cmvr-es/cmvr-es/main.cpp

#include <csignal>
#include <pthread.h>

#include "common/base/logging/logger.h"
#include "runtime/include/cmvr_runtime.h"


namespace {

bool blockShutdownSignals(sigset_t& shutdown_signals)
{
    sigemptyset(&shutdown_signals);
    sigaddset(&shutdown_signals, SIGINT);
    sigaddset(&shutdown_signals, SIGTERM);
    return pthread_sigmask(SIG_BLOCK, &shutdown_signals, nullptr) == 0;
}

} // namespace

namespace fs = std::filesystem;
static bool setupIntelMediaEnvironment()
{
    char exe_path_buffer[PATH_MAX] = {};

    const ssize_t length = readlink(
        "/proc/self/exe",
        exe_path_buffer,
        sizeof(exe_path_buffer) - 1);

    if (length <= 0) {
        std::cerr << "Failed to resolve /proc/self/exe\n";
        return false;
    }

    exe_path_buffer[length] = '\0';

    const fs::path executable_path(exe_path_buffer);
    const fs::path bin_directory = executable_path.parent_path();
    const fs::path install_directory = bin_directory.parent_path();
    const fs::path library_directory = install_directory / "lib";
    const fs::path va_driver_directory = library_directory / "dri";
    const fs::path ihd_driver = va_driver_directory / "iHD_drv_video.so";

    if (!fs::exists(ihd_driver)) {
        std::cerr << "Intel media driver not found: "
                  << ihd_driver << '\n';
        return false;
    }

    // overwrite=1：强制 cmvr-es 使用随项目发布的媒体运行时。
    setenv("LIBVA_DRIVER_NAME", "iHD", 1);
    setenv(
        "LIBVA_DRIVERS_PATH",
        va_driver_directory.c_str(),
        1);
    setenv(
        "ONEVPL_SEARCH_PATH",
        library_directory.c_str(),
        1);

    return true;
}


int main()
{
    if (!setupIntelMediaEnvironment()) {
        return EXIT_FAILURE;
    }

    sigset_t shutdown_signals;
    if (!blockShutdownSignals(shutdown_signals)) {
        return 1;
    }

    cmvr::Runtime runtime;
    if (!runtime.init()) {
        return 1;
    }
    if (!runtime.startTasks()) {
        return 1;
    }

    if (auto viewer = runtime.mujocoViewer("mujoco_viewer")) {
        CMVR_LOG(INFO) << "[Startup] Run MuJoCo viewer on main thread";
        viewer->runOnMainThread();
        runtime.shutdown();
        return 0;
    }

    int received_signal = 0;
    if (sigwait(&shutdown_signals, &received_signal) != 0) {
        runtime.shutdown();
        return 1;
    }

    runtime.shutdown();
    return 0;
}