main.cc File Reference

#include <curl/curl.h>
#include <spdlog/sinks/stdout_color_sinks.h>
#include <spdlog/spdlog.h>
#include <atomic>
#include <chrono>
#include <csignal>
#include <filesystem>
#include <memory>
#include <nlohmann/json.hpp>
#include <string>
#include <utility>
#include "cert_updater.h"
#include "comm/base.h"
#include "comm/soem_fieldbus_driver.h"
#include "core/platform.h"
#include "core/version.h"
#include "example/example_routes.h"
#include "game_loop.h"
#include "http_server.h"
#include "node/device_manager.h"
#include "node/monitoring_manager.h"
#include "node/process_data_cyclic_task.h"
#include "options.h"
#include "ring_log_sink.h"
#include "ws_server.h"

Include dependency graph for main.cc:

Functions
int	main (int argc, char **argv)
	Motion Master entry point: parse options, start subsystems, run the RT loop.

Variables
static std::atomic< GameLoop * >	gGameLoop {nullptr}
	Signal-handler target for SIGINT/SIGTERM; set before run(), cleared after.

Function Documentation

main()

int main	(	int	argc,
		char **	argv
	)

Motion Master entry point: parse options, start subsystems, run the RT loop.

Initialises the HTTP/WebSocket server and game loop, installs SIGINT/SIGTERM handlers, then blocks on GameLoop::run() — the main thread IS the RT thread. Returns only after stop() is signalled and all subsystems are torn down.

Parameters

argc	Argument count from the OS.
argv	Argument vector from the OS.

Returns

0 on clean shutdown.

Variable Documentation

gGameLoop

std::atomic<GameLoop*> gGameLoop {nullptr}

static

Signal-handler target for SIGINT/SIGTERM; set before run(), cleared after.

Atomic rather than a plain pointer because the handler reads it concurrently with the main thread's writes. A signal handler may only access lock-free atomic objects, and std::atomic<GameLoop*> is always lock-free, so the load below is well-defined.