groundStation/src/cli/cli_setpid.c

+#include <stdio.h>
+#include <unistd.h>
+#include <getopt.h>
+
+#include "cli_setpid.h"
+#include "frontend_setpid.h"
+
+int cli_setpid(struct backend_conn * conn,	int argc, char **argv) {
+	int c;
+	static int setRoll = 0, setPitch = 0, setYaw = 0, setAll = 0;
+	static int setRollV = 0, setPitchV = 0, setYawV = 0;
+	static int setHeight = 0, setLat = 0, setLong = 0;
+	struct frontend_pid_data pid_data;
+	static int mask;
+	static float pval = 0, ival = 0, dval = 0;
+	static struct option long_options[] = {
+ 		/* These options don’t set a flag. We distinguish them by their indices. */
+ 		{"roll",	no_argument,	&setRoll,	1},
+ 		{"pitch",   no_argument,   	&setPitch, 	1},
+ 		{"yaw",   no_argument,   	&setYaw, 	1},
+ 		{"rollv",   no_argument,   	&setRollV, 	1},
+ 		{"pitchv",   no_argument,   &setPitchV, 	1},
+ 		{"yawv",   no_argument,   	&setYawV, 	1},
+ 		{"height",   no_argument,   &setHeight,	1},
+ 		{"lat",   no_argument,   	&setLat, 	1},
+ 		{"long",   no_argument,   	&setLong, 	1},
+ 		{0, 0, 0, 0}
+ 	};
+
+ 	while (1)
+	{
+		/* getopt_long stores the option index here. */
+		int option_index = 0;
+
+		c = getopt_long(argc, argv, "p:i:d:", long_options, &option_index);
+
+		/* Detect the end of the options. */
+		if (c == -1)
+			break;
+
+		switch(c) {
+			case 'p' :
+				pid_data.p  = atof(optarg);
+				mask |= SET_P;
+				break;
+			case 'i' :
+				pid_data.i  = atof(optarg);
+				mask |= SET_I;
+				break;
+			case 'd' :
+				pid_data.d  = atof(optarg);
+				mask |= SET_D;
+				break;
+			default :
+				break;
+		}
+	}
+
+	if(setRoll) {
+		pid_data.controller = PID_ROLL;
+	} else if (setYaw) {
+		pid_data.controller = PID_YAW;
+	} else if (setPitch) {
+		pid_data.controller = PID_PITCH;
+	} else if (setRollV) {
+		pid_data.controller = PID_ROLL_VELOCITY;
+	} else if (setPitchV) {
+		pid_data.controller = PID_PITCH_VELOCITY;
+	} else if (setYawV) {
+		pid_data.controller = PID_YAW_VELOCITY;
+	} else if (setHeight) {
+		pid_data.controller = PID_HEIGHT;
+	} else if (setLong) {
+		pid_data.controller = PID_LONG;
+	} else if (setLat) {
+		pid_data.controller = PID_LAT;
+	}
+
+	frontend_setpid(conn, &pid_data, mask);
+	return 0;
+}
\ No newline at end of file

groundStation/src/cli/cli_setpid.h

+#ifndef _CLI_SETPID_H
+#define _CLI_SETPID_H
+
+#include "frontend_setpid.h"
+
+int cli_setpid(struct backend_conn * conn, int argc, char ** argv);
+
+#endif

groundStation/src/frontend/frontend_common.c

+#define _GNU_SOURCE
+
+#include "frontend_common.h"
+#include "config.h"
+
+#include <string.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <errno.h>
+#include <sys/types.h>
+#include <sys/socket.h>
+#include <sys/un.h>
+#include <unistd.h>
+#include <err.h>
+
+struct backend_conn {
+	FILE * socket;
+
+	size_t len;
+	char * buf;
+};
+
+struct backend_conn * ucart_backendConnect()
+{
+	int s;
+	struct sockaddr_un remote;
+	char str[100];
+
+	if ((s = socket(AF_UNIX, SOCK_STREAM, 0)) == -1) {
+		perror("socket");
+		exit(1);
+	}
+
+	struct backend_conn * conn = NULL;
+
+	printf("Trying to connect...\n");
+
+	remote.sun_family = AF_UNIX;
+	char * sock_env = getenv(SOCKET_ENV);
+	strcpy(remote.sun_path, sock_env ? sock_env : DEFAULT_SOCKET);
+	if (connect(s, (struct sockaddr *)&remote, sizeof(remote))  == -1) {
+		perror("connect");
+		goto fail_final;
+	}
+
+	conn = malloc(sizeof(struct backend_conn));
+	if (conn == NULL) {
+		perror("malloc");
+		goto fail_sock;
+	}
+
+	conn->len = 0;
+	conn->buf = NULL;
+	conn->socket = fdopen(s, "r+");
+	if (conn->socket == NULL) {
+		perror("fdopen");
+		goto fail_malloc_conn;
+	}
+	if (setvbuf(conn->socket, NULL, _IONBF, 0)) {
+		warn("setvbuf");
+	}
+
+	/* success */
+	goto fail_final;
+
+fail_malloc_conn:
+	free(conn);
+	conn = NULL;
+fail_sock:
+	close(s);
+fail_final:
+	return conn;
+}
+
+void ucart_backendDisconnect(struct backend_conn * conn)
+{
+	fclose(conn->socket);
+	if (conn->buf) {
+		free(conn->buf);
+	}
+	free(conn);
+}
+
+char * ucart_backendGetline(struct backend_conn *conn)
+{
+	getline(&conn->buf, &conn->len, conn->socket);
+	return conn->buf;
+}
+
+int ucart_backendWrite(struct backend_conn *conn, const char * line)
+{
+	return fputs(line, conn->socket);
+}

