init.cc

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/******************************************************************************
 * Copyright 2018 The Apollo Authors. All Rights Reserved.
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 * http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *****************************************************************************/
 
#include "cyber/init.h"
 
#include <libgen.h>
#include <sys/types.h>
#include <unistd.h>
 
#include <csignal>
#include <cstdio>
#include <ctime>
#include <memory>
#include <string>
 
#include "cyber/proto/clock.pb.h"
 
#include "cyber/binary.h"
#include "cyber/common/file.h"
#include "cyber/common/global_data.h"
#include "cyber/data/data_dispatcher.h"
#include "cyber/logger/async_logger.h"
#include "cyber/node/node.h"
#include "cyber/scheduler/scheduler.h"
#include "cyber/service_discovery/topology_manager.h"
#include "cyber/sysmo/sysmo.h"
#include "cyber/task/task.h"
#include "cyber/time/clock.h"
#include "cyber/timer/timing_wheel.h"
#include "cyber/transport/transport.h"
#include "cyber/statistics/statistics.h"
 
#include "gflags/gflags.h"
 
namespace apollo {
namespace cyber {
 
using apollo::cyber::scheduler::Scheduler;
using apollo::cyber::service_discovery::TopologyManager;
 
namespace {
 
const std::string& kClockChannel = "/clock";
const std::string& kClockNode = "clock";
 
bool g_atexit_registered = false;
std::mutex g_mutex;
std::unique_ptr<Node> clock_node;
 
logger::AsyncLogger* async_logger = nullptr;
 
void InitLogger(const char* binary_name) {
  const char* slash = strrchr(binary_name, '/');
  if (slash) {
    ::apollo::cyber::binary::SetName(slash + 1);
  } else {
    ::apollo::cyber::binary::SetName(binary_name);
  }
 
  // Init glog
  google::InitGoogleLogging(binary_name);
  google::SetLogDestination(google::ERROR, "");
  google::SetLogDestination(google::WARNING, "");
  google::SetLogDestination(google::FATAL, "");
 
  // Init async logger
  async_logger = new ::apollo::cyber::logger::AsyncLogger(
      google::base::GetLogger(FLAGS_minloglevel));
  google::base::SetLogger(FLAGS_minloglevel, async_logger);
  async_logger->Start();
}
 
void StopLogger() { delete async_logger; }
 
}  // namespace
 
void OnShutdown(int sig) {
  (void)sig;
  if (GetState() != STATE_SHUTDOWN) {
    SetState(STATE_SHUTTING_DOWN);
  }
}
 
void ExitHandle() { Clear(); }
 
bool Init(const char* binary_name, const std::string& dag_info) {
  std::lock_guard<std::mutex> lg(g_mutex);
  if (GetState() != STATE_UNINITIALIZED) {
    return false;
  }
 
  InitLogger(binary_name);
  auto thread = const_cast<std::thread*>(async_logger->LogThread());
  scheduler::Instance()->SetInnerThreadAttr("async_log", thread);
  SysMo::Instance();
  std::signal(SIGINT, OnShutdown);
  // Register exit handlers
  if (!g_atexit_registered) {
    if (std::atexit(ExitHandle) != 0) {
      AERROR << "Register exit handle failed";
      return false;
    }
    AINFO << "Register exit handle succ.";
    g_atexit_registered = true;
  }
  SetState(STATE_INITIALIZED);
 
  auto global_data = GlobalData::Instance();
  if (global_data->IsMockTimeMode()) {
    auto node_name = kClockNode + std::to_string(getpid());
    clock_node = std::unique_ptr<Node>(new Node(node_name));
    auto cb =
        [](const std::shared_ptr<const apollo::cyber::proto::Clock>& msg) {
          if (msg->has_clock()) {
            Clock::Instance()->SetNow(Time(msg->clock()));
          }
        };
    clock_node->CreateReader<apollo::cyber::proto::Clock>(kClockChannel, cb);
  }
 
  if (dag_info != "") {
    std::string dump_path;
    if (dag_info.length() > 200) {
      std::string truncated = dag_info.substr(0, 200);
      dump_path = common::GetEnv(
        "APOLLO_ENV_WORKROOT", "/apollo") + "/dumps/" + truncated;
    } else {
      dump_path = \
        common::GetEnv("APOLLO_ENV_WORKROOT", "/apollo") + "/dumps/" + dag_info;
    }
    google::SetCommandLineOption("bvar_dump_file", dump_path.c_str());
  } else {
    statistics::Statistics::Instance()->DisableChanVar();
  }
  google::SetCommandLineOption("bvar_dump_exclude", "*qps");
  google::SetCommandLineOption("bvar_dump", "true");
 
  return true;
}
 
void Clear() {
  std::lock_guard<std::mutex> lg(g_mutex);
  if (GetState() == STATE_SHUTDOWN || GetState() == STATE_UNINITIALIZED) {
    return;
  }
  SysMo::CleanUp();
  TaskManager::CleanUp();
  TimingWheel::CleanUp();
  scheduler::CleanUp();
  service_discovery::TopologyManager::CleanUp();
  transport::Transport::CleanUp();
  StopLogger();
  SetState(STATE_SHUTDOWN);
}
 
}  // namespace cyber
}  // namespace apollo