100 lines
2.4 KiB
C++
100 lines
2.4 KiB
C++
#include <csignal>
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#include <pthread.h>
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#include "common/base/logging/logger.h"
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#include "runtime/include/cmvr_runtime.h"
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namespace {
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bool blockShutdownSignals(sigset_t& shutdown_signals)
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{
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sigemptyset(&shutdown_signals);
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sigaddset(&shutdown_signals, SIGINT);
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sigaddset(&shutdown_signals, SIGTERM);
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return pthread_sigmask(SIG_BLOCK, &shutdown_signals, nullptr) == 0;
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}
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} // namespace
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namespace fs = std::filesystem;
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static bool setupIntelMediaEnvironment()
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{
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char exe_path_buffer[PATH_MAX] = {};
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const ssize_t length = readlink(
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"/proc/self/exe",
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exe_path_buffer,
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sizeof(exe_path_buffer) - 1);
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if (length <= 0) {
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std::cerr << "Failed to resolve /proc/self/exe\n";
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return false;
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}
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exe_path_buffer[length] = '\0';
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const fs::path executable_path(exe_path_buffer);
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const fs::path bin_directory = executable_path.parent_path();
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const fs::path install_directory = bin_directory.parent_path();
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const fs::path library_directory = install_directory / "lib";
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const fs::path va_driver_directory = library_directory / "dri";
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const fs::path ihd_driver = va_driver_directory / "iHD_drv_video.so";
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if (!fs::exists(ihd_driver)) {
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std::cerr << "Intel media driver not found: "
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<< ihd_driver << '\n';
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return false;
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}
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// overwrite=1：强制 cmvr-es 使用随项目发布的媒体运行时。
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setenv("LIBVA_DRIVER_NAME", "iHD", 1);
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setenv(
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"LIBVA_DRIVERS_PATH",
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va_driver_directory.c_str(),
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1);
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setenv(
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"ONEVPL_SEARCH_PATH",
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library_directory.c_str(),
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1);
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return true;
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}
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int main()
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{
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if (!setupIntelMediaEnvironment()) {
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return EXIT_FAILURE;
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}
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sigset_t shutdown_signals;
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if (!blockShutdownSignals(shutdown_signals)) {
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return 1;
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}
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cmvr::Runtime runtime;
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if (!runtime.init()) {
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return 1;
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}
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if (!runtime.startTasks()) {
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return 1;
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}
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if (auto viewer = runtime.mujocoViewer("mujoco_viewer")) {
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CMVR_LOG(INFO) << "[Startup] Run MuJoCo viewer on main thread";
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viewer->runOnMainThread();
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runtime.shutdown();
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return 0;
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}
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int received_signal = 0;
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if (sigwait(&shutdown_signals, &received_signal) != 0) {
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runtime.shutdown();
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return 1;
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}
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runtime.shutdown();
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return 0;
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}
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