groundStation/src/frontend/frontend_common.h

+#ifndef FRONTEND_COMMON_H
+#define FRONTEND_COMMON_H
+#include <stdlib.h>
+
+struct backend_conn;
+
+/* Start connection to quad */
+struct backend_conn * ucart_backendConnect(void);
+
+/* Stop connection to quad */
+void ucart_backendDisconnect(struct backend_conn * conn);
+
+/* Get a line from the backend.
+ *
+ * The line will remain valid until the next call to ucart_backendGetline.
+ */
+char * ucart_backendGetline(struct backend_conn * conn);
+
+/* Write a line to the backend */
+int ucart_backendWrite(struct backend_conn * backend, const char * line);
+
+#endif

groundStation/src/frontend/frontend_getpid.c

+#include <stdio.h>
+#include <string.h>
+#include <stdlib.h>
+
+#include "frontend_getpid.h"
+#include "pid_common.h"
+
+/* Get a specified PID.
+ *
+ * Example:
+ *
+ * struct frontend_pid_data pid_data;
+ * pid_data.pid = PID_PITCH;
+ * if (frontend_getpid(conn, &pid_data)) {
+ * 		error
+ * } else {
+ * 		pid_data.p, pid_data.i, and pid_data.d are filled
+ * }
+ *
+ * Returns 0 on success, 1 on error
+ */
+int frontend_getpid(
+		struct backend_conn * conn, struct frontend_pid_data * pid_data) {
+	
+	char line[100] = "";
+	switch (pid_data->controller) {
+		case PID_PITCH :
+			strncpy(line, "getpitchp\ngetpitchd\n", 20);
+			break;
+		case PID_ROLL :
+			strncpy(line, "getrollp\ngetrolld\n", 18);
+			break;
+		case PID_YAW :
+			strncpy(line, "getyawp\ngetyawd\n", 17);
+			break;
+		default :
+			return 1;
+	}
+
+	int size;
+	if((size = ucart_backendWrite(conn, line)) < 0 ) {
+		return 1;
+	}
+
+	return 0;
+}	

groundStation/src/frontend/frontend_getpid.h

+#ifndef FRONTEND_GETPID_H
+#define FRONTEND_GETPID_H
+
+#include "frontend_common.h"
+#include "pid_common.h"
+
+/* Get a specified PID.
+ *
+ * Example:
+ *
+ * struct frontend_pid_data pid_data;
+ * pid_data.pid = PITCH;
+ * if (frontend_getpid(conn, &pid_data)) {
+ * 		error
+ * } else {
+ * 		pid_data.p, pid_data.i, and pid_data.d are filled
+ * }
+ *
+ * Returns 0 on success, 1 on error
+ */
+int frontend_getpid(
+		struct backend_conn * conn,
+		struct frontend_pid_data * pid_data);
+
+
+#endif

groundStation/src/frontend/frontend_setpid.c

+#include <err.h>
+#include <stdio.h>
+
+#include "frontend_setpid.h"
+#include "pid_common.h"
+#include "frontend_common.h"
+
+int frontend_setpid(
+		struct backend_conn * conn,
+		struct frontend_pid_data * pid_data,
+		int mask)
+{
+	if (conn == NULL) {
+		return -1;
+	}
+
+	char * controller;
+	switch (pid_data->controller) {
+		case PID_PITCH:
+			controller = "pitch";
+			break;
+		case PID_ROLL:
+			controller = "roll";
+			break;
+		case PID_YAW:
+			controller = "yaw";
+			break;
+			/* What is the "throttle" pid constant? */
+		default:
+			warnx("Unsupported PID constant");
+			return -1;
+	}
+
+	char buffer[2048];
+	/* Set the P, I, and D */
+	if (mask & SET_P) {
+		if (snprintf(buffer, 2048,
+					"set%sp %f\n", 
+					controller, 
+					pid_data->p) >= 2048) {
+			errx(0, "Buffer to small to format!");
+		}
+		ucart_backendWrite(conn, buffer);
+	}
+	if (mask & SET_I) {
+		if (snprintf(buffer, 2048,
+					"set%si %f\n", 
+					controller, 
+					pid_data->i) >= 2048) {
+			errx(0, "Buffer to small to format!");
+		}
+		ucart_backendWrite(conn, buffer);
+	}
+	if (mask & SET_D) {
+		if (snprintf(buffer, 2048,
+					"set%sd %f\n", 
+					controller, 
+					pid_data->d) >= 2048) {
+			errx(0, "Buffer to small to format!");
+		}
+		ucart_backendWrite(conn, buffer);
+	}
+
+	return 0;
+}

