Colony

#include "gtk_gui.h"

#include <stdio.h>

#include <unistd.h>

#include <stdlib.h>

#include <signal.h>

#include <sys/wait.h>

#include <robot_shared.h>

#include <sys/ipc.h>

#include <sys/types.h>

#include <sys/shm.h>

#include <errno.h>

int create_robot(char *execname, int id, SimulatorRobot* sim_memory)

{

  /* do shared memory stuff here */

  // key_t key = IPC_PRIVATE;

  /*Memory accessible only to children and gives them read/write priveledge*/

  //  sim_memory->robotSharedMemoryID = shmget(key, sizeof(RobotShared), IPC_CREAT | 0666);

  /*  if(sim_memory->robotSharedMemoryID < 0)

  {

          printf("error getting shared memory\n");

          return -1;

  }

  sim_memory->robotState = shmat(sim_memory->robotSharedMemoryID, NULL, 0);

  if(!(sim_memory->robotState))

  {

        printf("error attaching parent process\n");

        return -1;

  }

  */

  /*Init robot structure here*/

  /*  sim_memory->robotState->motor1 = 0;

      sim_memory->robotState->motor2 = 0;*/

  int pid;

  if((pid = fork())<0){

    printf("error with fork!\n");                        

    return -1;

  }                       

  char var[21];

  char *envp[] = {var, NULL};

  if(!pid){

    /* restore default sigchld handler */

    signal(SIGCHLD, SIG_DFL);

    sprintf(var, "memory_id=%d", 1);//sim_memory->robotSharedMemoryID);

    execve(execname, NULL, envp);  //TODO: keep the other env. stuff around

    printf ("error! exec failed\n");

    exit(-1);

  }

  return pid;

}

int free_robot(SimulatorRobot sim)                       

{

  return 0;/*

         shmdt(sim.robotState);

        return shmctl(sim.robotSharedMemoryID, IPC_RMID, NULL); */

}

void *sig_chld_handler(int sig)

{

  pid_t pid;

  int cstat;

  printf("SIGCHLD: parent waiting\n");

  pid = waitpid(0, &cstat, WUNTRACED);

  printf("got %d from %d\n", cstat, pid);

  kill(pid, SIGCONT);

  return NULL;

}

int main(int argc, char** argv)

{

  signal(SIGCHLD, sig_chld_handler);

  //SimulatorRobot sim;

  if(argc<=1){

    printf("Usage: simulator <robot execetuable>\n");

    exit(-1);

  }

  create_robot(argv[1], 0, NULL/*&sim*/);

  printf("returned to parent\n");

  int x;

  /*  for(x = 0; x <10000; x++)

      printf("motor 1: %d\n", x);*/

  gtk_gui_run(argc, argv);

  printf("parent exiting.\n");

  return 0;

}