Ken Van Hoeylandt
72089f74f3
- Run SDL from main() and place FreeRTOS in separate thread. This fixes macOS support. - Updated GitHub Actions to publish macOS simulator build for testing, updated amd64 to x86_64 for consistent naming.
42 lines
1.6 KiB
C++
42 lines
1.6 KiB
C++
#pragma once
|
|
|
|
#include "Main.h"
|
|
#include "drivers/sdl_bridge.h"
|
|
|
|
#include <csignal>
|
|
#include <pthread.h>
|
|
#include <thread>
|
|
|
|
namespace simulator {
|
|
/** Set the function pointer of the real app_main() */
|
|
void setMain(MainFunction mainFunction);
|
|
/** The actual main task */
|
|
void freertosMain();
|
|
}
|
|
|
|
extern "C" {
|
|
void app_main(); // ESP-IDF's main function, implemented in the application
|
|
}
|
|
|
|
int main() {
|
|
// The FreeRTOS POSIX port arms a process-wide SIGALRM timer for its tick and expects every one
|
|
// of its task pthreads to have all signals but SIGINT blocked.
|
|
// (see prvSetupSignalsAndSchedulerPolicy() in FreeRTOS-Kernel's Posix port.c)
|
|
// A signal-generated SIGALRM can land on any thread in the process that doesn't block it.
|
|
// This thread stays a plain OS thread (running the SDL loop below, never a FreeRTOS task),
|
|
// so without this it's eligible to catch a tick SIGALRM and freeze inside the scheduler's handler.
|
|
// Block the same set here, before anything else, so it never can.
|
|
sigset_t all_signals_except_sigint;
|
|
sigfillset(&all_signals_except_sigint);
|
|
sigdelset(&all_signals_except_sigint, SIGINT);
|
|
pthread_sigmask(SIG_SETMASK, &all_signals_except_sigint, nullptr);
|
|
|
|
// FreeRTOS and app_main() run on a separate thread: macOS requires SDL/Cocoa window creation,
|
|
// event pumping and rendering to happen on the real OS main thread, which sdl_bridge_run_main_loop()
|
|
// below takes over. freertosMain() never returns, so this thread is detached rather than joined.
|
|
simulator::setMain(app_main);
|
|
std::thread(simulator::freertosMain).detach();
|
|
sdl_bridge_run_main_loop();
|
|
return 0;
|
|
}
|