int main(int argc, char **argv) {
init_cv_buffers();
context = init_kinect();
if (context == NULL) {
return 1;
}
if (freenect_open_device(context, &device, 0) < 0) {
printf("could not open device\n");
freenect_shutdown(context);
return 1;
}
int capture_loop_failed = pthread_create(&kinect_thread, NULL, capture_loop, NULL);
if (capture_loop_failed) {
printf("pthread_create failed\n");
freenect_shutdown(context);
return 1;
}
handle_sigint();
graphics_loop(argc, argv);
pthread_join(kinect_thread, NULL);
printf("thanks for shooting down quads!\n");
}
void check_signals(void)
{
if (mf_sigchld) handle_sigchld();
if (mf_sigalrm) handle_sigalrm();
if (mf_sigint) handle_sigint();
if (mf_sigquit) handle_sigquit();
if (mf_sigterm) handle_sigterm();
if (mf_sigpipe) handle_sigpipe();
if (mf_sigusr1) handle_sigusr1();
if (mf_sigusr2) handle_sigusr2();
if (mf_sighup) handle_sighup();
if (mf_stupid)
{
syslog(LOG_ERR,"set a signal handler,but forgot to write code to handle it");
mf_stupid = 0;
}
}
void*
signal_handler_thread(void *p)
{
sigset_t sigs;
sigemptyset (&sigs);
sigaddset (&sigs, SIGINT);
int sig;
while ( !signal_handler_thread_stop)
{
sig = 0;
sigwait(&sigs, &sig);
switch(sig)
{
case SIGINT:
handle_sigint(sig);
signal_handler_thread_stop=true;
break;
default:
std::cerr << "Got unexpected Signal (" << sig << ")" << std::endl;
}
}
return 0;
}
