main.cpp

#include <gst/gst.h>
#include <iostream>

#include <viam/sdk/common/instance.hpp>
#include <viam/sdk/components/camera.hpp>
#include <viam/sdk/log/logging.hpp>
#include <viam/sdk/module/module.hpp>
#include <viam/sdk/module/service.hpp>
#include <viam/sdk/registry/registry.hpp>
#include <viam/sdk/resource/resource.hpp>

#include "constraints.h"
#include "csi_camera.h"
#include "utils.h"

using namespace viam::sdk;

int main(int argc, char* argv[]) try {
    // Every Viam C++ SDK program must have one and only one Instance object
    // which is created before any other C++ SDK objects and stays alive until
    // all Viam C++ SDK objects are destroyed.
    Instance inst;

    VIAM_SDK_LOG(info) << "### STARTING VIAM CSI CAMERA MODULE";

    // GStreamer initialization
    gst_init(&argc, &argv);

    // Fetch the device type (Jetson, Pi, Unknown)
    auto device = get_device_type();
    auto api_params = get_api_params(device);
    VIAM_SDK_LOG(info) << "Device type: " << device.name;

    auto module_registration =
        std::make_shared<ModelRegistration>(API::get<Camera>(),
                                            Model{api_params.api_namespace, api_params.api_type, api_params.api_subtype},
                                            [](Dependencies, ResourceConfig resource_config) -> std::shared_ptr<Resource> {
                                                return std::make_shared<CSICamera>(resource_config.name(), resource_config.attributes());
                                            });

    std::vector<std::shared_ptr<ModelRegistration>> mrs = {module_registration};
    auto module_service = std::make_shared<ModuleService>(argc, argv, mrs);

    module_service->serve();

    return EXIT_SUCCESS;
} catch (const std::exception& ex) {
    std::cerr << "ERROR: A std::exception was thrown from main: " << ex.what() << std::endl;
    return EXIT_FAILURE;
} catch (...) {
    std::cerr << "ERROR: An unknown exception was thrown from main" << std::endl;
    return EXIT_FAILURE;
}