void gluonscript_init()
{
gluonscript_data.current_codeline = 0;
gluonscript_data.last_code = 0;
gluonscript_data.tick = 0;
gluonscript_load();
navigation_init();
}
void navigation_task()
{
bool logging_enabled = false;
navigation_init();
#ifdef FLASH_ENABLED
if (flash_init() == 0) {
logging_enabled = true;
}
if (logging_enabled) {
if (!log_init()) {
serial_printf(cli_stdout, "log_init failed\n");
log_reset();
}
}
//We look if we have mavlink mission item logged, in case we just suffered a crash
uint32_t time = 0;
char name[4]; //Name is a 3 characters long string
mission_item_list_t item_list;
if(log_read_mavlink_item_list(&item_list, &time, &name, &pos_counter))
navigation_restore_mission_items(item_list);
#endif
unsigned int loops_since_stop = 0;
while(1){
// navigation_update_target();
navigation_update_current_target();
navigation_update_position();
navigation_update_state();
navigation_arm_disarm();
navigation_move();
if(navigation_rover_moving() || loops_since_stop < 62) // trasmit messages after stop for a duration such that
//at least one msg with speed zero is tx'd via LoRa
{
comm_mavlink_broadcast(navigation_pack_mavlink_hud());
comm_mavlink_broadcast(navigation_pack_rc_channels_scaled());
}
if(!navigation_rover_moving())
loops_since_stop++;
else
loops_since_stop = 0;
Task_sleep(500);
}
}
int main (int argc, const char **argv)
{
#ifdef WIN32
{
// set the console to accept escape sequences (Win10+)
HANDLE console = GetStdHandle(STD_OUTPUT_HANDLE);
if (console != INVALID_HANDLE_VALUE)
{
DWORD consoleMode = 0;
GetConsoleMode(console, &consoleMode);
consoleMode |= 4; // ENABLE_VIRTUAL_TERMINAL_PROCESSING; but that isn't available in our current SDK target
SetConsoleMode(console, consoleMode);
}
}
#endif
int exit_code = EXIT_SUCCESS;
try {
// Experiment with floating point masks.
// #ifdef FE_NOMASK_ENV
// feenableexcept(FE_INVALID);
// feenableexcept(FE_DIVBYZERO | FE_INVALID);
// #endif
bgl = new BackgroundLoader();
size_t winid = gfx_init(cb);
debug_drawer = new BulletDebugDrawer(ogre_sm); // FIXME: hack
#ifdef WIN32
mouse = new MouseDirectInput8(winid);
bool use_dinput = getenv("GRIT_DINPUT")!=NULL;
keyboard = use_dinput ? (Keyboard *)new KeyboardDirectInput8(winid)
: (Keyboard *)new KeyboardWinAPI(winid);
#else
mouse = new MouseX11(winid);
keyboard = new KeyboardX11(winid);
#endif
clipboard_init();
physics_init();
net_init();
core_option_init();
streamer_init();
navigation_init();
// audio_init(getenv("GRIT_AUDIO_DEV"));
audio_init(NULL);
std::vector<std::string> args;
for (int i=0 ; i<argc ; i++) {
args.push_back(argv[i]);
}
try {
const char *init_file = getenv("GRIT_INIT");
if (init_file == nullptr) init_file = "/system/init.lua";
init_lua(init_file, args, core_L);
} catch (Exception &e) {
CERR << "Fatal error: " << e << std::endl;
exit_code = EXIT_FAILURE;
}
// Lua returns - we quit.
CVERB << "Shutting down Lua net subsystem..." << std::endl;
net_shutdown(core_L);
navigation_shutdown();
object_all_del(core_L); // Will remove all demands from background loader.
