Finished implementing backend socket.

Untested

groundStation/Makefile

 # Declaration of variables
 GCC=gcc
 GXX=g++
-CFLAGS= -Wall  -std=c99 -g
-CPPFLAGS= -Wall  -std=c++11 -g
+CFLAGS= -Wall -Wpedantic -Wextra -Werror -std=c99 -g -Wno-unused-parameter -Wno-unused-variable -Wno-unused-function
+CXXFLAGS= -Wall -Wno-reorder -std=c++11 -g
 INCLUDES = $(foreach dir, $(INCDIR), -I$(dir))
 
 # Directories
@@ -29,13 +29,13 @@ vrpn: vrpn/build
 
 # Main target
 $(EXE): $(OBJECTS) 
-	$(GXX) $(CPPFLAGS) $^ -o $@  $(INCLUDES) $(LIBS)
+	$(GXX) $(CXXFLAGS) $^ -o $@  $(INCLUDES) $(LIBS)
 
 $(COBJECTS) : %.o : %.c
 	$(GCC)  $(CFLAGS) -c $< -o $@ $(INCLUDES) $(LIBS)
 
 $(CPPOBJECTS) : %.o : %.cpp
-	$(GCC)  $(CPPFLAGS) -c $< -o $@ $(INCLUDES) $(LIBS)
+	$(GXX)  $(CXXFLAGS) -c $< -o $@ $(INCLUDES) $(LIBS)
 
 vrpn/build:
 	mkdir -p src/vrpn/build

groundStation/src/communication.c

@@ -59,7 +59,7 @@ int formatCommand(unsigned char *command, unsigned char **formattedCommand) {
 	float floatValue = 0.0;
 	int intValue = 0;
 	int valid;
-	metadata_t metadata = {};
+	metadata_t metadata;
 	
 	// ----------------------------------------------
 	if(tokens.numTokens > 1) {
@@ -78,7 +78,7 @@ int formatCommand(unsigned char *command, unsigned char **formattedCommand) {
 						
 						printf("%f, %s\n", floatValue, tokens.tokens[1]);
 						
-						metadata.begin_char  = BEGIN_CHAR;
+						metadata.begin_char  = (char) BEGIN_CHAR;
 						metadata.msg_type    = registeredCommands[cmdIndex].ID;
 						metadata.msg_subtype = registeredCommands[cmdIndex].subID;
 						metadata.msg_id      = msgNum++;
@@ -95,7 +95,7 @@ int formatCommand(unsigned char *command, unsigned char **formattedCommand) {
 							return -1;
 						}
 						
-						metadata.begin_char  = BEGIN_CHAR;
+						metadata.begin_char  = (char) BEGIN_CHAR;
 						metadata.msg_type    = registeredCommands[cmdIndex].ID;
 						metadata.msg_subtype = registeredCommands[cmdIndex].subID;
 						metadata.msg_id      = msgNum++;
@@ -107,7 +107,7 @@ int formatCommand(unsigned char *command, unsigned char **formattedCommand) {
 					
 					// Validate the string input (doesn't need to happen)
 					case stringType:
-						metadata.begin_char  = BEGIN_CHAR;
+						metadata.begin_char  = (char) BEGIN_CHAR;
 						metadata.msg_type    = registeredCommands[cmdIndex].ID;
 						metadata.msg_subtype = registeredCommands[cmdIndex].subID;
 						metadata.msg_id      = msgNum++;

groundStation/src/microcart_cli.c

@@ -2,6 +2,9 @@
  *
  * BlueTooth socket program for passing vrpn data to quad.
  */
+
+#define _GNU_SOURCE
+
 //system includes
 #include <err.h>
 #include <stdio.h>
@@ -53,6 +56,8 @@ static ssize_t get_client_index(int fd);
 static char * get_client_buffer(int fd);
 /* Returns -1 on error */
 static int remove_client(int fd);
+/* Receive data from client */
+static void client_recv(int fd);
 
 /* Thread-safe wrappers */
 pthread_mutex_t quadSocketMutex;
@@ -76,7 +81,7 @@ unsigned char *respBuf, *commandBuf;
 int newQuadResponse = 0, newCliInput = 0;
 
 // Structures to be used throughout
-modular_structs_t structs = {};
+modular_structs_t structs;
 
