main.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 <QtGui/QOffscreenSurface>
#include <QtGui/QOpenGLFunctions>
#include <QtWidgets/QApplication>
 
#include "modules/tools/visualizer/main_window.h"
 
int main(int argc, char* argv[]) {
  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();
}