CVERB << "Shutting down Lua graphics subsystem..." << std::endl;
gfx_shutdown_lua(core_L);
CVERB << "Shutting down Background Loader..." << std::endl;
bgl->shutdown();
CVERB << "Shutting down Mouse & Keyboard..." << std::endl;
if (mouse) delete mouse;
if (keyboard) delete keyboard;
CVERB << "Shutting down clipboard..." << std::endl;
clipboard_shutdown();
CVERB << "Shutting down Lua VM..." << std::endl;
if (core_L) shutdown_lua(core_L);
CVERB << "Shutting down audio subsystem..." << std::endl;
audio_shutdown(); //close AL device
CVERB << "Shutting down physics subsystem..." << std::endl;
physics_shutdown();
CVERB << "Shutting down the physics debug drawer..." << std::endl;
if (debug_drawer) delete debug_drawer;
CVERB << "Shutting down the Graphics subsystem..." << std::endl;
gfx_shutdown();
delete bgl;
} catch (Exception &e) {
std::cerr << "TOP LEVEL ERROR: " << e << std::endl;
return EXIT_FAILURE;
}
return exit_code;
}
int main_real(int argc, char * const* argv)
{
xmlerror *error = NULL;
char *config_file = NULL, *command=NULL, *startup_file=NULL;
int opt;
char *cp;
struct attr navit, conf;
GList *list = NULL, *li;
main_argc=argc;
main_argv=argv;
#ifdef HAVE_GLIB
event_glib_init();
#else
_g_slice_thread_init_nomessage();
#endif
atom_init();
main_init(argv[0]);
navit_nls_main_init();
debug_init(argv[0]);
cp = getenv("NAVIT_LOGFILE");
if (cp) {
debug_set_logfile(cp);
}
#ifdef HAVE_API_WIN32_CE
else {
debug_set_logfile("/Storage Card/navit.log");
}
#endif
file_init();
#ifndef USE_PLUGINS
builtin_init();
#endif
route_init();
navigation_init();
tracking_init();
search_init();
linguistics_init();
geom_init();
config_file=NULL;
#ifdef HAVE_GETOPT_H
opterr=0; //don't bomb out on errors.
#endif /* _MSC_VER */
/* ingore iphone command line argument */
if (argc == 2 && !strcmp(argv[1],"-RegisterForSystemEvents"))
argc=1;
if (argc > 1) {
/* Don't forget to update the manpage if you modify theses options */
while((opt = getopt(argc, argv, ":hvc:d:e:s:")) != -1) {
switch(opt) {
case 'h':
print_usage();
exit(0);
break;
case 'v':
printf("%s %s\n", "navit", version);
exit(0);
break;
case 'c':
printf("config file n is set to `%s'\n", optarg);
config_file = optarg;
break;
case 'd':
debug_set_global_level(atoi(optarg), 1);
break;
case 'e':
command=optarg;
break;
case 's':
startup_file=optarg;
break;
#ifdef HAVE_GETOPT_H
case ':':
fprintf(stderr, "navit: Error - Option `%c' needs a value\n", optopt);
print_usage();
exit(2);
break;
case '?':
fprintf(stderr, "navit: Error - No such option: `%c'\n", optopt);
print_usage();
exit(3);
#endif
}
}
// use 1st cmd line option that is left for the config file
if (optind < argc) config_file = argv[optind];
}
// if config file is explicitely given only look for it, otherwise try std paths
if (config_file) {
list = g_list_append(list,g_strdup(config_file));
} else {
list = g_list_append(list,g_strjoin(NULL,getenv("NAVIT_USER_DATADIR"), "/navit.xml" , NULL));
list = g_list_append(list,g_strdup("navit.xml.local"));
list = g_list_append(list,g_strdup("navit.xml"));
#ifdef HAVE_API_ANDROID
// new preferred location (the new one should have priority over the legacy!)
list = g_list_append(list,g_strdup("/sdcard/navit/navit.xml"));
// legacy location, still supported
list = g_list_append(list,g_strdup("/sdcard/navit.xml"));
#endif
list = g_list_append(list,g_strjoin(NULL,getenv("NAVIT_SHAREDIR"), "/navit.xml.local" , NULL));
list = g_list_append(list,g_strjoin(NULL,getenv("NAVIT_SHAREDIR"), "/navit.xml" , NULL));
#ifndef _WIN32
list = g_list_append(list,g_strdup("/etc/navit/navit.xml"));
#endif
}
li = list;
for (;;) {
if (li == NULL) {
// We have not found an existing config file from all possibilities
dbg(0, "%s", _("No config file navit.xml, navit.xml.local found\n"));
return 4;
}
// Try the next config file possibility from the list
config_file = li->data;
dbg(1,"trying %s\n",config_file);
if (file_exists(config_file)) {
break;
}
g_free(config_file);
li = g_list_next(li);
}
dbg(0,"Loading %s\n",config_file);
if (!config_load(config_file, &error)) {
dbg(0, _("Error parsing config file '%s': %s\n"), config_file, error ? error->message : "");
} else {
dbg(0, _("Using config file '%s'\n"), config_file);
}
while (li) {
g_free(li->data);
li = g_list_next(li);
}
g_list_free(list);
if (! config_get_attr(config, attr_navit, &navit, NULL) && !config_empty_ok) {
dbg(0, "%s", _("Internal initialization failed, exiting. Check previous error messages.\n"));
exit(5);
}
conf.type=attr_config;
conf.u.config=config;
if (startup_file) {
FILE *f=fopen(startup_file,"r");
if (f) {
char buffer[4096];
while(fgets(buffer, sizeof(buffer), f)) {
command_evaluate(&conf, buffer);
}
}
}
if (command) {
command_evaluate(&conf, command);
}
event_main_loop_run();
/* TODO: Android actually has no event loop, so we can't free all allocated resources here. Have to find better place to
* free all allocations on program exit. And don't forget to free all the stuff allocated in the code above.
