attempting to fix latency issues

groundStation/src/microcart_cli.c

@@ -24,6 +24,8 @@
 #include <errno.h>
 #include <string.h>
 #include <sys/ioctl.h>
+#include <sys/types.h>
+#include <netinet/tcp.h>
 
 //user created includes
 #include "communication.h"
@@ -36,7 +38,7 @@
 #define QUAD_BT_ADDR  "00:06:66:64:61:D6"
 #define QUAD_BT_CHANNEL  0x01
 #define CMD_MAX_LENGTH 1024
-#define MAX_HASH_SIZE 15
+#define MAX_HASH_SIZE 50
 
 // function prototypes
 void readAndPrint(void);
@@ -99,7 +101,6 @@ 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 
 // 		in the future.
-
 static void cb(struct ucart_vrpn_TrackerData * td)
 {
 	static int count = 0;
@@ -445,6 +446,8 @@ int connectToZybo() {
 	}
 	else
 	{
+		// int result = setsockopt(sock, IPPROTO_TCP, TCP_NODELAY, (int[]){1}, sizeof(int));
+		// printf("result = %d\n", result);
 		printf("connection successful!...\n");
 		return sock;
 	}
@@ -480,6 +483,7 @@ static ssize_t writeQuad(const char * buf, size_t count) {
 	if (pthread_mutex_lock(&quadSocketMutex)) {
 		err(-2, "pthrtead_mutex_lock (%s:%d):", __FILE__, __LINE__);
 	}
+	//setsockopt(zyboSocket, IPPROTO_TCP, TCP_QUICKACK, (int[]){1}, sizeof(int));
 	retval = write(zyboSocket, buf, count);
 	if (pthread_mutex_unlock(&quadSocketMutex)) {
 		err(-2, "pthrtead_mutex_unlock (%s:%d):", __FILE__, __LINE__);
@@ -494,6 +498,9 @@ static ssize_t readQuad(char * buf, size_t count) {
 		err(-2, "pthrtead_mutex_lock (%s:%d):", __FILE__, __LINE__);
 	}
 	retval = read(zyboSocket, buf, count);
+	//int result = setsockopt(zyboSocket, IPPROTO_TCP, TCP_QUICKACK, (int[]){1}, sizeof(int));
+	//printf("result = %d\n", result);
+		
 	if (pthread_mutex_unlock(&quadSocketMutex)) {
 		err(-2, "pthrtead_mutex_unlock (%s:%d):", __FILE__, __LINE__);
 	}