main.cpp

#include <csignal>
#include <iostream>
#include <cstring>
#include "kinect2pipe.h"

static Kinect2Pipe* g_pipe = nullptr;
static int g_stop_count = 0;

void signalHandler(int signum) {
    if (signum == SIGINT || signum == SIGTERM) {
        g_stop_count++;
        if (g_stop_count > 1) {
            std::cout << "\nForce exiting..." << std::endl;
            exit(0);
        }
        std::cout << "\nStopping kinect2pipe..." << std::endl;
        if (g_pipe != nullptr) {
            g_pipe->stop();
        }
    } else if (signum == SIGUSR1) {
        if (g_pipe != nullptr) {
            g_pipe->toggleNightVision();
        }
    } else if (signum == SIGUSR2) {
        if (g_pipe != nullptr) {
            g_pipe->toggleBoost();
        }
    }
}

/**
 * Main is the entry point for the application. It takes a single argument which should be the path to the v4l2loopback
 * device to watch.
 * @param argc Number of command line arguments.
 * @param argv Command line arguments.
 * @return Exit status
 */
int main(int argc, char** argv) {
    const char* devices[2] = {nullptr, nullptr};
    int deviceCount = 0;
    bool irShm = false;
    for (int i = 1; i < argc; ++i) {
        if (strcmp(argv[i], "--ir") == 0) {
            irShm = true;
        } else if (argv[i][0] == '-' || deviceCount >= 2) {
            deviceCount = -1;
            break;
        } else {
            devices[deviceCount++] = argv[i];
        }
    }
    if (deviceCount < 1) {
        printf("usage: kinect2pipe [--ir] <primary v4l2 device> [secondary v4l2 device]\n");
        printf("  --ir   also stream raw IR + depth (512x424) to /dev/shm/kinect2pipe_ir_shm alongside color\n");
        exit(-1);
    }

    struct sigaction sa{};
    sa.sa_handler = signalHandler;
    sigemptyset(&sa.sa_mask);
    sa.sa_flags = 0;
    sigaction(SIGINT, &sa, nullptr);
    sigaction(SIGTERM, &sa, nullptr);
    sigaction(SIGUSR1, &sa, nullptr);
    sigaction(SIGUSR2, &sa, nullptr);

    g_pipe = new Kinect2Pipe(irShm);
    g_pipe->openLoopback(devices[0], devices[1]);
    g_pipe->run();

    delete g_pipe;
    g_pipe = nullptr;
    return 0;
}