hayodea
09caf314f1
We decided to get rid of the C FFI for libs. It was becoming too intricate and complicated. It was becoming a technical burden and expanding into too much extra code. It's unfortunate, but we'll have to give up on getting out-of-tree hot-loadable libraries the easy way. It's possible to still do it with cross compilation or by keeping track of the libstdc++ version that the running harikoff binary was compiled against. Then we can ensure that our loadable lib code is linked against that same libstdc++ code and this should ensure ABI stability.
109 lines
2.7 KiB
C++
109 lines
2.7 KiB
C++
#include <iostream>
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#include <exception>
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#include <thread>
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#include <mutex>
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#include <unordered_map>
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#include <condition_variable>
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#include <boost/asio.hpp>
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#include <opts.h>
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#include <mind.h>
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#include <deviceManager/deviceManager.h>
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#include <senseApis/senseApiManager.h>
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#include "componentThread.h"
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namespace hk {
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static int initializeHarikoff(int argc, char **argv, char **envp);
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} // namespace hk
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int main(int argc, char **argv, char **envp)
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{
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try {
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std::cout << __func__ << ": Entering main()" << std::endl;
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boost::asio::io_service mrntLoop;
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boost::asio::io_service::work work(mrntLoop);
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// Validate thread IDs
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hk::ComponentThread::validateThreadIds();
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// Post initializeHarikoff to mrntLoop
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mrntLoop.post([&]()
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{
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int ret = hk::initializeHarikoff(argc, argv, envp);
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if (ret != 0)
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{
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std::cerr << "Initialization failed with code: "
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<< ret << std::endl;
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std::exit(ret);
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}
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});
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mrntLoop.run();
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}
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catch (const std::exception& e)
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{
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std::cerr << __func__ << ": Exception occurred: " << e.what()
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<< std::endl;
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return EXIT_FAILURE;
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}
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catch (...)
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{
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std::cerr << __func__ << ": Unknown exception occurred" << std::endl;
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return EXIT_FAILURE;
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}
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std::cout << __func__ << ": Exiting normally" << std::endl;
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return 0;
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}
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namespace hk {
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static int initializeHarikoff(int argc, char **argv, char **envp)
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{
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std::cout << __func__ << ": Entering" << std::endl;
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using namespace hk;
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OptionParser &options = OptionParser::getOptions();
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hk::Mind mind;
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std::cout << PACKAGE_NAME << " " << PACKAGE_VERSION << std::endl;
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try {
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options.parseArguments(argc, argv, envp);
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std::cout << options.stringifyOptions() << std::endl;
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}
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catch (const std::invalid_argument& e)
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{
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std::cerr << __func__ << ": Exception occurred: " << e.what() << '\n'
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<< options.getUsage() << '\n';
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return EXIT_FAILURE;
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}
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if (options.printUsage)
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{
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std::cout << options.getUsage() << std::endl;
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return EXIT_SUCCESS;
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}
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device::DeviceManager::getInstance().collateAllDeviceSpecs();
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device::DeviceManager::getInstance().parseAllDeviceSpecs();
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std::cout << device::DeviceManager::stringifyDeviceSpecs() << std::endl;
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sense_api::SenseApiManager::getInstance().loadAllSenseApiLibsFromOptions();
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std::cout << sense_api::SenseApiManager::getInstance().stringifyLibs()
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<< std::endl;
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sense_api::SenseApiManager::getInstance().initializeAllSenseApiLibs();
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sense_api::SenseApiManager::getInstance().attachAllSenseDevicesFromSpecs();
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/* Start the threads */
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for (const auto& [id, componentThread]
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: hk::ComponentThread::componentThreads) {
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hk::ComponentThread::signalThread(id);
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}
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std::cout << __func__ << ": Exiting" << std::endl;
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return 0;
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}
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} // namespace hk
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