d/remote: Use xrt_system_devices directly in the driver

And also make shutdown properly work.

src/xrt/drivers/remote/r_device.c

@@ -1,4 +1,4 @@
-// Copyright 2020, Collabora, Ltd.
+// Copyright 2020-2022, Collabora, Ltd.
 // SPDX-License-Identifier: BSL-1.0
 /*!
  * @file
@@ -195,7 +195,7 @@ r_device_create(struct r_hub *r, bool is_left)
 	rd->base.get_view_poses = r_device_get_view_poses;
 	rd->base.set_output = r_device_set_output;
 	rd->base.destroy = r_device_destroy;
-	rd->base.tracking_origin = &r->base;
+	rd->base.tracking_origin = &r->origin;
 	rd->base.orientation_tracking_supported = true;
 	rd->base.position_tracking_supported = true;
 	rd->base.hand_tracking_supported = true;

src/xrt/drivers/remote/r_hmd.c

@@ -1,4 +1,4 @@
-// Copyright 2020, Collabora, Ltd.
+// Copyright 2020-2022, Collabora, Ltd.
 // SPDX-License-Identifier: BSL-1.0
 /*!
  * @file
@@ -123,7 +123,7 @@ r_hmd_create(struct r_hub *r)
 	rh->base.get_view_poses = r_hmd_get_view_poses;
 	rh->base.set_output = r_hmd_set_output;
 	rh->base.destroy = r_hmd_destroy;
-	rh->base.tracking_origin = &r->base;
+	rh->base.tracking_origin = &r->origin;
 	rh->base.orientation_tracking_supported = true;
 	rh->base.position_tracking_supported = true;
 	rh->base.hand_tracking_supported = false;

src/xrt/drivers/remote/r_hub.c

@@ -1,4 +1,4 @@
-// Copyright 2020, Collabora, Ltd.
+// Copyright 2020-2022, Collabora, Ltd.
 // SPDX-License-Identifier: BSL-1.0
 /*!
  * @file
@@ -85,9 +85,28 @@ int
 do_accept(struct r_hub *r)
 {
 	struct sockaddr_in addr = {0};
+	struct timeval timeout = {.tv_sec = 1};
+	fd_set set;
 	int ret;
 	int conn_fd;
 
+	// Shutting down.
+	if (r->accept_fd < 0) {
+		return -1;
+	}
+
+	do {
+		FD_ZERO(&set);
+		FD_SET(r->accept_fd, &set);
+
+		ret = select(r->accept_fd + 1, &set, NULL, NULL, &timeout);
+	} while (ret == 0);
+
+	if (ret < 0) {
+		U_LOG_E("select failed: %i", ret);
+		return ret;
+	}
+
 	socklen_t addr_length = (socklen_t)sizeof(addr);
 	ret = accept(r->accept_fd, (struct sockaddr *)&addr, &addr_length);
 	if (ret < 0) {
@@ -120,13 +139,18 @@ run_thread(void *ptr)
 
 	ret = setup_accept_fd(r);
 	if (ret < 0) {
+		U_LOG_I("Leaving thread");
 		return NULL;
 	}
 
-	while (true) {
+	while (r->accept_fd >= 0) {
 		U_LOG_I("Listening on port '%i'.", r->port);
 
 		ret = do_accept(r);
+		if (ret < 0) {
+			U_LOG_I("Leaving thread");
+			return NULL;
+		}
 
 		r_remote_connection_write_one(&r->rc, &r->reset);
 		r_remote_connection_write_one(&r->rc, &r->latest);
@@ -143,33 +167,64 @@ run_thread(void *ptr)
 		}
 	}
 
