main.cc 文件参考

#include <QtGui/QOffscreenSurface>
#include <QtGui/QOpenGLFunctions>
#include <QtWidgets/QApplication>
#include "modules/tools/visualizer/main_window.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 23 行定义.

                                 {
  QApplication a(argc, argv);
  int major, minor;
  {
    QOffscreenSurface surf;
    surf.create();
 
    QOpenGLContext ctx;
    ctx.create();
    ctx.makeCurrent(&surf);
 
    std::stringstream strStreamObj;
    strStreamObj << (const char*)ctx.functions()->glGetString(
        GL_SHADING_LANGUAGE_VERSION);
    double version;
    strStreamObj >> version;
    major = static_cast<int>(version);
    minor = static_cast<int>(version * 10.0 - major * 10);
    if (major < 3 && minor < 3) {
      std::cout << "Shading Language Version ( " << version
                << ") is much lower than 3.3" << std::endl;
      return -1;
    }
  }
  QSurfaceFormat format;
 
  format.setVersion(major, minor);
  format.setRenderableType(QSurfaceFormat::RenderableType::OpenGL);
  format.setSwapBehavior(QSurfaceFormat::SwapBehavior::DoubleBuffer);
  QSurfaceFormat::setDefaultFormat(format);
 
  a.setStyleSheet(
      "QSplitter::handle {"
      "   background: lightGray;"
      "   border-radius: 2px; "
      "}");
 
  apollo::cyber::Init(argv[0]);
 
  MainWindow w;
 
  auto topologyCallback =
      [&w](const apollo::cyber::proto::ChangeMsg& change_msg) {
        w.TopologyChanged(change_msg);
      };
 
  auto channelManager =
      apollo::cyber::service_discovery::TopologyManager::Instance()
          ->channel_manager();
  channelManager->AddChangeListener(topologyCallback);
 
  std::vector<apollo::cyber::proto::RoleAttributes> role_attr_vec;
  channelManager->GetWriters(&role_attr_vec);
  for (auto& role_attr : role_attr_vec) {
    w.AddNewWriter(role_attr);
  }
 
  w.show();
 
  return a.exec();
}