Cockpit-cpp/EgoSystem/main.cpp

#include <stdio.h>
#include <iostream>
#include <memory>
#include "api/video/video_frame.h"
#include "../common/comm.h"
#include "../common/iobuffer.h"
#include "api.h"
#include "protocol.pb.h"
#include "PCANBasic.h"
#include "message_queue.h"
#include <signal.h>
#include <cstring>
#include <unistd.h>
#include <fcntl.h>
#include <errno.h>
#include <sys/ioctl.h>
#include <sensors/sensors.h>
#include <sensors/error.h>
#include <linux/usbdevice_fs.h>
bool g_collbrate=false;
void renableUSB(const char *file)
{
    // return;
    printf("Resetting USB device %s\n", file);
    int fd = open(file, O_WRONLY);
    if (fd < 0)
    {
        char text[256];
        perror(text);
        printf("Error opening output file %s", text);
        return;
    }

    int rc = ioctl(fd, USBDEVFS_RESET, 0);
    if (rc < 0)
    {
        perror("Error in ioctl");
        return;
    }
    printf("Reset successful\n");

    close(fd);
}
void daemonize(void)
{
    signal(SIGTTOU, SIG_IGN);
    signal(SIGTTIN, SIG_IGN);
    signal(SIGTSTP, SIG_IGN);
    if (0 != fork())
        exit(0);
    if (-1 == setsid())
        exit(0);
    signal(SIGHUP, SIG_IGN);
    if (0 != fork())
        exit(0);
    // if (0 != chdir("/")) exit(0);
}

bool checkOnly()
{
    const char filename[] = "./lockfile";
    int fd = open(filename, O_WRONLY | O_CREAT, 0644);
    int flock = lockf(fd, F_TLOCK, 0);
    if (fd == -1)
    {
        return false;
    }
    // 给文件加锁
    if (flock == -1)
    {
        return false;
    }
    // 程序退出后，文件自动解锁
    return true;
}
std::string getpath()
{
    char exec_name[BUFSIZ];
    memset(exec_name, 0, sizeof(exec_name));
    readlink("/proc/self/exe", exec_name, BUFSIZ);
    // std::cout<<exec_name<<std::endl;
    int32_t len = strlen(exec_name);
    for (int i = len; i >= 0; i--)
    {
        if (exec_name[i] == '/')
        {
            exec_name[i] = 0;
            break;
        }
    }
    return std::string(exec_name);
}
int8_t hi_byte(int16_t value)
{
    int8_t hi = (int8_t)((value & 0xFF00) >> 8);
    return hi;
}
int8_t lo_byte(int16_t value)
{
    int8_t lo = (int8_t)(value & 0xff);
    return lo;
}


int main(int argc, char *argv[])
{
    // renableUSB("/dev/bus/usb/002/002");
    // renableUSB("/dev/bus/usb/001/003");
    //  daemonize();
    
    //  printf("sensors_init:%d, %s\n", err ,sensors_strerror(err));
    auto path = getpath();
    std::cout << "hello" << path << std::endl;
    if (-1 == chdir(path.c_str()))
        return 0;
    if (checkOnly() == false)
    {
        std::cout << "进程已经在运行" << std::endl;
        return 0;
    }
    //
    std::cout << "进程启动..." << std::endl;
    //  char temp[BUFSIZ];
    //  getcwd(temp,BUFSIZ);
    //   std::cout<<temp<<std::endl;
     if(argc==2)
     {
         if (*(argv[1]) == '-')
         {
             switch (*(++argv[1]))
             {
                case 'e':
                 g_collbrate=true;
                 break;
             }
         }
     }
    
    CMessageQueue Q;
    Q.Create();
     

   
    while (true)
    {
    
        Q.Process();
    }
    // gtk_main();
   
    return 0;
}