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daemon: don't use Popen on linux/mac (iterative#4262)
We used `Popen` just to provide a general way of launching our daemons on both Windows and *nix, but it is causing us issues when dvc is launched from some exotic places (like nix package) or through `main()` helper from a script that is not dvc. This patch makes us just use `main()` directly in our double-forked process. Windows implementation has to use the `Popen` mechanism, because this is the only way to daemonize a process on Windows. This means that dvc on Windows is still susceptible to this problem, but there is nothing we can do about it right now :( Fixes iterative#4206 Fixes iterative#4165
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