#include <sys/resource.h>
#include <csignal>
#include <cstdio>
#include <cstdlib>
#include <execinfo.h>
#include <unistd.h>

#include <QApplication>
#include <QTranslator>

#include "system/hardware/hw.h"
#include "selfdrive/ui/qt/qt_window.h"
#include "selfdrive/ui/qt/util.h"
#include "selfdrive/ui/qt/window.h"

// CLEARPILOT: crash handler — prints stack trace to stderr on SIGSEGV/SIGABRT
static void crash_handler(int sig) {
  const char *sig_name = (sig == SIGSEGV) ? "SIGSEGV" : (sig == SIGABRT) ? "SIGABRT" : "SIGNAL";
  fprintf(stderr, "\n=== CRASH: %s (signal %d) ===\n", sig_name, sig);

  void *frames[64];
  int count = backtrace(frames, 64);
  fprintf(stderr, "Backtrace (%d frames):\n", count);
  backtrace_symbols_fd(frames, count, STDERR_FILENO);
  fprintf(stderr, "=== END CRASH ===\n");
  fflush(stderr);

  // Re-raise to get default behavior (core dump / exit)
  signal(sig, SIG_DFL);
  raise(sig);
}

int main(int argc, char *argv[]) {
  signal(SIGSEGV, crash_handler);
  signal(SIGABRT, crash_handler);

  setpriority(PRIO_PROCESS, 0, -20);

  qInstallMessageHandler(swagLogMessageHandler);
  initApp(argc, argv);

  QTranslator translator;
  QString translation_file = QString::fromStdString(Params().get("LanguageSetting"));
  if (!translator.load(QString(":/%1").arg(translation_file)) && translation_file.length()) {
    qCritical() << "Failed to load translation file:" << translation_file;
  }

  QApplication a(argc, argv);
  a.installTranslator(&translator);

  MainWindow w;
  setMainWindow(&w);
  a.installEventFilter(&w);
  return a.exec();
}