main.cpp

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#include <QApplication>
#include <iostream>

#include <boost/stacktrace.hpp>
#include <signal.h>
#include <string.h>

#include "debug.hpp"
#include "main_window.hpp"
#include "rt.hpp"
#include "rtxiConfig.h"
#include "widgets.hpp"
#include "workspace.hpp"

namespace
{
void signal_handler(int signum)
{
 // NOLINTNEXTLINE
 ERROR_MSG("signal_handler : signal type {} received\n", ::strsignal(signum));
 std::cerr << boost::stacktrace::stacktrace();
 exit(-1); // NOLINT
}
} // namespace

int main(int argc, char* argv[])
{
 if (signal(SIGINT, signal_handler) == SIG_ERR) {
 ERROR_MSG("MAIN: Unable to set SIGINT signal handler");
 return -1;
 }
 if (signal(SIGABRT, signal_handler) == SIG_ERR) {
 ERROR_MSG("MAIN: Unable to set SIGABRT signal handler");
 return -1;
 }
 if (signal(SIGSEGV, signal_handler) == SIG_ERR) {
 ERROR_MSG("MAIN: Unable to set SIGSEGV signal handler");
 return -1;
 }

 std::cout << "Welcome to RTXI Version ";
 std::cout << RTXI_VERSION_MAJOR << ".";
 std::cout << RTXI_VERSION_MINOR << ".";
 std::cout << RTXI_VERSION_PATCH << "\n";

 // Initializing core classes
 auto event_manager = std::make_unique<Event::Manager>();
 auto rt_connector = std::make_unique<RT::Connector>();
 auto rt_system =
 std::make_unique<RT::System>(event_manager.get(), rt_connector.get());
 rt_system->createTelemitryProcessor();
 // Initializing GUI
 // QApplication::setDesktopSettingsAware(false);
 auto* app = new QApplication(argc, argv);
 QApplication::connect(app, SIGNAL(lastWindowClosed()), app, SLOT(quit()));

 auto* rtxi_window = new MainWindow(event_manager.get());
 auto mod_manager = std::make_unique<Workspace::Manager>(event_manager.get());
 rtxi_window->loadWindow();
 const int retval = QApplication::exec();
 delete rtxi_window;
 delete app;
 return retval;
}