*/
#ifndef HAVE_API_ANDROID
linguistics_free();
debug_finished();
#endif
return 0;
}
int main_real(int argc, char **argv)
{
dbg(0, "in main loop 001 ##########################\n");
xmlerror *error = NULL;
char *config_file = NULL;
int opt;
char *cp;
struct attr navit;
GList *list = NULL, *li;
main_argc = argc;
main_argv = argv;
//dbg(0, "in main loop 002 ##########################\n");
#ifdef HAVE_GLIB
event_glib_init();
//dbg(0,"in main loop 003 ##########################\n");
#else
_g_slice_thread_init_nomessage();
//dbg(0, "in main loop 004 ##########################\n");
#endif
atom_init();
main_init(argv[0]);
main_init_nls();
debug_init(argv[0]); // ??
cp = getenv("NAVIT_LOGFILE");
if (cp)
{
debug_set_logfile(cp);
}
#ifdef HAVE_API_WIN32_CE
else
{
debug_set_logfile("/Storage Card/navit.log");
}
#endif
//dbg(0, "in main loop 005 ##########################\n");
file_init();
//dbg(0, "in main loop 006 ##########################\n");
#ifndef USE_PLUGINS
//dbg(0, "in main loop 007 ##########################\n");
builtin_init();
#endif
//dbg(0, "in main loop 008 ##########################\n");
route_init();
//dbg(0, "in main loop 008.1 ##########################\n");
navigation_init();
//dbg(0, "in main loop 008.2 ##########################\n");
tracking_init();
//dbg(0, "in main loop 008.3 ##########################\n");
search_init();
//dbg(0, "in main loop 008.4 ##########################\n");
linguistics_init();
//dbg(0, "in main loop 0014 ##########################\n");
config_file = NULL;
#ifdef HAVE_GETOPT_H
opterr=0; //don't bomb out on errors.
#endif /* _MSC_VER */
if (argc > 1)
{
/* DEVELOPPERS : don't forget to update the manpage if you modify theses options */
while ((opt = getopt(argc, argv, ":hvc:d:")) != -1)
{
switch (opt)
{
case 'h':
print_usage();
exit(0);
break;
case 'v':
printf("%s %s\n", "navit", version);
exit(0);
break;
case 'c':
printf("config file n is set to `%s'\n", optarg);
config_file = optarg;
break;
case 'd':
printf("TODO Verbose option is set to `%s'\n", optarg);
break;
#ifdef HAVE_GETOPT_H
case ':':
fprintf(stderr, "navit: Error - Option `%c' needs a value\n", optopt);
print_usage();
exit(1);
break;
case '?':
fprintf(stderr, "navit: Error - No such option: `%c'\n", optopt);
print_usage();
exit(1);
#endif
}
}
// use 1st cmd line option that is left for the config file
if (optind < argc)
config_file = argv[optind];
}
// if config file is explicitely given only look for it, otherwise try std paths
//if (config_file)
//{
// list = g_list_append(list, g_strdup(config_file));
//}
//else
//{
dbg(0, "navit_share_dir=%s\n", navit_share_dir);
list = g_list_append(list, g_strjoin(NULL, navit_share_dir, "/navit.xml", NULL));
//list = g_list_append(list, g_strdup("navit.xml"));
#ifdef HAVE_API_ANDROID
// **disabled** // new preferred location (the new one should have priority over the legacy!)
