main.cc 文件参考

#include <filesystem>
#include "gperftools/heap-profiler.h"
#include "gperftools/malloc_extension.h"
#include "gperftools/profiler.h"
#include "cyber/common/global_data.h"
#include "cyber/init.h"
#include "modules/dreamview_plus/backend/dreamview.h"

main.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 main.cc 第 27 行定义.

                                 {
  // set working directory to APOLLO_RUNTIME_PATH for relative file paths
  const char* apollo_runtime_path = std::getenv("APOLLO_RUNTIME_PATH");
  if (apollo_runtime_path != nullptr) {
    if (std::filesystem::is_directory(
            std::filesystem::status(apollo_runtime_path))) {
      std::filesystem::current_path(apollo_runtime_path);
    }
  }
  google::ParseCommandLineFlags(&argc, &argv, true);
  // Added by caros to improve dv performance
 
  std::signal(SIGTERM, [](int sig) {
    apollo::cyber::OnShutdown(sig);
    if (FLAGS_dv_cpu_profile) {
      ProfilerStop();
    }
    if (FLAGS_dv_heap_profile) {
      HeapProfilerDump("Befor shutdown");
      HeapProfilerStop();
    }
  });
 
  std::signal(SIGINT, [](int sig) {
    apollo::cyber::OnShutdown(sig);
    if (FLAGS_dv_cpu_profile) {
      ProfilerStop();
    }
    if (FLAGS_dv_heap_profile) {
      HeapProfilerDump("Befor shutdown");
      HeapProfilerStop();
    }
  });
 
  if (FLAGS_dv_cpu_profile) {
    auto base_name_cpu = std::string(argv[0]) + "_cpu" + std::string(".prof");
    ProfilerStart(base_name_cpu.c_str());
  }
  if (FLAGS_dv_heap_profile) {
    auto base_name_heap = std::string(argv[0]) + "_heap" + std::string(".prof");
    HeapProfilerStart(base_name_heap.c_str());
  }
 
  apollo::cyber::GlobalData::Instance()->SetProcessGroup("dreamview_sched");
  apollo::cyber::Init(argv[0]);
 
  apollo::dreamview::Dreamview dreamview;
  const bool init_success = dreamview.Init().ok() && dreamview.Start().ok();
  if (!init_success) {
    AERROR << "Failed to initialize dreamview server";
    return -1;
  }
  apollo::cyber::WaitForShutdown();
  return 0;
}