root / branches / simulator / projects / simulator / libsim / libsim.c @ 986
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1 | 986 | bneuman | #include <stdio.h> |
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2 | #include <stdlib.h> |
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3 | #include <sys/time.h> |
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4 | #include <signal.h> |
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5 | #include <unistd.h> |
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6 | #include <stdlib.h> |
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7 | #include <sys/shm.h> |
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8 | #include <sys/ipc.h> |
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9 | //#include <robot_shared.h>
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10 | #include <string.h> |
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11 | 906 | bcoltin | |
12 | 986 | bneuman | |
13 | //RobotShared* shared_state;
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14 | |||
15 | void *tick(int sig) |
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16 | { |
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17 | printf("robot process paused. suspending\n");
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18 | |||
19 | //shared_state->motor1++;
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20 | |||
21 | if(raise(SIGTSTP)<0) |
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22 | printf("could not kill self!\n");
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23 | |||
24 | printf("robot resumed\n");
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25 | |||
26 | return NULL; |
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27 | } |
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28 | |||
29 | |||
30 | 906 | bcoltin | void dragonfly_init(int config) |
31 | { |
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32 | 986 | bneuman | struct itimerval iv;
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33 | int ret;
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34 | 906 | bcoltin | |
35 | 986 | bneuman | /*shared_state = shmat(atoi(envp[0]), NULL, 0);
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36 | if(shared_state < 0)
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37 | {
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38 | printf("unable to get shared memory region\n");
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39 | return 1;
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40 | }*/
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41 | |||
42 | |||
43 | printf("hello. I am a robot w/ memory_id %s\n", getenv("memory_id")); |
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44 | |||
45 | |||
46 | iv.it_interval.tv_sec = 1;
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47 | iv.it_interval.tv_usec = 0;
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48 | iv.it_value.tv_sec = 3;
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49 | iv.it_value.tv_usec = 0;
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50 | |||
51 | signal(SIGVTALRM, tick); |
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52 | |||
53 | ret = setitimer(ITIMER_VIRTUAL, &iv, NULL);
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54 | |||
55 | printf("setitimer returned %d.\n waiting...\n", ret);
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56 | fflush(stdout); |
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57 | |||
58 | //TODO: clean up code??
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59 | |||
60 | 906 | bcoltin | } |