main.cpp

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/*
 *  Copyright 2011, 2012 DFKI GmbH Robotics Innovation Center
 *
 *  This file is part of the MARS simulation framework.
 *
 *  MARS is free software: you can redistribute it and/or modify
 *  it under the terms of the GNU Lesser General Public License
 *  as published by the Free Software Foundation, either version 3
 *  of the License, or (at your option) any later version.
 *
 *  MARS is distributed in the hope that it will be useful,
 *  but WITHOUT ANY WARRANTY; without even the implied warranty of
 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 *  GNU Lesser General Public License for more details.
 *
 *   You should have received a copy of the GNU Lesser General Public License
 *   along with MARS.  If not, see <http://www.gnu.org/licenses/>.
 *
 */

#include "MARS.h"
#include "MyApp.h"

#include <signal.h>
#include <cstdio>
//#include "HandleFileNames.h"
//#include <QPlastiqueStyle>


#include <stdexcept>


void qtExitHandler(int sig) {
  mars::app::exit_main(sig);
#ifndef NO_GUI
  if(qApp) qApp->quit();
#endif
}

void ignoreSignal(int sig) {
  (void)(sig);
}

int main(int argc, char *argv[]) {

  //  Q_INIT_RESOURCE(resources);
#ifndef WIN32
  signal(SIGQUIT, qtExitHandler);
  signal(SIGPIPE, qtExitHandler);
  //signal(SIGKILL, qtExitHandler);
  signal(SIGUSR1, ignoreSignal);
#else
  signal(SIGFPE, qtExitHandler);
  signal(SIGILL, qtExitHandler);
  signal(SIGSEGV, qtExitHandler);
  signal(SIGBREAK, qtExitHandler);
#endif
  signal(SIGABRT, qtExitHandler);
  signal(SIGTERM, qtExitHandler);
  signal(SIGINT, qtExitHandler);


  mars::app::MARS *simulation = new mars::app::MARS();
  simulation->readArguments(argc, argv);

  mars::app::MyApp *app=NULL;
  if(simulation->needQApp) {
    new mars::app::MyApp(argc, argv);
    //app->setStyle(new QPlastiqueStyle);
  }

  // for osx relase build:
  /*
    QDir dir(QApplication::applicationDirPath());
    dir.cdUp();
    dir.cd("PlugIns");
    QApplication::setLibraryPaths(QStringList(dir.absolutePath()));
  */

  //app->setWindowIcon(QIcon(QString::fromStdString(Pathes::getGuiPath()) + "images/mars_icon.ico"));

  simulation->start(argc, argv);

  int state;
  if(simulation->needQApp) state = app->exec();
  else state = simulation->runWoQApp();

  delete simulation;
  fprintf(stderr, "\n################################\n");
  fprintf(stderr, "## everything closed fine ^-^ ##\n");
  fprintf(stderr, "################################\n\n");
  return state;
}