gnss-sdr/src/main/main.cc

300 lines
10 KiB
C++

/*!
* \file main.cc
* \brief Main file of the GNSS-SDR program.
* \author Carlos Aviles, 2010. carlos.avilesr(at)googlemail.com
*
* It sets up the logging system, creates a ControlThread object,
* makes it run, and releases memory back when the main thread has ended.
*
* -----------------------------------------------------------------------------
*
* GNSS-SDR is a Global Navigation Satellite System software-defined receiver.
* This file is part of GNSS-SDR.
*
* Copyright (C) 2010-2013 (see AUTHORS file for a list of contributors)
* SPDX-License-Identifier: GPL-3.0-or-later
*
* -----------------------------------------------------------------------------
*/
#ifndef GNSS_SDR_VERSION
#define GNSS_SDR_VERSION "0.0.19"
#endif
#ifndef GOOGLE_STRIP_LOG
#define GOOGLE_STRIP_LOG 0
#endif
#include "concurrent_map.h"
#include "concurrent_queue.h"
#include "control_thread.h"
#include "gnss_sdr_filesystem.h"
#include "gnss_sdr_flags.h"
#include "gnss_sdr_make_unique.h"
#include "gps_acq_assist.h"
#include <boost/exception/diagnostic_information.hpp> // for diagnostic_information
#include <boost/exception/exception.hpp> // for exception
#include <boost/thread/exceptions.hpp> // for thread_resource_error
#include <chrono> // for time_point
#include <exception> // for exception
#include <fstream> // for ofstream
#include <iostream> // for operator<<
#include <memory> // for unique_ptr
#include <ostream> // fro std::flush
#include <string> // for string
#if USE_GLOG_AND_GFLAGS
#include <gflags/gflags.h> // for ShutDownCommandLineFlags
#include <glog/logging.h>
#if GFLAGS_OLD_NAMESPACE
namespace gflags
{
using namespace google;
}
#endif
#else
#include <absl/flags/flag.h>
#include <absl/flags/parse.h>
#include <absl/flags/usage.h>
#include <absl/flags/usage_config.h>
#include <absl/log/flags.h>
#include <absl/log/globals.h>
#include <absl/log/initialize.h>
#include <absl/log/log.h>
#include <absl/log/log_sink.h>
#include <absl/log/log_sink_registry.h>
std::string GnssSdrVersionString() { return std::string("gnss-sdr version ") + std::string(GNSS_SDR_VERSION) + "\n"; }
class GnssSdrLogSink : public absl::LogSink
{
public:
GnssSdrLogSink()
{
if (!absl::GetFlag(FLAGS_log_dir).empty())
{
filename = absl::GetFlag(FLAGS_log_dir) + "/gnss-sdr.log";
}
else
{
filename = GetTempDir() + "/gnss-sdr.log";
}
logfile.open(filename);
}
void Send(const absl::LogEntry& entry) override
{
logfile << entry.text_message_with_prefix_and_newline() << std::flush;
}
private:
std::ofstream logfile;
std::string filename;
};
#endif
#if CUDA_GPU_ACCEL
// For the CUDA runtime routines (prefixed with "cuda_")
#include <cuda_runtime.h>
#endif
/*
* Concurrent queues that communicates the Telemetry Decoder
* to the Observables modules
*/
// For GPS NAVIGATION (L1)
Concurrent_Queue<Gps_Acq_Assist> global_gps_acq_assist_queue;
Concurrent_Map<Gps_Acq_Assist> global_gps_acq_assist_map;
int main(int argc, char** argv)
{
try
{
const std::string intro_help(
std::string("\nGNSS-SDR is an Open Source GNSS Software Defined Receiver\n") +
"Copyright (C) 2010-2024 (see AUTHORS file for a list of contributors)\n" +
"This program comes with ABSOLUTELY NO WARRANTY;\n" +
"See COPYING file to see a copy of the General Public License\n \n");
const std::string gnss_sdr_version(GNSS_SDR_VERSION);
#if USE_GLOG_AND_GFLAGS
gflags::SetUsageMessage(intro_help);
gflags::SetVersionString(gnss_sdr_version);
gflags::ParseCommandLineFlags(&argc, &argv, true);
#else
absl::FlagsUsageConfig empty_config;
empty_config.version_string = &GnssSdrVersionString;
absl::SetFlagsUsageConfig(empty_config);
absl::SetProgramUsageMessage(intro_help);
absl::ParseCommandLine(argc, argv);
if (!ValidateFlags())
{
std::cout << "GNSS-SDR program ended.\n";
return 1;
}
#endif
std::cout << "Initializing GNSS-SDR v" << gnss_sdr_version << " ... Please wait.\n";
}
catch (const std::exception& e)
