mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-07-05 13:32:05 +08:00
firestar5683
60 lines
2.1 KiB
C++
60 lines
2.1 KiB
C++
#include <sys/resource.h>
|
|
#include <unistd.h>
|
|
|
|
#include <QApplication>
|
|
#include <QTranslator>
|
|
|
|
#include "common/swaglog.h"
|
|
#include "common/util.h"
|
|
#include "system/hardware/hw.h"
|
|
#include "selfdrive/ui/qt/qt_window.h"
|
|
#include "selfdrive/ui/qt/util.h"
|
|
#include "selfdrive/ui/qt/window.h"
|
|
|
|
// Qt 5.12.8's qErrnoWarning() emits QtCriticalMsg then calls abort() directly,
|
|
// bypassing the fatal-message path. Intercept critical+fatal Wayland messages
|
|
// before the unconditional abort() fires and clean-exit so the manager restarts
|
|
// us quickly instead of going through the slow abort/crash-handler path.
|
|
void waylandAwareMessageHandler(QtMsgType type, const QMessageLogContext &context, const QString &msg) {
|
|
if (type == QtCriticalMsg || type == QtFatalMsg) {
|
|
QByteArray bytes = msg.toUtf8();
|
|
if (bytes.contains("ayland") || bytes.contains("wl_display")) {
|
|
swagLogMessageHandler(type, context, msg);
|
|
LOGE("UI WAYLAND EXIT: %s", bytes.constData());
|
|
_exit(0); // clean exit; manager restarts us
|
|
}
|
|
}
|
|
swagLogMessageHandler(type, context, msg);
|
|
// Non-Wayland fatal: let Qt abort normally; crash_handler will capture it.
|
|
}
|
|
|
|
int main(int argc, char *argv[]) {
|
|
setpriority(PRIO_PROCESS, 0, -20);
|
|
|
|
// Pin the UI to the little cores (0-3). The realtime control loop
|
|
// (card/controlsd/selfdrived) runs SCHED_FIFO on core 4; without this pin the
|
|
// kernel can schedule the UI there, and a UI stall/restart spike preempts
|
|
// selfdrived, starving its 100 Hz loop and firing the "System Lagging" alert.
|
|
// Set before any threads spawn so children inherit the affinity.
|
|
if (!Hardware::PC()) {
|
|
util::set_core_affinity({0, 1, 2, 3});
|
|
}
|
|
|
|
qInstallMessageHandler(waylandAwareMessageHandler);
|
|
initApp(argc, argv);
|
|
|
|
QTranslator translator;
|
|
QString translation_file = QString::fromStdString(Params().get("LanguageSetting"));
|
|
if (!translator.load(QString(":/%1").arg(translation_file)) && translation_file.length()) {
|
|
qCritical() << "Failed to load translation file:" << translation_file;
|
|
}
|
|
|
|
QApplication a(argc, argv);
|
|
a.installTranslator(&translator);
|
|
|
|
MainWindow w;
|
|
setMainWindow(&w);
|
|
a.installEventFilter(&w);
|
|
return a.exec();
|
|
}
|