// **disabled** // list = g_list_append(list,g_strdup("/sdcard/zanavi/navit.xml"));
#endif
//list = g_list_append(list, g_strjoin(NULL, getenv("NAVIT_SHAREDIR"), "/navit.xml", NULL));
#ifndef _WIN32
//list = g_list_append(list, g_strdup("/etc/navit/navit.xml"));
#endif
//}
li = list;
for (;;)
{
if (li == NULL)
{
// We have not found an existing config file from all possibilities
dbg(0, "No config file navit.xml, navit.xml.local found\n");
return 1;
}
// Try the next config file possibility from the list
config_file = li->data;
if (file_exists(config_file))
{
break;
}
else
{
g_free(config_file);
}
li = g_list_next(li);
}
// ############### load XML config file, and call all the init/new functions ################
// ############### load XML config file, and call all the init/new functions ################
// ############### load XML config file, and call all the init/new functions ################
clock_t s_ = debug_measure_start();
if (!config_load(config_file, &error))
{
}
debug_mrp("load and init xmlconfig:", debug_measure_end(s_));
// ############### load XML config file, and call all the init/new functions ################
// ############### load XML config file, and call all the init/new functions ################
// ############### load XML config file, and call all the init/new functions ################
while (li)
{
g_free(li->data);
li = g_list_next(li);
}
g_list_free(list);
if (!config_get_attr(config, attr_navit, &navit, NULL) && !config_empty_ok)
{
dbg(0, "No instance has been created, exiting\n");
exit(1);
}
dbg(0, "in main loop 026 ##########################\n");
event_main_loop_run();
dbg(0, "after main loop ##########################");
#ifndef HAVE_API_ANDROID
debug_finished();
#endif
return 0;
}
int main_real(int argc, char **argv)
{
xmlerror *error = NULL;
char *config_file = NULL;
int opt;
char *cp;
struct attr navit;
GList *list = NULL, *li;
main_argc=argc;
main_argv=argv;
#ifdef HAVE_GLIB
event_glib_init();
#else
_g_slice_thread_init_nomessage();
#endif
atom_init();
main_init(argv[0]);
main_init_nls();
debug_init(argv[0]);
cp = getenv("NAVIT_LOGFILE");
if (cp)
debug_set_logfile(cp);
#ifdef HAVE_API_WIN32_CE
else
debug_set_logfile("/Storage Card/navit.log");
#endif
file_init();
#ifndef USE_PLUGINS
extern void builtin_init(void);
builtin_init();
#endif
route_init();
navigation_init();
tracking_init();
search_init();
linguistics_init();
config_file=NULL;
opterr=0; //don't bomb out on errors.
if (argc > 1) {
/* DEVELOPPERS : don't forget to update the manpage if you modify theses options */
while((opt = getopt(argc, argv, ":hvc:d:")) != -1) {
switch(opt) {
case 'h':
print_usage();
exit(0);
break;
case 'v':
printf("%s %s\n", "navit", version);
exit(0);
break;
case 'c':
printf("config file n is set to `%s'\n", optarg);
config_file = optarg;
break;
case 'd':
printf("TODO Verbose option is set to `%s'\n", optarg);
break;
case ':':
fprintf(stderr, "navit: Error - Option `%c' needs a value\n", optopt);
print_usage();
exit(1);
break;
case '?':
fprintf(stderr, "navit: Error - No such option: `%c'\n", optopt);
print_usage();
exit(1);
}
}
}
// use 1st cmd line option that is left for the config file
if (optind < argc) config_file = argv[optind];
// if config file is explicitely given only look for it, otherwise try std paths
if (config_file) list = g_list_append(list,g_strdup(config_file));
else {
list = g_list_append(list,g_strjoin(NULL,getenv("NAVIT_USER_DATADIR"), "/navit.xml" , NULL));
list = g_list_append(list,g_strdup("navit.xml.local"));
list = g_list_append(list,g_strdup("navit.xml"));
#ifdef HAVE_API_ANDROID
list = g_list_append(list,g_strdup("/sdcard/navit.xml"));
#endif
list = g_list_append(list,g_strjoin(NULL,getenv("NAVIT_SHAREDIR"), "/navit.xml.local" , NULL));
list = g_list_append(list,g_strjoin(NULL,getenv("NAVIT_SHAREDIR"), "/navit.xml" , NULL));
#ifndef _WIN32
list = g_list_append(list,g_strdup("/etc/navit/navit.xml"));
