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

int main()
{
    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;
}