void* Daemon::entry(void* data){
struct sync* td = (struct sync*)data;
Daemon* daemon = td->daemon;
/* setup self-pipe */
if ( pipe2(daemon->pipe, O_NONBLOCK) != 0 ){
int saved = errno;
Log::fatal("main", "pipe2() returned %d: %s\n", saved, strerror(saved));
td->value = saved;
sem_post(&td->semaphore);
return NULL;
}
td->value = daemon->init();
sem_post(&td->semaphore);
if ( td->value != 0 ){
return NULL;
}
if ( td->barrier ){
pthread_barrier_wait(td->barrier);
}
daemon->run();
daemon->cleanup();
/* close pipe */
close(daemon->pipe[0]);
close(daemon->pipe[1]);
/* free resources */
sem_destroy(&td->semaphore);
free(td);
return 0;
}
int main(int argc, char **argv) {
openni::Device &device = __device;
openni::VideoStream &depth = __depth, &color = __color;
openni::Status rc;
char *prefix = strrchr(argv[0], '/')+1;
char *cfgfile = new char[prefix-argv[0]+strlen(rgbdsend::config_file_name)+1];
strncpy(cfgfile, argv[0], prefix-argv[0]+1);
strcpy(cfgfile+(prefix-argv[0]), rgbdsend::config_file_name);
Config conf;
if(conf.read(cfgfile) != 1) {
printf("Config: Falling back to builtin presets.\n");
conf.setDefaults();
}
delete[] cfgfile;
CURL *curl = init_curl();
Daemon daemon;
daemon.init(conf.daemon_port, conf.daemon_timeout);
atexit(atexit_handler);
init_openni(&device, &depth, &color, conf);
int dw, dh, cw, ch;
int tmp1, tmp2;
if(!depth.getCropping(&tmp1, &tmp2, &dw, &dh)) {
dw = depth.getVideoMode().getResolutionX();
dh = depth.getVideoMode().getResolutionY();
}
if(!color.getCropping(&tmp1, &tmp2, &cw, &ch)) {
cw = color.getVideoMode().getResolutionX();
ch = color.getVideoMode().getResolutionY();
}
printf("Resolution:\nDepth: %dx%d @ %d fps\nColor: %dx%d @ %d fps\n",
dw, dh, depth.getVideoMode().getFps(),
cw, ch, color.getVideoMode().getFps());
std::queue<char *> onilist;
Command cmd;
while(1) {
timeval t;
t.tv_sec = conf.daemon_timeout;
t.tv_usec = 0;
fd_set fds;
FD_ZERO(&fds);
FD_SET(daemon.sock, &fds);
FD_SET(daemon.csock, &fds);
int in = select((daemon.csock > daemon.sock ? daemon.csock : daemon.sock)+1, &fds, 0, 0, &t);
if(FD_ISSET(daemon.sock, &fds))
daemon.acceptConnection();
if(FD_ISSET(daemon.csock, &fds)) {
char b[5];
int r = daemon.receiveCommand(&cmd);
if(r == 0) {
printf("Daemon Error: Could not receive command.\n");
daemon.closeConnection();
continue;
}
if(r == 2) // keep alive
continue;
if(strncmp(cmd.header, "capt", 4) == 0) {
printf("Received capture command.\n");
char *newfile = new char[rgbdsend::filename_bufsize];
if(record_oni(newfile, rgbdsend::filename_bufsize, depth, color, conf) == true) {
onilist.push(newfile);
} else {
delete[] newfile;
}
daemon.sendCommand("okay", 0, 0);
} else if(strncmp(cmd.header, "thmb", 4) == 0) {
printf("Received thumbnail command.\n");
unsigned char *thumbbuf = NULL;
long unsigned int size = 0;
capture_thumbnail(&thumbbuf, &size, color);
printf("Captured thumbnail. %ld bytes\n", size);
daemon.sendCommand("stmb", thumbbuf, size);
// delete[] thumbbuf; seems like libjpeg handles this. but I'm not sure.
} else if(strncmp(cmd.header, "quit", 4) == 0) {
daemon.closeConnection();
} else {
printf("Daemon Error: Received undefined command.\n");
}
}
if(daemon.csock != -1 && in <= 0) {
daemon.closeConnection();
}
if(daemon.csock == -1 && !onilist.empty())
process_onis(onilist, curl, conf);
}
cleanup_curl(curl);
cleanup_openni(device, depth, color);
}