(atoi(envp[0]), NULL, 0);

  if(shared_state < 0)

  {

          printf("unable to get shared memory region\n");

          return 1;

  }

  printf("hello. I am a robot w/ env[0] %s\n", envp[0]);

  iv.it_interval.tv_sec = 1;

  iv.it_interval.tv_usec = 0;

  iv.it_value.tv_sec = 3;

  iv.it_value.tv_usec = 0;

  signal(SIGVTALRM, tick);

  ret = setitimer(ITIMER_VIRTUAL, &iv, NULL);

  printf("setitimer returned %d.\n waiting...\n", ret);

  fflush(stdout);

  i=0;

  while(1)

    i++;

  shmdt(shared_state); 

  return 0;

}