| [10] | 1 | // %flair:license{
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| [15] | 2 | // This file is part of the Flair framework distributed under the
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| 3 | // CECILL-C License, Version 1.0.
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| [10] | 4 | // %flair:license}
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| [9] | 5 | #include <QApplication>
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| 6 | #include <QCleanlooksStyle>
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| 7 | #include <QLocale>
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| [234] | 8 | #include <QTextCursor>
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| [9] | 9 | #include <qmetatype.h>
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| [15] | 10 | #include <tclap/CmdLine.h>
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| [222] | 11 | #include <execinfo.h>
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| 12 | #include <signal.h>
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| [9] | 13 |
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| 14 | #include "Manager.h"
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| [303] | 15 | #include "compile_info.h"
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| [9] | 16 |
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| 17 | using namespace TCLAP;
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| 18 | using namespace std;
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| 19 |
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| 20 | string name;
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| 21 | int port;
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| 22 |
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| [15] | 23 | void parseOptions(int argc, char **argv) {
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| 24 | try {
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| 25 | CmdLine cmd("Command description message", ' ', "0.1");
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| [9] | 26 |
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| [15] | 27 | ValueArg<string> nameArg("n", "name", "uav name", false, "x4-0", "string");
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| 28 | cmd.add(nameArg);
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| [9] | 29 |
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| [15] | 30 | ValueArg<int> portArg("p", "port", "port number", false, 9000, "int");
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| 31 | cmd.add(portArg);
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| [9] | 32 |
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| [15] | 33 | cmd.parse(argc, argv);
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| [9] | 34 |
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| [15] | 35 | // Get the value parsed by each arg.
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| 36 | name = nameArg.getValue();
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| 37 | port = portArg.getValue();
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| 38 |
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| 39 | } catch (ArgException &e) { // catch any exceptions
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| 40 | cerr << "error: " << e.error() << " for arg " << e.argId() << endl;
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| 41 | }
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| [9] | 42 | }
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| [15] | 43 |
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| [222] | 44 | void seg_fault(int sig __attribute__((unused))) {
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| 45 | void *bt[32];
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| 46 | int nentries;
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| 47 |
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| [244] | 48 | fprintf(stderr,"Segmentation fault:\n");
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| [222] | 49 | /* Dump a backtrace of the frame which caused the segfault: */
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| 50 | nentries = backtrace(bt, sizeof(bt) / sizeof(bt[0]));
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| 51 | backtrace_symbols_fd(bt, nentries, fileno(stdout));
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| 52 |
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| 53 | exit(1);
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| 54 | }
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| 55 |
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| [9] | 56 | int main(int argc, char *argv[]) {
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| 57 |
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| [15] | 58 | union {
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| 59 | uint32_t i;
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| 60 | char c[4];
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| 61 | } bint = {0x01020304};
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| [9] | 62 |
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| [15] | 63 | if (bint.c[0] == 1) {
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| [244] | 64 | fprintf(stderr,"error, ground station is only compatible with little endian\n");
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| [15] | 65 | return -1;
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| 66 | }
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| [9] | 67 |
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| [45] | 68 | compile_info("FlairGCS");
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| [222] | 69 |
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| 70 | // catch segfault
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| 71 | signal(SIGSEGV, seg_fault);
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| [9] | 72 |
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| [15] | 73 | parseOptions(argc, argv);
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| [244] | 74 | fprintf(stderr,"listening on port %i\n", port);
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| [9] | 75 |
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| [15] | 76 | qRegisterMetaType<const char *>("const char*");
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| [234] | 77 | qRegisterMetaType<UDTSOCKET>("UDTSOCKET");
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| 78 | qRegisterMetaType<QTextCursor>("QTextCursor");
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| [15] | 79 | QLocale::setDefault(QLocale::C);
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| 80 | QApplication app(argc, argv);
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| 81 | app.setStyle(new QCleanlooksStyle);
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| [9] | 82 |
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| [15] | 83 | Manager manager(QString::fromStdString(name), port);
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| 84 |
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| 85 | manager.show();
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| 86 |
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| 87 | app.exec();
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| [9] | 88 | }
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