main.cpp

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/*
 The Real-Time eXperiment Interface (RTXI)
 Copyright (C) 2011 Georgia Institute of Technology, University of Utah, Weill Cornell Medical College

 This program is free software: you can redistribute it and/or modify
 it under the terms of the GNU General Public License as published by
 the Free Software Foundation, either version 3 of the License, or
 (at your option) any later version.

 This program is distributed in the hope that it will be useful,
 but WITHOUT ANY WARRANTY; without even the implied warranty of
 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
 GNU General Public License for more details.

 You should have received a copy of the GNU General Public License
 along with this program. If not, see <http://www.gnu.org/licenses/>.

 */

#include <QApplication>
#include <QtWidgets>

#include <iostream>
#include <cstdlib>
#include <dirent.h>
#include <errno.h>
#include <getopt.h>
#include <signal.h>
#include <string>
#include <unistd.h>
#include <ctype.h>
#include <daq.h>
#include <debug.h>
#include <main_window.h>
#include <plugin.h>

#if XENOMAI
#include <rtdk.h>
#endif

static pid_t parentThread;

struct cli_options_t
{
 std::string config_file;
 std::string plugins_path;
};

static bool parse_cli_options(int,char *[],cli_options_t *);
static void signal_handler(int);

int main(int argc,char *argv[])
{
 int retval = 0;

#if XENOMAI
 /* Initialize rtdk */
 rt_print_auto_init(1);
#endif

 /* Try to Exit Cleanly on Signals */
 parentThread = getpid();
 signal(SIGINT,signal_handler);
 signal(SIGABRT,signal_handler);
 signal(SIGSEGV,signal_handler);

 /* Handle Command-Line Options */
 cli_options_t cli_options;
 if (!parse_cli_options(argc,argv,&cli_options))
 return -EINVAL;

 /* Find Configuration File */
 std::string config_file;
 if (cli_options.config_file.length())
 config_file = cli_options.config_file;
 else if (getenv("RTXI_CONF"))
 config_file = getenv("RTXI_CONF");
 else
 config_file = "/usr/local/share/rtxi/rtxi.conf";

 /************************************************************
 * Create Main System Components *
 * *
 * These need to be created early because they should have *
 * Settings::IDs of 0 and 1. *
 ************************************************************/

 /* Create GUI Objects */
 QApplication::setDesktopSettingsAware(false);
 QApplication *app = new QApplication(argc,argv);
 app->connect(app,SIGNAL(lastWindowClosed()),app,SLOT(quit()));
 MainWindow::getInstance()->loadWindow();;

 RT::System::getInstance();
 IO::Connector::getInstance();

 /* Bootstrap the System */
 Settings::Manager::getInstance()->load(config_file);
 retval = app->exec();

 Plugin::Manager::getInstance()->unloadAll();
 return retval;
}

static void error_msg(const std::string &self)
{
 std::cout << "Try \'" << self << " --help\' for more information.\n";
}

static void help_msg(const std::string &self)
{
 std::cout << "Usage: " << self << " [options]\n";
 std::cout << " where options include:\n";
 std::cout << " --help, -h - Displays this message\n";
 std::cout << " --config-file, -c - Pick a custom configuration file\n";
 std::cout << " --plugins-path, -p - Specify a plugins directory\n";
}

static bool parse_cli_options(int argc,char *argv[],cli_options_t *cli_options)
{
 int opt, index;

 struct option options[] =
 {
 { "help", no_argument, 0, 'h' },
 { "config-file", required_argument, 0, 'c' },
 { "plugins-path", required_argument, 0, 'p' },
 { "models-path", required_argument, 0, 'm' },
 { 0,0,0,0 }
 };

 for (;;)
 {
 opt = getopt_long(argc,argv,"hc:p:m:",options,&index);

 if (opt < 0) break;

 switch (opt)
 {
 case 'c':
 cli_options->config_file = optarg;
 break;
 case 'h':
 help_msg(argv[0]);
 return false;
 case 'p':
 cli_options->plugins_path = optarg;
 break;
 default:
 error_msg(argv[0]);
 return false;
 }
 }

 return true;
}

static void signal_handler(int signum)
{
 static int count = 0;

 /* Only handler handle signals in the parent */
 if (getpid() != parentThread) return;

 ERROR_MSG("signal_handler : signal type %i received\n", signum);
 PRINT_BACKTRACE();

 if (count++) _exit(-EFAULT);

 //DEBUG_MSG("signal_handler : finished\n");
 exit(0);
}