Control flow for the simulator

Basicly just all the functions in simulator.c

main
  bzero
  init_graphics
    gtk_init
  strncpy
  initialize_ipc
  signal
  malloc
  GLOBAL_update_ipc_callbacks
  gtk_timeout_add
  subscribe_clicks
  map_subscribe_gridmap_message
    IPC_subscribe
  map_get_gridmap_message
    get_tenchar_host_name
    strcpy
    strlen
    malloc
    strcpy
    get_time_ms
    IPC_queryNotifyData
    free
  while
    sleep_ipc


/* updateIPC does not seem to get called */

updateIPC
  sleep_ipc
  GLOBAL_update_ipc_callbacks


/* publish_readings is called every 172 milliseconds by gtk_main
because it was added as a timeout by gtk_timeout_add in main */

publish_readings
  publish_frontlaser_message
    get_time_ms
    get_tenchar_host_name
    strcpy
    IPC_publishData
  publish_odometry_message
    get_tenchar_host_name
    strcpy
    get_time_ms
    IPC_publishData


/* shutdown_module is called whenever a SIGNINT signal is 
recieved. */

shutdown_module
  close_ipc
  exit


/* map_handler is called by map_interface_handler in map_interface.c
when it recieves a map. (Established as such by the call to 
map_subscribe_gridmap_message in main) This will be the map requested by
map_get_gridmap_message in main. The map will probably be recieved
when IPC_publishData is called withing publish_frontlaser_message or
publish_odometry_message  or within sleep_ipc */

map_handler
  displayMap
    gtk*
    gtk_signal_connect
    gtk_widget_set_events
    gtk_main
  free
  close_ipc
  exit

/* click_handler is called by button_press_event in map_graphics.c
which is called by gtk_main when it recieves a button press on the 
window. button_press_event was connected to the button press signal
by the call to gtk_signal_connect in displayMap. click_handler
was established as the handler for such a button press by the call
to subscribe_clicks in main. */

click_handler
  calc_theta
    hypot
    asin
  calc_mesg
    malloc
    generate_laser_data   //in geometry.h
    free