/*===================================================================== QGroundControl Open Source Ground Control Station (c) 2009 - 2011 QGROUNDCONTROL PROJECT This file is part of the QGROUNDCONTROL project QGROUNDCONTROL 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. QGROUNDCONTROL 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 QGROUNDCONTROL. If not, see . ======================================================================*/ /** * @file * @brief Main executable * @author Lorenz Meier * */ #include #include #include #include #include "QGCApplication.h" #define SINGLE_INSTANCE_PORT 14499 #ifndef __mobile__ #include "QGCSerialPortInfo.h" #endif #ifdef QT_DEBUG #ifndef __mobile__ #include "UnitTest.h" #endif #include "CmdLineOptParser.h" #ifdef Q_OS_WIN #include #endif #endif #ifdef QGC_ENABLE_BLUETOOTH #include #endif #include /* SDL does ugly things to main() */ #ifdef main #undef main #endif #ifndef __mobile__ Q_DECLARE_METATYPE(QGCSerialPortInfo) #endif #ifdef Q_OS_WIN /// @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 void msgHandler(QtMsgType type, const QMessageLogContext &context, const QString &msg) { const char symbols[] = { 'I', 'E', '!', 'X' }; QString output = QString("[%1] at %2:%3 - \"%4\"").arg(symbols[type]).arg(context.file).arg(context.line).arg(msg); std::cerr << output.toStdString() << std::endl; if( type == QtFatalMsg ) abort(); } /// @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 } #endif #ifdef __android__ #include #include "qserialport.h" jint JNI_OnLoad(JavaVM* vm, void* reserved) { Q_UNUSED(reserved); JNIEnv* env; if (vm->GetEnv(reinterpret_cast(&env), JNI_VERSION_1_6) != JNI_OK) { return -1; } QSerialPort::setNativeMethods(); return JNI_VERSION_1_6; } #endif /** * @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 */ int main(int argc, char *argv[]) { #ifndef __mobile__ //-- Test for another instance already running. If that's the case, we simply exit. QHostAddress host("127.0.0.1"); QUdpSocket socket; if(!socket.bind(host, SINGLE_INSTANCE_PORT, QAbstractSocket::DontShareAddress)) { qWarning() << "Another instance already running. Exiting."; exit(-1); } #endif #ifdef Q_OS_MAC #ifndef __ios__ // Prevent Apple's app nap from screwing us over // tip: the domain can be cross-checked on the command line with QProcess::execute("defaults write org.qgroundcontrol.qgroundcontrol NSAppSleepDisabled -bool YES"); #endif #endif #ifdef Q_OS_WIN // install the message handler qInstallMessageHandler(msgHandler); // Set our own OpenGL buglist qputenv("QT_OPENGL_BUGLIST", ":/opengl/resources/opengl/buglist.json"); // Allow for command line override of renderer for (int i = 0; i < argc; i++) { const QString arg(argv[i]); if (arg == QStringLiteral("-angle")) { QCoreApplication::setAttribute(Qt::AA_UseOpenGLES); break; } else if (arg == QStringLiteral("-swrast")) { QCoreApplication::setAttribute(Qt::AA_UseSoftwareOpenGL); break; } } #endif // 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. #ifndef __ios__ qRegisterMetaType(); #endif #ifdef QGC_ENABLE_BLUETOOTH qRegisterMetaType(); qRegisterMetaType(); #endif qRegisterMetaType(); #ifndef __mobile__ qRegisterMetaType(); #endif // We statically link our own QtLocation plugin #ifdef Q_OS_WIN // In Windows, the compiler doesn't see the use of the class created by Q_IMPORT_PLUGIN #pragma warning( disable : 4930 4101 ) #endif Q_IMPORT_PLUGIN(QGeoServiceProviderFactoryQGC) bool runUnitTests = false; // Run unit tests #ifdef QT_DEBUG // We parse a small set of command line options here prior to QGCApplication in order to handle the ones // which need to be handled before a QApplication object is started. bool stressUnitTests = false; // Stress test unit tests bool quietWindowsAsserts = false; // Don't let asserts pop dialog boxes QString unitTestOptions; CmdLineOpt_t rgCmdLineOptions[] = { { "--unittest", &runUnitTests, &unitTestOptions }, { "--unittest-stress", &stressUnitTests, &unitTestOptions }, { "--no-windows-assert-ui", &quietWindowsAsserts, NULL }, // Add additional command line option flags here }; ParseCmdLineOptions(argc, argv, rgCmdLineOptions, sizeof(rgCmdLineOptions)/sizeof(rgCmdLineOptions[0]), false); if (stressUnitTests) { runUnitTests = true; } if (quietWindowsAsserts) { #ifdef Q_OS_WIN _CrtSetReportHook(WindowsCrtReportHook); #endif } #ifdef Q_OS_WIN if (runUnitTests) { // Don't pop up Windows Error Reporting dialog when app crashes. This prevents TeamCity from // hanging. DWORD dwMode = SetErrorMode(SEM_NOGPFAULTERRORBOX); SetErrorMode(dwMode | SEM_NOGPFAULTERRORBOX); } #endif #endif // QT_DEBUG QGCApplication* app = new QGCApplication(argc, argv, runUnitTests); Q_CHECK_PTR(app); // There appears to be a threading issue in qRegisterMetaType which can cause it to throw a qWarning // about duplicate type converters. This is caused by a race condition in the Qt code. Still working // with them on tracking down the bug. For now we register the type which is giving us problems here // while we only have the main thread. That should prevent it from hitting the race condition later // on in the code. qRegisterMetaType > >(); app->_initCommon(); int exitCode = 0; #ifndef __mobile__ #ifdef QT_DEBUG if (runUnitTests) { for (int i=0; i < (stressUnitTests ? 20 : 1); i++) { if (!app->_initForUnitTests()) { return -1; } // Run the test int failures = UnitTest::run(unitTestOptions); if (failures == 0) { qDebug() << "ALL TESTS PASSED"; exitCode = 0; } else { qDebug() << failures << " TESTS FAILED!"; exitCode = -failures; break; } } } else #endif #endif { if (!app->_initForNormalAppBoot()) { return -1; } exitCode = app->exec(); } delete app; qDebug() << "After app delete"; return exitCode; }