mirror of https://github.com/gnss-sdr/gnss-sdr
219 lines
8.0 KiB
C++
219 lines
8.0 KiB
C++
/*!
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* \file main.cc
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* \brief Main file of the GNSS-SDR program.
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* \author Carlos Aviles, 2010. carlos.avilesr(at)googlemail.com
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*
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* It sets up the logging system, creates a ControlThread object,
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* makes it run, and releases memory back when the main thread has ended.
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*
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* -------------------------------------------------------------------------
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*
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* Copyright (C) 2010-2019 (see AUTHORS file for a list of contributors)
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*
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* GNSS-SDR is a software defined Global Navigation
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* Satellite Systems receiver
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*
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* This file is part of GNSS-SDR.
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*
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* GNSS-SDR is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* GNSS-SDR is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
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*
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* -------------------------------------------------------------------------
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*/
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#ifndef GNSS_SDR_VERSION
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#define GNSS_SDR_VERSION "0.0.10"
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#endif
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#ifndef GOOGLE_STRIP_LOG
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#define GOOGLE_STRIP_LOG 0
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#endif
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#include "concurrent_map.h"
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#include "concurrent_queue.h"
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#include "control_thread.h"
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#include "gps_acq_assist.h"
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#include <boost/exception/diagnostic_information.hpp> // for diagnostic_informatio
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#include <boost/exception/exception.hpp> // for exception
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#include <boost/thread/exceptions.hpp> // for thread_resource_error
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#if HAS_STD_FILESYSTEM
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#include <filesystem>
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#include <system_error>
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#else
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#include <boost/filesystem/operations.hpp> // for create_directories, exists
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#include <boost/filesystem/path.hpp> // for path, operator<<
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#include <boost/system/error_code.hpp> // for error_code
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#endif
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#include <gflags/gflags.h> // for ShutDownCommandLineFlags
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#include <glog/logging.h> // for FLAGS_log_dir
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#include <chrono> // for time_point
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#include <exception> // for exception
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#include <iostream> // for operator<<, endl
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#include <memory> // for unique_ptr
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#include <string> // for string
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#if CUDA_GPU_ACCEL
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// For the CUDA runtime routines (prefixed with "cuda_")
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#include <cuda_runtime.h>
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#endif
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#if HAS_STD_FILESYSTEM
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namespace fs = std::filesystem;
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namespace errorlib = std;
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#else
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namespace fs = boost::filesystem;
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namespace errorlib = boost::system;
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#endif
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/*
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* Concurrent queues that communicates the Telemetry Decoder
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* to the Observables modules
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*/
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// For GPS NAVIGATION (L1)
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Concurrent_Queue<Gps_Acq_Assist> global_gps_acq_assist_queue;
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Concurrent_Map<Gps_Acq_Assist> global_gps_acq_assist_map;
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int main(int argc, char** argv)
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{
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const std::string intro_help(
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std::string("\nGNSS-SDR is an Open Source GNSS Software Defined Receiver\n") +
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"Copyright (C) 2010-2019 (see AUTHORS file for a list of contributors)\n" +
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"This program comes with ABSOLUTELY NO WARRANTY;\n" +
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"See COPYING file to see a copy of the General Public License\n \n");
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const std::string gnss_sdr_version(GNSS_SDR_VERSION);
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google::SetUsageMessage(intro_help);
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google::SetVersionString(gnss_sdr_version);
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google::ParseCommandLineFlags(&argc, &argv, true);
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std::cout << "Initializing GNSS-SDR v" << gnss_sdr_version << " ... Please wait." << std::endl;
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#if CUDA_GPU_ACCEL
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// Reset the device
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// cudaDeviceReset causes the driver to clean up all state. While
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// not mandatory in normal operation, it is good practice. It is also
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// needed to ensure correct operation when the application is being
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// profiled. Calling cudaDeviceReset causes all profile data to be
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// flushed before the application exits
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cudaDeviceReset();
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std::cout << "Reset CUDA device done " << std::endl;
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#endif
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if (GOOGLE_STRIP_LOG == 0)
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{
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google::InitGoogleLogging(argv[0]);
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if (FLAGS_log_dir.empty())
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{
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std::cout << "Logging will be written at "
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<< fs::temp_directory_path()
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<< std::endl
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<< "Use gnss-sdr --log_dir=/path/to/log to change that."
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<< std::endl;
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}
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else
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{
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const fs::path p(FLAGS_log_dir);
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if (!fs::exists(p))
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{
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std::cout << "The path "
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<< FLAGS_log_dir
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<< " does not exist, attempting to create it."
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<< std::endl;
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errorlib::error_code ec;
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if (!fs::create_directory(p, ec))
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{
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std::cerr << "Could not create the " << FLAGS_log_dir << " folder. GNSS-SDR program ended." << std::endl;
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google::ShutDownCommandLineFlags();
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return 1;
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}
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}
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std::cout << "Logging will be written at " << FLAGS_log_dir << std::endl;
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}
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}
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std::chrono::time_point<std::chrono::system_clock> start, end;
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start = std::chrono::system_clock::now();
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int return_code = 0;
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try
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{
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std::unique_ptr<ControlThread> control_thread(new ControlThread());
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// record startup time
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start = std::chrono::system_clock::now();
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return_code = control_thread->run();
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}
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catch (const boost::thread_resource_error& e)
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{
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std::cerr << "Failed to create boost thread." << std::endl;
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google::ShutDownCommandLineFlags();
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std::cout << "GNSS-SDR program ended." << std::endl;
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return 1;
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}
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catch (const boost::exception& e)
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{
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if (GOOGLE_STRIP_LOG == 0)
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{
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LOG(WARNING) << "Boost exception: " << boost::diagnostic_information(e);
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std::cerr << boost::diagnostic_information(e) << std::endl;
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}
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else
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{
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std::cerr << "Boost exception: " << boost::diagnostic_information(e) << std::endl;
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}
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google::ShutDownCommandLineFlags();
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std::cout << "GNSS-SDR program ended." << std::endl;
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return 1;
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}
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catch (const std::exception& ex)
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{
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if (GOOGLE_STRIP_LOG == 0)
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{
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LOG(WARNING) << "C++ Standard Library exception: " << ex.what();
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std::cerr << ex.what() << std::endl;
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}
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else
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{
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std::cerr << "C++ Standard Library exception: " << ex.what() << std::endl;
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}
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google::ShutDownCommandLineFlags();
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std::cout << "GNSS-SDR program ended." << std::endl;
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return 1;
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}
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catch (...)
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{
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if (GOOGLE_STRIP_LOG == 0)
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{
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LOG(WARNING) << "Unexpected catch. This should not happen.";
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std::cerr << "Unexpected error." << std::endl;
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}
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else
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{
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std::cerr << "Unexpected catch. This should not happen." << std::endl;
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}
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google::ShutDownCommandLineFlags();
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std::cout << "GNSS-SDR program ended." << std::endl;
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return 1;
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}
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// report the elapsed time
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end = std::chrono::system_clock::now();
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std::chrono::duration<double> elapsed_seconds = end - start;
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std::cout << "Total GNSS-SDR run time: "
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<< elapsed_seconds.count()
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<< " [seconds]" << std::endl;
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google::ShutDownCommandLineFlags();
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std::cout << "GNSS-SDR program ended." << std::endl;
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return return_code;
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}
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