#endif
}
li = list;
for (;;) {
if (li == NULL) {
// We have not found an existing config file from all possibilities
dbg(0,_("No config file navit.xml, navit.xml.local found\n"));
return 1;
}
// Try the next config file possibility from the list
config_file = li->data;
if (file_exists(config_file))
break;
else
g_free(config_file);
li = g_list_next(li);
}
if (!config_load(config_file, &error)) {
dbg(0, _("Error parsing '%s': %s\n"), config_file, error ? error->message : "");
} else {
dbg(0, _("Using '%s'\n"), config_file);
}
while (li) {
g_free(li->data);
li = g_list_next(li);
}
g_list_free(list);
if (! config_get_attr(config, attr_navit, &navit, NULL) && !config_empty_ok) {
dbg(0, _("No instance has been created, exiting\n"));
exit(1);
}
event_main_loop_run();
#ifndef HAVE_API_ANDROID
debug_finished();
#endif
return 0;
}
int main(int argc, char **argv)
{
GError *error = NULL;
char *config_file = NULL;
char *s;
int l;
#ifndef _WIN32
signal(SIGCHLD, sigchld);
#endif
setenv("LC_NUMERIC","C",1);
setlocale(LC_ALL,"");
setlocale(LC_NUMERIC,"C");
if (file_exists("navit.c") || file_exists("navit.o")) {
char buffer[PATH_MAX];
printf(_("Running from source directory\n"));
getcwd(buffer, PATH_MAX);
setenv("NAVIT_PREFIX", buffer, 0);
setenv("NAVIT_LIBDIR", buffer, 0);
setenv("NAVIT_SHAREDIR", buffer, 0);
setenv("NAVIT_LIBPREFIX", "*/.libs/", 0);
s=g_strdup_printf("%s/../locale", buffer);
setenv("NAVIT_LOCALEDIR", s, 0);
g_free(s);
} else {
if (!getenv("NAVIT_PREFIX")) {
l=strlen(argv[0]);
if (l > 10 && !strcmp(argv[0]+l-10,"/bin/navit")) {
s=g_strdup(argv[0]);
s[l-10]='\0';
if (strcmp(s, PREFIX))
printf(_("setting '%s' to '%s'\n"), "NAVIT_PREFIX", s);
setenv("NAVIT_PREFIX", s, 0);
g_free(s);
} else
setenv("NAVIT_PREFIX", PREFIX, 0);
}
#ifdef _WIN32
s=g_strdup_printf("locale");
#else
s=g_strdup_printf("%s/share/locale", getenv("NAVIT_PREFIX"));
#endif
setenv("NAVIT_LOCALEDIR", s, 0);
g_free(s);
#ifdef _WIN32
s=g_strdup_printf(".");
#else
s=g_strdup_printf("%s/share/navit", getenv("NAVIT_PREFIX"));
#endif
setenv("NAVIT_SHAREDIR", s, 0);
g_free(s);
s=g_strdup_printf("%s/lib/navit", getenv("NAVIT_PREFIX"));
setenv("NAVIT_LIBDIR", s, 0);
g_free(s);
}
bindtextdomain(PACKAGE, getenv("NAVIT_LOCALEDIR"));
bind_textdomain_codeset (PACKAGE, "UTF-8");
textdomain(PACKAGE);
debug_init();
#ifndef USE_PLUGINS
extern void builtin_init(void);
builtin_init();
#endif
#if 0
/* handled in gui/gtk */
gtk_set_locale();
gtk_init(&argc, &argv);
gdk_rgb_init();
#endif
s = getenv("NAVIT_WID");
if (s) {
setenv("SDL_WINDOWID", s, 0);
}
route_init();
navigation_init();
config_file=NULL;
if (argc > 1)
config_file=argv[1];
if (! config_file) {
config_file=g_strjoin(NULL,get_home_directory(), "/.navit/navit.xml" , NULL);
if (!file_exists(config_file)) {
g_free(config_file);
config_file=NULL;
}
}
if (! config_file) {
if (file_exists("navit.xml.local"))
config_file="navit.xml.local";
}
if (! config_file) {
if (file_exists("navit.xml"))
config_file="navit.xml";
}
if (! config_file) {
config_file=g_strjoin(NULL,getenv("NAVIT_SHAREDIR"), "/navit.xml.local" , NULL);
if (!file_exists(config_file)) {
g_free(config_file);
config_file=NULL;
}
}
if (! config_file) {
config_file=g_strjoin(NULL,getenv("NAVIT_SHAREDIR"), "/navit.xml" , NULL);
if (!file_exists(config_file)) {
g_free(config_file);
config_file=NULL;
}
}
if (!config_file) {
printf(_("No config file navit.xml, navit.xml.local found\n"));
exit(1);
}
if (!config_load(config_file, &error)) {
printf(_("Error parsing '%s': %s\n"), config_file, error->message);
exit(1);
} else {
printf(_("Using '%s'\n"), config_file);
}
if (! navit) {
printf(_("No instance has been created, exiting\n"));
exit(1);
}
if (main_loop_gui) {
gui_run_main_loop(main_loop_gui);
} else {
#ifdef USE_GTK_MAIN_LOOP
gtk_main();
#else
loop = g_main_loop_new (NULL, TRUE);
if (g_main_loop_is_running (loop))
{
g_main_loop_run (loop);
}
#endif
}
return 0;
}
