main.cc 4.65 KB
Newer Older
pixhawk's avatar
pixhawk committed
1 2
/*=====================================================================

pixhawk's avatar
pixhawk committed
3
QGroundControl Open Source Ground Control Station
pixhawk's avatar
pixhawk committed
4

5
(c) 2009 - 2011 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
pixhawk's avatar
pixhawk committed
6

pixhawk's avatar
pixhawk committed
7
This file is part of the QGROUNDCONTROL project
pixhawk's avatar
pixhawk committed
8

pixhawk's avatar
pixhawk committed
9
    QGROUNDCONTROL is free software: you can redistribute it and/or modify
pixhawk's avatar
pixhawk committed
10 11 12 13
    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.

pixhawk's avatar
pixhawk committed
14
    QGROUNDCONTROL is distributed in the hope that it will be useful,
pixhawk's avatar
pixhawk committed
15 16 17 18 19
    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
pixhawk's avatar
pixhawk committed
20
    along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
pixhawk's avatar
pixhawk committed
21 22 23 24 25 26 27 28 29 30

======================================================================*/

/**
 * @file
 *   @brief Main executable
 *   @author Lorenz Meier <mavteam@student.ethz.ch>
 *
 */

31
#include <QApplication>
Don Gagne's avatar
Don Gagne committed
32 33
#include <QSslSocket>

lm's avatar
lm committed
34
#include "QGCCore.h"
pixhawk's avatar
pixhawk committed
35 36
#include "MainWindow.h"
#include "configuration.h"
37 38
#include "SerialLink.h"
#include "TCPLink.h"
39
#ifdef QT_DEBUG
40
#include "AutoTest.h"
41 42 43 44
#include "CmdLineOptParser.h"
#ifdef Q_OS_WIN
#include <crtdbg.h>
#endif
45
#endif
unknown's avatar
unknown committed
46

47
/* SDL does ugly things to main() */
48
#ifdef main
49
#undef main
50
#endif
51

52 53

#ifdef Q_OS_WIN
54 55 56

/// @brief Message handler which is installed using qInstallMsgHandler so you do not need
/// the MSFT debug tools installed to see qDebug(), qWarning(), qCritical and qAbort
57
void msgHandler(QtMsgType type, const QMessageLogContext &context, const QString &msg)
58 59
{
    const char symbols[] = { 'I', 'E', '!', 'X' };
60
    QString output = QString("[%1] at %2:%3 - \"%4\"").arg(symbols[type]).arg(context.file).arg(context.line).arg(msg);
61 62 63 64
    std::cerr << output.toStdString() << std::endl;
    if( type == QtFatalMsg ) abort();
}

65 66 67 68 69 70 71 72 73 74 75
/// @brief CRT Report Hook installed using _CrtSetReportHook. We install this hook when
/// we don't want asserts to pop a dialog on windows.
int WindowsCrtReportHook(int reportType, char* message, int* returnValue)
{
    Q_UNUSED(reportType);
    
    std::cerr << message << std::endl;  // Output message to stderr
    *returnValue = 0;                   // Don't break into debugger
    return true;                        // We handled this fully ourselves
}

76 77
#endif

pixhawk's avatar
pixhawk committed
78 79 80 81 82 83 84
/**
 * @brief Starts the application
 *
 * @param argc Number of commandline arguments
 * @param argv Commandline arguments
 * @return exit code, 0 for normal exit and !=0 for error cases
 */
85

pixhawk's avatar
pixhawk committed
86 87
int main(int argc, char *argv[])
{
88

Lorenz Meier's avatar
Lorenz Meier committed
89
#ifdef Q_OS_MAC
90 91 92
    // Prevent Apple's app nap from screwing us over
    // tip: the domain can be cross-checked on the command line with <defaults domains>
    QProcess::execute("defaults write org.qgroundcontrol.qgroundcontrol NSAppSleepDisabled -bool YES");
Lorenz Meier's avatar
Lorenz Meier committed
93
#endif
94 95

    // install the message handler
96
#ifdef Q_OS_WIN
97
    qInstallMessageHandler(msgHandler);
98
#endif
99 100 101 102 103 104 105

    // The following calls to qRegisterMetaType are done to silence debug output which warns
    // that we use these types in signals, and without calling qRegisterMetaType we can't queue
    // these signals. In general we don't queue these signals, but we do what the warning says
    // anyway to silence the debug output.
    qRegisterMetaType<QSerialPort::SerialPortError>();
    qRegisterMetaType<QAbstractSocket::SocketError>();
106 107
    
#ifdef QT_DEBUG
108
    // We parse a small set of command line options here prior to QGCApplication in order to handle the ones
109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128
    // which need to be handled before a QApplication object is started.
    
    bool runUnitTests = false;          // Run unit test
    bool quietWindowsAsserts = false;   // Don't let asserts pop dialog boxes
    
    CmdLineOpt_t rgCmdLineOptions[] = {
        { "--unittest",             &runUnitTests },
        { "--no-windows-assert-ui", &quietWindowsAsserts },
        // Add additional command line option flags here
    };
    
    ParseCmdLineOptions(argc, argv, rgCmdLineOptions, sizeof(rgCmdLineOptions)/sizeof(rgCmdLineOptions[0]), true);
    
    if (quietWindowsAsserts) {
#ifdef Q_OS_WIN
        _CrtSetReportHook(WindowsCrtReportHook);
#endif
    }
    
    if (runUnitTests) {
129 130 131 132 133 134 135 136 137 138 139 140 141
        // Run the test
        int failures = AutoTest::run(argc-1, argv);
        if (failures == 0)
        {
            qDebug() << "ALL TESTS PASSED";
        }
        else
        {
            qDebug() << failures << " TESTS FAILED!";
        }
        return failures;
    }
#endif
142

143 144
    QGCApplication* app = new QGCApplication(argc, argv);
    Q_CHECK_PTR(app);
145
    
146
    if (!app->init()) {
147 148
        return -1;
    }
149

150
    return app->exec();
pixhawk's avatar
pixhawk committed
151
}