static bool start_master()
{
bool is_child;
//master inherits fds!
ltr_int_log_message("Start master\n");
int socket = ltr_int_connect_to_socket(ltr_int_master_socket_name());
ltr_int_log_message("socket %d\n", socket);
if(socket < 0){
//no master there yet, so lets start one
ltr_int_log_message("Master is not running, start it\n");
if(!getenv("LTR_KEEP_LD_LIBRARY_PATH")){
ltr_int_log_message("Reseting LD_LIBRARY_PATH.\n");
unsetenv("LD_LIBRARY_PATH");
}else{
ltr_int_log_message("LTR_KEEP_LD_LIBRARY_PATH set, keeping LD_LIBRARY_PATH set.\n");
}
char *args[] = {"srv", NULL};
args[0] = ltr_int_get_app_path("/ltr_server1");
ltr_int_fork_child(args, &is_child);
int status;
//Disable the wait when not daemonizing master!!!
wait(&status);
//At this point master is either running or exited (depending on the state of socket)
free(args[0]);
}
close(socket);
//At this point either master runs already, or we just started one
return true;
}
static bool open_master_comms(int *l_master_uplink)
{
ltr_int_log_message("Opening master comms!\n");
//printf("open_master_comms\n");
*l_master_uplink = ltr_int_connect_to_socket(ltr_int_master_socket_name());
//printf("====================");
if(*l_master_uplink <= 0){
ltr_int_log_message("Couldn't connect to master's socket!\n");
return false;
}
ltr_int_log_message("Master comms opened => u -> %d\n", *l_master_uplink);
if(ltr_int_send_message_w_str(*l_master_uplink, CMD_NEW_SOCKET, 0, profile_name) != 0){
ltr_int_log_message("Master uplink doesn't seem to be working!\n");
return false;
}
ltr_int_log_message("Notification of the '%s' client sent to master!\n", profile_name);
return true;
}
bool ltr_int_master(bool standalone)
{
current_pose.pose.pitch = 0.0;
current_pose.pose.yaw = 0.0;
current_pose.pose.roll = 0.0;
current_pose.pose.tx = 0.0;
current_pose.pose.ty = 0.0;
current_pose.pose.tz = 0.0;
current_pose.pose.counter = 0;
current_pose.pose.status = STOPPED;
current_pose.blobs = 0;
gui_shutdown_request = false;
int socket;
save_prefs = standalone;
if(standalone) {
//Detach from the caller, retaining stdin/out/err
// Does weird things to gui ;)
if(daemon(0, 1) != 0) {
return false;
}
if(!ltr_int_gui_lock(false)) {
ltr_int_log_message("Gui is active, quitting!\n");
return true;
}
socket = ltr_int_create_server_socket(ltr_int_master_socket_name());
} else {
if(!ltr_int_gui_lock(true)) {
ltr_int_log_message("Couldn't lock gui lockfile!\n");
return false;
}
int counter = 10;
while((socket = ltr_int_create_server_socket(ltr_int_master_socket_name())) <= 0) {
if((counter--) <= 0) {
ltr_int_log_message("The other master doesn't give up!\n");
return false;
}
sleep(1);
}
ltr_int_log_message("Other master gave up, gui master taking over!\n");
}
if(socket < 0) {
ltr_int_log_message("Master already running, quitting!\n");
return true;
}
ltr_int_log_message("Starting as master!\n");
if(ltr_int_init() != 0) {
ltr_int_log_message("Could not initialize tracking!\n");
ltr_int_log_message("Closing socket %d\n", socket);
close(socket);
unlink(ltr_int_master_socket_name());
return false;
}
ltr_int_register_cbk(ltr_int_new_frame, NULL, ltr_int_state_changed, NULL);
ltr_int_master_main_loop(socket);
ltr_int_log_message("Shutting down tracking!\n");
ltr_int_shutdown();
ltr_int_log_message("Master closing socket %d\n", socket);
close(socket);
unlink(ltr_int_master_socket_name());
ltr_int_gui_lock_clean();
int cntr = 10;
while((ltr_int_get_tracking_state() != STOPPED) && (cntr > 0)) {
--cntr;
ltr_int_log_message("Tracker not stopped yet, waiting for the stop...\n");
sleep(1);
}
ltr_int_gui_lock_clean();
if(standalone) {
ltr_int_free_prefs();
}
return true;
}