{
std::cerr << e.what() << '\n';
std::cout << "GNSS-SDR program ended.\n";
return 1;
}
#if CUDA_GPU_ACCEL
// Reset the device
// cudaDeviceReset causes the driver to clean up all state. While
// not mandatory in normal operation, it is good practice. It is also
// needed to ensure correct operation when the application is being
// profiled. Calling cudaDeviceReset causes all profile data to be
// flushed before the application exits
cudaDeviceReset();
std::cout << "Reset CUDA device done.\n";
#endif
if (GOOGLE_STRIP_LOG == 0)
{
#if USE_GLOG_AND_GFLAGS
google::InitGoogleLogging(argv[0]);
if (FLAGS_log_dir.empty())
#else
absl::LogSink* theSink = new GnssSdrLogSink;
absl::AddLogSink(theSink);
absl::InitializeLog();
if (absl::GetFlag(FLAGS_log_dir).empty())
#endif
{
std::cout << "Logging will be written at "
<< fs::temp_directory_path()
<< '\n'
<< "Use gnss-sdr --log_dir=/path/to/log to change that.\n";
}
else
{
try
{
#if USE_GLOG_AND_GFLAGS
const fs::path p(FLAGS_log_dir);
#else
const fs::path p(absl::GetFlag(FLAGS_log_dir));
#endif
if (!fs::exists(p))
{
std::cout << "The path "
#if USE_GLOG_AND_GFLAGS
<< FLAGS_log_dir
#else
<< absl::GetFlag(FLAGS_log_dir)
#endif
<< " does not exist, attempting to create it.\n";
errorlib::error_code ec;
if (!fs::create_directory(p, ec))
{
#if USE_GLOG_AND_GFLAGS
std::cerr << "Could not create the " << FLAGS_log_dir << " folder. GNSS-SDR program ended.\n";
gflags::ShutDownCommandLineFlags();
#else
std::cerr << "Could not create the " << absl::GetFlag(FLAGS_log_dir) << " folder. GNSS-SDR program ended.\n";
#endif
return 1;
}
}
#if USE_GLOG_AND_GFLAGS
std::cout << "Logging will be written at " << FLAGS_log_dir << '\n';
#else
std::cout << "Logging will be written at " << absl::GetFlag(FLAGS_log_dir) << '\n';
#endif
}
catch (const std::exception& e)
{
std::cerr << e.what() << '\n';
#if USE_GLOG_AND_GFLAGS
std::cerr << "Could not create the " << FLAGS_log_dir << " folder. GNSS-SDR program ended.\n";
gflags::ShutDownCommandLineFlags();
#else
std::cerr << "Could not create the " << absl::GetFlag(FLAGS_log_dir) << " folder. GNSS-SDR program ended.\n";
#endif
return 1;
}
}
}
#if USE_GLOG_AND_GFLAGS
#else
else
{
absl::SetMinLogLevel(absl::LogSeverityAtLeast::kInfinity); // do not log
}
#endif
std::chrono::time_point<std::chrono::system_clock> start;
std::chrono::time_point<std::chrono::system_clock> end;
start = std::chrono::system_clock::now();
int return_code = 0;
try
{
auto control_thread = std::make_unique<ControlThread>();
// record startup time
start = std::chrono::system_clock::now();
return_code = control_thread->run();
}
catch (const boost::thread_resource_error& e)
{
std::cerr << "Failed to create boost thread.\n";
return_code = 1;
}
catch (const boost::exception& e)
{
if (GOOGLE_STRIP_LOG == 0)
{
LOG(WARNING) << "Boost exception: " << boost::diagnostic_information(e);
std::cerr << boost::diagnostic_information(e) << '\n';
}
else
{
std::cerr << "Boost exception: " << boost::diagnostic_information(e) << '\n';
}
return_code = 1;
}
catch (const std::exception& ex)
{
if (GOOGLE_STRIP_LOG == 0)
{
LOG(WARNING) << "C++ Standard Library exception: " << ex.what();
std::cerr << ex.what() << '\n';
}
else
{
std::cerr << "C++ Standard Library exception: " << ex.what() << '\n';
}
return_code = 1;
}
catch (...)
{
if (GOOGLE_STRIP_LOG == 0)
{
LOG(WARNING) << "Unexpected catch. This should not happen.";
std::cerr << "Unexpected error.\n";
}
else
{
std::cerr << "Unexpected catch. This should not happen.\n";
}
return_code = 1;
}
// report the elapsed time
end = std::chrono::system_clock::now();
std::chrono::duration<double> elapsed_seconds = end - start;
std::cout << "Total GNSS-SDR run time: "
<< elapsed_seconds.count()
<< " [seconds]\n";
#if USE_GLOG_AND_GFLAGS
gflags::ShutDownCommandLineFlags();
#else
absl::FlushLogSinks();
#endif
std::cout << "GNSS-SDR program ended.\n";
return return_code;
}