+	U_LOG_I("Leaving thread");
 	return NULL;
 }
 
 void
-r_hub_destroy(struct r_hub *r)
+r_hub_destroy(struct xrt_system_devices *xsysd)
 {
+	struct r_hub *r = (struct r_hub *)xsysd;
+
+	/*
+	 * Destroy all of the devices first.
+	 */
+
+	for (uint32_t i = 0; i < ARRAY_SIZE(r->base.xdevs); i++) {
+		xrt_device_destroy(&r->base.xdevs[i]);
+	}
+
+
+	/*
+	 * Harshly pull the plug on the sockets to wakeup the thread.
+	 */
+
+	if (r->accept_fd >= 0) {
+		close(r->accept_fd);
+		r->accept_fd = -1;
+	}
+
+	if (r->rc.fd >= 0) {
+		close(r->rc.fd);
+		r->rc.fd = -1;
+	}
+
+
+	/*
+	 * Should be safe to stop the thread now.
+	 */
+
+	os_thread_helper_stop_and_wait(&r->oth);
+
 	free(r);
 }
 
 
-/*!
- *
+/*
  *
+ * 'Exported' create function.
  *
  */
 
 int
-r_create_devices(uint16_t port,
-                 struct xrt_device **out_hmd,
-                 struct xrt_device **out_controller_left,
-                 struct xrt_device **out_controller_right)
+r_create_devices(uint16_t port, struct xrt_system_devices **out_xsysd)
 {
 	struct r_hub *r = U_TYPED_CALLOC(struct r_hub);
 	int ret;
 
-	r->base.type = XRT_TRACKING_TYPE_RGB;
-	r->base.offset.orientation.w = 1.0f; // All other members are zero.
+	r->base.destroy = r_hub_destroy;
+	r->origin.type = XRT_TRACKING_TYPE_RGB;
+	r->origin.offset.orientation.w = 1.0f; // All other members are zero.
 	r->reset.hmd.pose.position.y = 1.6f;
 	r->reset.hmd.pose.orientation.w = 1.0f;
 	r->reset.left.active = true;
@@ -193,27 +248,46 @@ r_create_devices(uint16_t port,
 	r->accept_fd = -1;
 	r->rc.fd = -1;
 
-	snprintf(r->base.name, sizeof(r->base.name), "Remote Simulator");
+	snprintf(r->origin.name, sizeof(r->origin.name), "Remote Simulator");
 
 	ret = os_thread_helper_init(&r->oth);
 	if (ret != 0) {
 		U_LOG_E("Failed to init threading!");
-		r_hub_destroy(r);
-		return ret;
+		r_hub_destroy(&r->base);
+		return XRT_ERROR_ALLOCATION;
 	}
 
 	ret = os_thread_helper_start(&r->oth, run_thread, r);
 	if (ret != 0) {
 		U_LOG_E("Failed to start thread!");
-		r_hub_destroy(r);
-		return ret;
+		r_hub_destroy(&r->base);
+		return XRT_ERROR_ALLOCATION;
 	}
 
-	*out_hmd = r_hmd_create(r);
-	*out_controller_left = r_device_create(r, true);
-	*out_controller_right = r_device_create(r, false);
 
-	// Setup variable tracker.
+	/*
+	 * Setup system devices.
+	 */
+
+	struct xrt_device *head = r_hmd_create(r);
+	struct xrt_device *left = r_device_create(r, true);
+	struct xrt_device *right = r_device_create(r, false);
+
+	r->base.xdevs[r->base.xdev_count++] = head;
+	r->base.xdevs[r->base.xdev_count++] = left;
+	r->base.xdevs[r->base.xdev_count++] = right;
+
+	r->base.roles.head = head;
+	r->base.roles.left = left;
+	r->base.roles.right = right;
+	r->base.roles.hand_tracking.left = left;
+	r->base.roles.hand_tracking.right = right;
+
+
+	/*
+	 * Setup variable tracker.
+	 */
+
 	u_var_add_root(r, "Remote Hub", true);
 	// u_var_add_gui_header(r, &r->gui.hmd, "MHD");
 	u_var_add_pose(r, &r->latest.hmd.pose, "hmd.pose");
@@ -228,9 +302,23 @@ r_create_devices(uint16_t port,
 	u_var_add_bool(r, &r->latest.right.menu, "right.menu");
 	u_var_add_pose(r, &r->latest.right.pose, "right.pose");
 
