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;
}
static void *ltr_int_slave_reader_thread(void *param)
{
ltr_int_log_message("Slave reader thread function entered!\n");
(void) param;
int received_frames = 0;
master_works = false;
while(1){
if(!ltr_int_try_start_master(&master_uplink, &master_downlink)){
break;
}
ltr_int_log_message("Master Uplink %d, Downlink %d\n", master_uplink, master_downlink);
int poll_errs = 0;
struct pollfd downlink_poll= {
.fd = master_downlink,
.events = POLLIN,
.revents = 0
};
while(1){
downlink_poll.events = POLLIN;
int fds = poll(&downlink_poll, 1, 1000);
if(fds < 0){
++poll_errs;
ltr_int_my_perror("poll");
if(poll_errs > 3){break;}else{continue;}
}else if(fds == 0){
if(!parent_alive()){
//printf("Parent %lu died! (1)\n", (unsigned long)ppid);
return NULL;
}
continue;
}
if(downlink_poll.revents & POLLHUP){
break;
}
//We have a new message
if(ltr_int_process_message(master_downlink)){
++received_frames;
if(received_frames > 20){
master_works = true;
}
}
if(!parent_alive()){
//printf("Parent %lu died! (2)\n", (unsigned long)ppid);
return NULL;
}
}
}
return NULL;
}
static void ltr_int_slave_main_loop()
{
//Prepare to process client requests
struct ltr_comm *com = mmm.data;
ltr_cmd cmd = NOP_CMD;
bool recenter = false;
bool quit_flag = false;
while(!quit_flag){
if((com->cmd != NOP_CMD) || com->recenter || com->notify){
ltr_int_lockSemaphore(mmm.sem);
cmd = (ltr_cmd)com->cmd;
com->cmd = NOP_CMD;
recenter = com->recenter;
notify = com->notify;
com->recenter = false;
ltr_int_unlockSemaphore(mmm.sem);
}
int res = 0;
do{
switch(cmd){
case PAUSE_CMD:
res = ltr_int_send_message(master_uplink, CMD_PAUSE, 0);
break;
case RUN_CMD:
res = ltr_int_send_message(master_uplink, CMD_WAKEUP, 0);
break;
case STOP_CMD:
quit_flag = true;
break;
case FRAMES_CMD:
res = ltr_int_send_message(master_uplink, CMD_FRAMES, 0);
break;
default:
break;
}
if(res < 0){
usleep(100000);
}
if(!parent_alive()){
//printf("Parent %lu died! (3)\n", (unsigned long)ppid);
break;
}
}while((res < 0) && (!quit_flag));
cmd = NOP_CMD;
if(recenter){
ltr_int_log_message("Slave sending master recenter request!\n");
if(ltr_int_send_message(master_uplink, CMD_RECENTER, 0) >= 0){
//clear request only on successfull transmission
recenter = false;
}
}
if(!parent_alive()){
//printf("Parent %lu died! (3)\n", (unsigned long)ppid);
break;
}
usleep(100000);
}
}
//main slave function
bool ltr_int_slave(const char *c_profile, const char *c_com_file, const char *ppid_str,
const char *close_pipe_str, const char *notify_pipe_str)
{
unsigned long tmp_ppid;
profile_name = ltr_int_my_strdup(c_profile);
sscanf(ppid_str, "%lu", &tmp_ppid);
int tmp_pipe = -1;
sscanf(close_pipe_str, "%d", &tmp_pipe);
if(tmp_pipe > 0){
close(tmp_pipe);
}
sscanf(notify_pipe_str, "%d", ¬ify_pipe);
if(notify_pipe > 0){
fcntl(notify_pipe, F_SETFL, fcntl(notify_pipe, F_GETFL) | O_NONBLOCK);
}
//printf("Going to monitor parent %lu!\n", tmp_ppid);
ppid = (pid_t)tmp_ppid;
if(!ltr_int_read_prefs(NULL, false)){
ltr_int_log_message("Couldn't load preferences!\n");
return false;
}
ltr_int_init_axes(&axes, profile_name);
//Prepare client comm channel
char *com_file = ltr_int_my_strdup(c_com_file);
if(!ltr_int_mmap_file(com_file, sizeof(struct ltr_comm), &mmm)){
ltr_int_log_message("Couldn't mmap file!!!\n");
return false;
}
free(com_file);
if(pthread_create(&reader_tid, NULL, ltr_int_slave_reader_thread, NULL) == 0){
ltr_int_slave_main_loop();
pthread_join(reader_tid, NULL);
}
close_master_comms(&master_uplink, &master_downlink);
ltr_int_unmap_file(&mmm);
//finish prefs
ltr_int_close_axes(&axes);
ltr_int_free_prefs();
free(profile_name);
ltr_int_gui_lock_clean();
close(notify_pipe);
return true;
}