 // Callback to be ran whenever the tracker receives data.
 // Currently doing much more than it should. It will be slimmed down 
@@ -207,7 +212,7 @@ int main(int argc, char **argv)
 			for(int fd = 0; fd <= max_fd; ++fd) {
 				if (FD_ISSET(fd, &rfds)) {
 					if (fd == fileno(stdin)) {
-						unsigned char userCommand[CMD_MAX_LENGTH] = {};
+						unsigned char userCommand[CMD_MAX_LENGTH];
 						read(fileno(stdin), (char *)userCommand, sizeof(userCommand));
 						unsigned int cmdLen = strlen((char*) userCommand);
 						// if the user simply hit enter then let them try again
@@ -246,6 +251,8 @@ int main(int argc, char **argv)
 								safe_fd_set(fd, &rfds, &max_fd);
 							}
 						}
+					} else if (get_client_index(fd) > -1) {
+						client_recv(fd);
 					}
 				}
 			}
@@ -281,7 +288,7 @@ void sendStartPacket() {
 
 	metadata_t metadata = 
 	{
-		BEGIN_CHAR,
+		(char) BEGIN_CHAR,
 		0x04,
 		0x01,
 		0x01,
@@ -316,7 +323,7 @@ void sendStartPacket() {
 void sendVrpnPacket(struct ucart_vrpn_TrackerData *info) {
 	int pSize = sizeof(info) + 8;
 	int n;
-	char packet[pSize];
+	unsigned char packet[pSize];
 	packet[0] = 0xBE; // BEGIN					//PACKET_START_BYTE;
 	packet[1] = 0x04;	// UPDATE				//'U'; // U for vrpn camera update, C for command
 	packet[2] = 0x00; // N/A
@@ -334,7 +341,7 @@ void sendVrpnPacket(struct ucart_vrpn_TrackerData *info) {
 
 	packet[pSize - 1] = checksum; //PACKET_END_BYTE;
 
-	n = writeQuad(packet, pSize);
+	n = writeQuad((char *) packet, pSize);
 	if(n < 0) {	
 		perror("vrpnhandler: ERROR writing to socket");
 		keepRunning = 0;
@@ -357,7 +364,7 @@ void printVrpnData(struct ucart_vrpn_TrackerData * td) {
 
 int connectToZybo() {
 	int sock;
-	struct sockaddr_rc addr = { -1 };
+	struct sockaddr_rc addr;
 
 	// allocate a socket	
 	sock = socket(AF_BLUETOOTH, SOCK_STREAM, BTPROTO_RFCOMM);
@@ -388,8 +395,9 @@ int connectToZybo() {
 void performCommand(char *cmdName, char * command) {
 	for(int i = 0; i < NUM_COMMANDS; ++i)
 	{
-		if(startsWith(registeredCommands[i].commandText, command));
+		if(startsWith(registeredCommands[i].commandText, command)) {
 			fprintf(stdout, "\r\n You used cmd '%s'\n",registeredCommands[i].commandText);
+		}
 	}
 }
 
@@ -482,7 +490,7 @@ static int remove_client(int fd) {
 	char *clientBuffer = get_client_buffer(fd);
 	if(clientBuffer == NULL)
 		return -1;
-	clientBuffer = '\0';
+	clientBuffer[0] = '\0';
 	client_fds[slot] = -1;
 	return 0;
 }
@@ -495,4 +503,51 @@ static void safe_close_fd(int fd, pthread_mutex_t *mutexLock) {
 	if (pthread_mutex_unlock(mutexLock)) {
 		err(-2, "pthrtead_mutex_unlock (%s:%d):", __FILE__, __LINE__);
 	}
-}
\ No newline at end of file
+}
+
+static void client_recv(int fd)
+{
+	char * buffer;
+	ssize_t len_pre;
+     	buffer = get_client_buffer(fd);
+	len_pre = strlen(buffer);
+
+	char * cursor;
+	cursor = buffer + len_pre;
+
+	ssize_t r;
+	r = read(fd, cursor, CLIENT_BUFFER_SIZE - len_pre - 1);
+	if (r < 0) {
+		warn("read (fd: %d)", fd);
+	}
+	buffer[len_pre + r] = '\0';
+
+
+	/* Parse buffer and handle commands */
+	while (1) {
+		/* not using strtok because reasons */
+		size_t len = strlen(buffer);
+		ssize_t newline = -1;
+		for (size_t i = 0; i < len; i++) {
+			if (buffer[i] == '\n') {
+				newline = i;
+				break;
+			}
+		}
+
+		/* No newline found. End parsing */
+		if (newline == -1) {
+			break;
+		}
+
+		buffer[newline] = '\0';
+		unsigned char * packet;
+		formatCommand((unsigned char *) buffer, &packet);
+		writeQuad((char *) packet, packet[6] << 8);
+		free(packet);
+		
+		char * rest = &buffer[newline] + 1;
+		/* Delete parsed data and move the rest to the left */
+		memmove(buffer, rest, strlen(rest));
+	}
+}