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45 lines
1.2 KiB
45 lines
1.2 KiB
#include <QApplication>
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#include <QCommandLineParser>
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#include <QDebug>
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#include <QThread>
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#include <csignal>
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#include "selfdrive/ui/qt/util.h"
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#include "selfdrive/ui/qt/maps/map_helpers.h"
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#include "selfdrive/ui/navd/route_engine.h"
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#include "selfdrive/ui/navd/map_renderer.h"
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#include "selfdrive/hardware/hw.h"
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#include "selfdrive/common/params.h"
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void sigHandler(int s) {
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qInfo() << "Shutting down";
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std::signal(s, SIG_DFL);
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qApp->quit();
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}
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int main(int argc, char *argv[]) {
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qInstallMessageHandler(swagLogMessageHandler);
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QApplication app(argc, argv);
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std::signal(SIGINT, sigHandler);
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std::signal(SIGTERM, sigHandler);
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QCommandLineParser parser;
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parser.setApplicationDescription("Navigation server. Runs stand-alone, or using pre-computer route");
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parser.addHelpOption();
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parser.process(app);
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const QStringList args = parser.positionalArguments();
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RouteEngine* route_engine = new RouteEngine();
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if (Params().getBool("NavdRender")) {
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MapRenderer * m = new MapRenderer(get_mapbox_settings());
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QObject::connect(route_engine, &RouteEngine::positionUpdated, m, &MapRenderer::updatePosition);
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QObject::connect(route_engine, &RouteEngine::routeUpdated, m, &MapRenderer::updateRoute);
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}
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return app.exec();
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}
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