-	return 0;
+
+	/*
+	 * Done now.
+	 */
+
+	*out_xsysd = &r->base;
+
+	return XRT_SUCCESS;
 }
 
+
+/*
+ *
+ * 'Exported' connection functions.
+ *
+ */
+
 int
 r_remote_connection_init(struct r_remote_connection *rc, const char *ip_addr, uint16_t port)
 {

src/xrt/drivers/remote/r_interface.h

@@ -1,4 +1,4 @@
-// Copyright 2020, Collabora, Ltd.
+// Copyright 2020-2022, Collabora, Ltd.
 // SPDX-License-Identifier: BSL-1.0
 /*!
  * @file
@@ -16,7 +16,7 @@ extern "C" {
 #endif
 
 
-struct xrt_device;
+struct xrt_system_devices;
 
 /*!
  * @defgroup drv_remote Remote debugging driver
@@ -85,15 +85,12 @@ struct r_remote_connection
 };
 
 /*!
- * Creates the remote devices.
+ * Creates the remote system devices.
  *
  * @ingroup drv_remote
  */
-int
-r_create_devices(uint16_t port,
-                 struct xrt_device **out_hmd,
-                 struct xrt_device **out_controller_left,
-                 struct xrt_device **out_controller_right);
+xrt_result_t
+r_create_devices(uint16_t port, struct xrt_system_devices **out_xsysd);
 
 /*!
  * Initializes and connects the connection.

src/xrt/drivers/remote/r_internal.h

@@ -1,4 +1,4 @@
-// Copyright 2020, Collabora, Ltd.
+// Copyright 2020-2022, Collabora, Ltd.
 // SPDX-License-Identifier: BSL-1.0
 /*!
  * @file
@@ -10,6 +10,7 @@
 #pragma once
 
 #include "xrt/xrt_device.h"
+#include "xrt/xrt_system.h"
 #include "xrt/xrt_tracking.h"
 
 #include "os/os_threading.h"
@@ -30,7 +31,11 @@ extern "C" {
  */
 struct r_hub
 {
-	struct xrt_tracking_origin base;
+	// System devices wrapper.
+	struct xrt_system_devices base;
+
+	//! Origin for all locations.
+	struct xrt_tracking_origin origin;
 
 	//! Connection to the controller.
 	struct r_remote_connection rc;

src/xrt/targets/common/target_builder_remote.c

@@ -73,8 +73,6 @@ remote_estimate_system(struct xrt_builder *xb,
 static xrt_result_t
 remote_open_system(struct xrt_builder *xb, cJSON *config, struct xrt_prober *xp, struct xrt_system_devices **out_xsysd)
 {
-	struct u_system_devices *usysd = u_system_devices_allocate();
-
 	assert(out_xsysd != NULL);
 	assert(*out_xsysd == NULL);
 
@@ -84,34 +82,7 @@ remote_open_system(struct xrt_builder *xb, cJSON *config, struct xrt_prober *xp,
 		port = 4242;
 	}
 
-	struct xrt_device *head = NULL, *left = NULL, *right = NULL;
-
-	r_create_devices(port, &head, &left, &right);
-
-	if (head == NULL) {
-		u_system_devices_destroy(&usysd);
-		xrt_device_destroy(&left);
-		xrt_device_destroy(&right);
-		return XRT_ERROR_ALLOCATION;
-	}
-
-	usysd->base.xdevs[usysd->base.xdev_count++] = head;
-	if (left != NULL) {
-		usysd->base.xdevs[usysd->base.xdev_count++] = left;
-	}
-	if (right != NULL) {
-		usysd->base.xdevs[usysd->base.xdev_count++] = right;
-	}
-
-	usysd->base.roles.head = head;
-	usysd->base.roles.left = left;
-	usysd->base.roles.right = right;
-	usysd->base.roles.hand_tracking.left = left;
-	usysd->base.roles.hand_tracking.right = right;
-
-	*out_xsysd = &usysd->base;
-
-	return XRT_SUCCESS;
+	return r_create_devices(port, out_xsysd);
 }
 
 static void