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robin.cpp
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robin.cpp
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#include <thread>
#include <atomic>
#include <csignal>
#include "loguru.hpp"
#include "utils.hpp"
#include "settings.hpp"
#include "common.hpp"
#include "TrackingServer.hpp"
#include "ImagingServer.hpp"
#include <sqlite3.h>
#include <condition_variable>
#include "CCServer.hpp"
// Stopping mechanism
std::atomic<bool> process_stop(false);
void exit_handler(int s) {
LOG_F(WARNING, "Caught signal %d", s);
process_stop = true;
LOG_F(INFO, "program_stop=true");
}
std::mutex mutex_new_poly;
bool new_poly=false;
std::condition_variable cv_new_poly;
int main(int argc, char** argv) {
const uint8_t nodeID = read_int_from_file(CFG_NODEID);
int opt;
char *checkLong;
long int verbose_value;
// force running as root on ARM
#ifdef __aarch64__
auto user_running = getuid();
if (user_running != 0) {
perror("Robin must be run as root");
throw;
}
#endif
if (argc < 2) {
std::cerr << "Not enough arguments" << std::endl;
throw;
}
// setup logs
loguru::g_stderr_verbosity = loguru::Verbosity_INFO;
loguru::add_file("robin.log", loguru::Truncate, loguru::Verbosity_3);
loguru::set_thread_name("robin_main");
while((opt = getopt(argc, argv, "i:v:")) != -1)
LOG_F(WARNING, "NodeID=%d", nodeID);
{
switch(opt)
{
case 'v':
verbose_value = strtol (optarg, &checkLong, 10);
if (std::strcmp(checkLong, "\0") == 0 and (-2 <= verbose_value) and (verbose_value <= 9)) {
loguru::g_stderr_verbosity = static_cast<int>(verbose_value);
LOG_F(WARNING, "Logging changed to the value -> {%d} through parameter -v", loguru::g_stderr_verbosity);
}
break;
}
}
// setup signals
signal(SIGINT, exit_handler);
sqlite3_config(SQLITE_CONFIG_SERIALIZED);
// Tracking server
TrackingServer trackingserver(TRACKING_SERVER_PORT, nodeID);
trackingserver.start();
// CCserver start
CCServer ccserver(CC_SERVER_PORT, nodeID);
ccserver.start();
// join all services
trackingserver.join();
ccserver.join();
LOG_F(WARNING, "Robin exiting");
return 0;
}