mainboard.cc 文件参考

#include <string.h>
#include <list>
#include <string>
#include "cyber/common/global_data.h"
#include "cyber/common/log.h"
#include "cyber/init.h"
#include "cyber/mainboard/module_argument.h"
#include "cyber/mainboard/module_controller.h"
#include "cyber/state.h"
#include "gperftools/profiler.h"
#include "gperftools/heap-profiler.h"
#include "gperftools/malloc_extension.h"

mainboard.cc 的引用(Include)关系图:

浏览源代码.

函数
int	main (int argc, char **argv)

函数说明

main()

int main	(	int	argc,
		char **	argv
	)

在文件 mainboard.cc 第 36 行定义.

                                {
  // parse the argument
  ModuleArgument module_args;
  module_args.ParseArgument(argc, argv);
 
  auto dag_list = module_args.GetDAGConfList();
 
  std::string dag_info;
  for (auto&& i = dag_list.begin(); i != dag_list.end(); i++) {
    size_t pos = 0;
    for (size_t j = 0; j < (*i).length(); j++) {
      pos = ((*i)[j] == '/') ? j: pos;
    }
    if (i != dag_list.begin()) dag_info += "_";
 
    if (pos == 0) {
      dag_info += *i;
    } else {
      dag_info +=
        (pos == (*i).length()-1) ? (*i).substr(pos): (*i).substr(pos+1);
    }
  }
 
  if (module_args.GetProcessGroup() !=
        apollo::cyber::mainboard::DEFAULT_process_group_) {
    dag_info = module_args.GetProcessGroup();
  }
 
  // initialize cyber
  apollo::cyber::Init(argv[0], dag_info);
 
  static bool enable_cpu_profile = module_args.GetEnableCpuprofile();
  static bool enable_mem_profile = module_args.GetEnableHeapprofile();
  std::signal(SIGTERM, [](int sig){
    apollo::cyber::OnShutdown(sig);
    if (enable_cpu_profile) {
      ProfilerStop();
    }
 
    if (enable_mem_profile) {
      HeapProfilerDump("Befor shutdown");
      HeapProfilerStop();
    }
  });
 
  if (module_args.GetEnableHeapprofile()) {
    auto profile_filename = module_args.GetHeapProfileFilename();
    HeapProfilerStart(profile_filename.c_str());
  }
 
  // start module
  ModuleController controller(module_args);
  if (!controller.Init()) {
    controller.Clear();
    AERROR << "module start error.";
    return -1;
  }
 
  if (module_args.GetEnableCpuprofile()) {
    auto profile_filename = module_args.GetProfileFilename();
    ProfilerStart(profile_filename.c_str());
  }
 
  apollo::cyber::WaitForShutdown();
 
  if (module_args.GetEnableCpuprofile()) {
    ProfilerStop();
  }
 
  if (module_args.GetEnableHeapprofile()) {
    HeapProfilerDump("Befor shutdown");
    HeapProfilerStop();
  }
 
  controller.Clear();
  AINFO << "exit mainboard.";
 
  return 0;
}