static bool ltr_int_try_start_master(int *l_master_uplink, int *l_master_downlink)
{
int master_restart_retries = master_retries;
while(master_restart_retries > 0){
close_master_comms(l_master_uplink, l_master_downlink);
if(ltr_int_gui_lock(false)){
start_master(l_master_uplink, l_master_downlink);
--master_restart_retries;
}else{
master_restart_retries = master_retries;
}
if(open_master_comms(l_master_uplink, l_master_downlink)){
ltr_int_log_message("Master is responding!\n");
return true;
}
sleep(2);
}
return false;
}
static bool ltr_int_try_start_master(int *l_master_uplink)
{
int master_restart_retries = master_retries;
while(master_restart_retries > 0){
close_master_comms(l_master_uplink);
if(ltr_int_gui_lock(false)){
ltr_int_log_message("GUI lock retrieved, no GUI running.\n");
start_master();
usleep(100);
--master_restart_retries;
}else{
master_restart_retries = master_retries;
}
if(open_master_comms(l_master_uplink)){
ltr_int_log_message("Master is responding!\n");
return true;
}
sleep(1);
}
return false;
}
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;
}
int ltr_int_master_main_loop(int socket)
{
int res;
int new_fd;
bool close_conn;
int heartbeat = 0;
nfds_t i;
no_slaves = false;
struct sockaddr_un address;
socklen_t address_len = sizeof(address);
add_poll_desc(socket);
while(1) {
if(gui_shutdown_request || (!ltr_int_gui_lock(false)) ||
no_slaves || (ltr_int_get_tracking_state() < LINUXTRACK_OK)) {
break;
}
close_conn = false;
for(i = 0; i < current_len; ++i) {
descs[i].revents = 0;
}
res = poll(descs, current_len, 2000);
if(res < 0) {
ltr_int_my_perror("poll");
continue;
} else if(res == 0) {
if(ltr_int_get_tracking_state() == PAUSED) {
++heartbeat;
if(heartbeat > 5) {
linuxtrack_full_pose_t dummy;
dummy.pose.pitch = 0.0;
dummy.pose.yaw = 0.0;
dummy.pose.roll = 0.0;
dummy.pose.tx = 0.0;
dummy.pose.ty = 0.0;
dummy.pose.tz = 0.0;
dummy.pose.counter = 0;
dummy.pose.status = PAUSED;
dummy.blobs = 0;
ltr_int_broadcast_pose(dummy);
heartbeat = 0;
}
} else {
heartbeat = 0;
}
continue;
}
for(i = 0; i < current_len; ++i) {
if(descs[i].revents == 0) {
continue;
}
if(descs[i].revents) {
if(descs[i].revents & POLLIN) {
if(descs[i].fd == socket) {
do {
new_fd = accept(socket, (struct sockaddr*)&address, &address_len);
if(new_fd < 0) {
if(errno != EWOULDBLOCK) {
ltr_int_my_perror("accept");
}
//No more connection requests
break;
} else {
add_poll_desc(new_fd);
}
} while(new_fd >= 0);
} else {
message_t msg;
msg.cmd = CMD_NOP;
ssize_t x = ltr_int_socket_receive(descs[i].fd, &msg, sizeof(message_t));
//ltr_int_log_message("Read %d bytes from fd %d.\n", (int)x, descs[i].fd);
if(x < 0) {
if(x != -EWOULDBLOCK) {
ltr_int_log_message("Unexpected error %d reading from fd %d.\n", x, descs[i].fd);
close_conn = true;
descs[i].fd = -1;
}
} else if(x == 0) {
//close_conn = true;
//descs[i].fd = -1;
} else {
//ltr_int_log_message("Received a message from slave (%d)!!!\n", msg.cmd);
switch(msg.cmd) {
case CMD_PAUSE:
ltr_int_suspend_cmd();
break;
case CMD_WAKEUP:
ltr_int_wakeup_cmd();
break;
case CMD_RECENTER:
ltr_int_recenter_cmd();
break;
case CMD_NEW_SOCKET:
//ltr_int_log_message("Cmd to register new slave...\n");
ltr_int_register_slave(descs[i].fd, msg);
break;
case CMD_FRAMES:
ltr_int_publish_frames_cmd();
break;
}
}
}
}
if(descs[i].revents & POLLHUP) {
ltr_int_log_message("Hangup at fd %d\n", descs[i].fd);
close_conn = true;
}
}
}
if(close_conn) {
remove_poll_desc();
}
}
return 0;
}
