main.cpp

机器人开源项目orocos的源代码

/***************************************************************************
  tag: Peter Soetens  Mon May 10 19:10:29 CEST 2004  main.cxx 

                        main.cxx -  description
                           -------------------
    begin                : Mon May 10 2004
    copyright            : (C) 2004 Peter Soetens
    email                : [e-mail]
 
 ***************************************************************************
 *   This library 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;                 *
 *   version 2 of the License.                                             *
 *                                                                         *
 *   As a special exception, you may use this file as part of a free       *
 *   software library without restriction.  Specifically, if other files   *
 *   instantiate templates or use macros or inline functions from this     *
 *   file, or you compile this file and link it with other files to        *
 *   produce an executable, this file does not by itself cause the         *
 *   resulting executable to be covered by the GNU General Public          *
 *   License.  This exception does not however invalidate any other        *
 *   reasons why the executable file might be covered by the GNU General   *
 *   Public License.                                                       *
 *                                                                         *
 *   This library 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     *
 *   Lesser General Public License for more details.                       *
 *                                                                         *
 *   You should have received a copy of the GNU General Public             *
 *   License along with this library; if not, write to the Free Software   *
 *   Foundation, Inc., 59 Temple Place,                                    *
 *   Suite 330, Boston, MA  02111-1307  USA                                *
 *                                                                         *
 ***************************************************************************/

/**
 * @file main.cxx
 * This file contains the start-up code of the framework
 * and will call in turn the user's ORO_main() function.
 * Only compile the main() function if the OS calls it.
 * Otherwise, your port (ie target) must compile a file
 * which calls the user's ORO_main function.
 * (See os.cdl)
 */
#include "../rtt-config.h"
#ifdef OS_HAVE_MAIN

#include <os/startstop.h>
#include <os/main.h>
#ifdef OS_HAVE_IOSTREAM
#include <iostream>
using namespace std;
#else
#include <cstdio>
#endif

#include "Logger.hpp"
using RTT::Logger;

#ifdef OROPKG_OS_THREAD_SCOPE
# include <boost/scoped_ptr.hpp>
# include "dev/DigitalOutInterface.hpp"
  using namespace RTT;
#endif

#ifdef OROSEM_OS_LOCK_MEMORY
#include <sys/mman.h>
#endif

#ifdef OROINT_OS_CORBA
#include <tao/Exception.h>
#include <ace/String_Base.h>
#endif

const char* catchflag = "--nocatch";

extern "C"
int main(int argc, char* argv[])
{
    int res = -1;

    __os_init(argc, argv);

    string location( argv[0] );
    location += "::main()";
    {
        Logger::In in( location.c_str() );

        bool dotry = true;
        // look for --nocatch flag :
        for( int i=1; i < argc; ++i)
            if ( strncmp(catchflag, argv[i], strlen(catchflag) ) == 0 )
                dotry = false;

#ifdef OROPKG_OS_THREAD_SCOPE
        unsigned int bit = 0;

        boost::scoped_ptr<DigitalOutInterface> pp;
        DigitalOutInterface* d = 0;
        // this is the device users can use across all threads to control the
        // scope's output.
        if ( DigitalOutInterface::nameserver.getObject("ThreadScope") )
            d = DigitalOutInterface::nameserver.getObject("ThreadScope");
        else
            Logger::log() << Logger::Error<< "Failed to find 'ThreadScope' object in DigitalOutInterface::nameserver." << Logger::endl;
        if ( d ) {
            Logger::log() << Logger::Info << "ThreadScope : main thread toggles bit "<< bit << Logger::endl;
            d->switchOn( bit );
        }
#endif
        Logger::log() << Logger::Debug << "ORO_main starting..." << Logger::endl;

        if ( dotry ) {
            try {
                res = ORO_main(argc, argv);
#ifdef OROINT_OS_CORBA
            } catch( CORBA::Exception &e )
                {
                    Logger::log() <<Logger::Error << "ORO_main : CORBA exception raised!" << Logger::nl;
                    Logger::log() << e._info().c_str() << Logger::endl;
#endif
                } catch( ... )
                    {
#ifdef OS_HAVE_IOSTREAM
                        cerr <<endl<< " Orocos has detected an uncaught C++ exception"<<endl;
                        cerr << " in the ORO_main() function."<<endl;
                        cerr << " You might have called a function which throws"<<endl;
                        cerr << " without a try {} catch {} block."<< endl << endl;
                        cerr << "To Debug this situation, issue the following command:"<<endl<<endl;
                        cerr << "   valgrind --num-callers=16 "<<argv[0]<<" " << catchflag << endl;
                        cerr << "Which will show where the exception occured."<<endl;
                        cerr << " ( Change num-callers for more/less detail."<<endl;
                        cerr << "   Also, compiling orocos and your program with"<<endl;
                        cerr << "   -g adds more usefull information. )"<<endl<<endl;
#else
                        printf("Orocos intercepted uncaught C++ exception\n");
#endif
                    }
        } else {
            res = ORO_main(argc, argv);
        }
#ifdef OROPKG_OS_THREAD_SCOPE
        if (d)
            d->switchOff(bit);
#endif
        Logger::log() << Logger::Debug << "ORO_main done." << Logger::endl;
    }
    __os_exit();

    return res;
}

#endif // OS_HAVE_MAIN