main.cpp

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/*
 * Copyright (C) 2009 RobotCub Consortium
 * Author: Alessandro Scalzo alessandro.scalzo@iit.it
 * CopyPolicy: Released under the terms of the GNU GPL v2.0.
 *
 * Based on:
 *
 *   Qavimator
 *   Copyright (C) 2006 by Zi Ree   *
 *   Zi Ree @ SecondLife   *
 *   Released under the terms of the GNU GPL v2.0.
 */
 
#include <signal.h>
 
#include "qavimator.h"
#include <QApplication>
 
#include <yarp/os/ResourceFinder.h>
#include <yarp/os/Network.h>
#ifdef USE_ICUB_MOD
#include "drivers.h"
#endif
 
qavimator* mw=NULL;
 
std::string GUI_NAME("/iCubGui");
 
void sig_handler(int sig)
{
    if (mw) mw->fileExit();
}
 
int main(int argc, char *argv[])
{
    yarp::os::Network yarp; //initialize network, this goes before everything
 
#ifdef USE_ICUB_MOD
    yarp::dev::DriverCollection dev;
#endif
 
#ifndef WIN32
    signal(SIGINT,sig_handler);
    signal(SIGTERM,sig_handler);
    signal(SIGHUP,sig_handler);
#endif
 
    yarp::os::ResourceFinder rf;
    rf.setDefaultContext("iCubGui");
    rf.setDefaultConfigFile("iCubGui.ini");
    rf.configure(argc,argv);
 
    QApplication a(argc, argv);
 
    mw = new qavimator(rf);
    mw->show();
    a.connect(&a,SIGNAL(lastWindowClosed()),&a,SLOT(quit()));
    int ret =  a.exec();
 
    if(mw){
        delete mw;
    }
    return (ret!=0?1:0);
}