groundStation/src/frontend/frontend_setpid.h

+#ifndef _FRONTEND_SETPID_H
+#define _FRONTEND_SETPID_H
+
+#include "pid_common.h"
+#include "frontend_common.h"
+
+int frontend_setpid(
+		struct backend_conn * conn,
+		struct frontend_pid_data * pid_data,
+		int mask);
+
+#define SET_P 0x01
+#define SET_I 0x02
+#define SET_D 0x04
+#define SET_ALL (SET_P | SET_I | SET_D)
+
+#endif

groundStation/src/frontend/frontend_tracker.c

+#include <err.h>
+#include <string.h>
+#include <stdio.h>
+
+#include "frontend_tracker.h"
+
+#define MAGIC "TRACKERDATA"
+
+int frontend_track(
+		struct backend_conn * conn,
+		struct frontend_tracker_data * data)
+{
+	ucart_backendWrite(conn, MAGIC "\n");
+
+	char * line;
+	for (;;) {
+		line = ucart_backendGetline(conn);
+		if (line == NULL) {
+			warnx("Line not returned from backend");
+			return 1;
+		}
+
+		if (strncmp(line, MAGIC, strlen(MAGIC)) == 0) {
+			break;
+		}
+	}
+
+	if (strncmp(line, MAGIC " ERROR", strlen(MAGIC " ERROR")) == 0) {
+		warnx("Backend returned an error: %s", strstr(line, "ERROR"));
+		return 1;
+	}
+
+	/* Line format: Height Lat Long Pitch Roll Yaw */
+	sscanf(line, MAGIC " %lf %lf %lf %lf %lf %lf ",
+			&data->height,
+			&data->lateral,
+			&data->longitudinal,
+			&data->pitch,
+			&data->roll,
+			&data->yaw);
+	return 0;
+}

groundStation/src/frontend/frontend_tracker.h

+#ifndef _FRONTEND_TRACKER_H
+#define _FRONTEND_TRACKER_H
+
+#include "frontend_common.h"
+
+/* Struct containing pos/att data */
+struct frontend_tracker_data {
+		double height;
+		double lateral;
+		double longitudinal;
+		double pitch;
+		double roll;
+		double yaw;
+};
+
+/* Get pos/att data from the tracking system
+ *
+ * conn: IN Connection to quad
+ * data: OUT Data is written to this struct
+ *
+ * Returns 0 on success, nonzero on error
+ *
+ */
+int frontend_track(struct backend_conn * conn, 
+		struct frontend_tracker_data *data);
+
+#endif

groundStation/src/frontend/pid_common.h

+#ifndef PID_COMMON_H
+#define PID_COMMON_H
+
+enum pid_controller {
+	PID_PITCH,
+	PID_ROLL,
+	PID_YAW,
+	PID_PITCH_VELOCITY,
+	PID_ROLL_VELOCITY,
+	PID_YAW_VELOCITY,
+	PID_HEIGHT, /* Z */
+	PID_LAT, /* X */
+	PID_LONG, /* Y */
+	PID_NUM_PIDS
+};
+
+struct frontend_pid_data {
+	enum pid_controller controller;
+
+	float p;
+	float i;
+	float d;
+};
+
+
+#endif

vrpn @ 99c54dbe

+Subproject commit 99c54dbefe04897cc7c146101a126f62c0e65f97

src/commands.c

-#include "commands.h"
-
-static command_t registeredCommands[NUM_COMMANDS] = {
-	{ 0x00, 0x00, stringType, "debug", 			&debug },				//DEBUG
-	{ 0x01, 0x00, stringType, "setyaw", 		&setyaw },				//CALIBRATION
-	{ 0x01, 0x01, stringType, "setyawp", 		&setyawp },
-	{ 0x01, 0x02, stringType, "setyawd", 		&setyawd },
-	{ 0x01, 0x03, stringType, "setroll", 		&setroll },
-	{ 0x01, 0x04, stringType, "setrollp", 		&setrollp },
-	{ 0x01, 0x05, stringType, "setrolld", 		&setrolld },
-	{ 0x01, 0x06, stringType, "setpitch", 		&setpitch },
-	{ 0x01, 0x07, stringType, "setpitchp",		&setpitchp },
-	{ 0x01, 0x08, stringType, "setpitchd", 		&setpitchd },
-	{ 0x01, 0x09, stringType, "setthrottle", 	&setthrottle },
-	{ 0x01, 0x0A, stringType, "setthrottlep", 	&setthrottlep },
-	{ 0x01, 0x0B, stringType, "setthrottlei", 	&setthrottlei },
-	{ 0x01, 0x0C, stringType, "setthrottled", 	&setthrottled },
-	{ 0x02, 0x00, stringType, "getaccel", 		&getaccel },			//REQUEST
-	{ 0x02, 0x01, stringType, "getgyro", 		&getgyro },
-	{ 0x02, 0x02, stringType, "getpitchangle", 	&getpitchangle },
-	{ 0x02, 0x03, stringType, "getrollangle", 	&getrollangle },
-	{ 0x03, 0x00, stringType, "accelresp",		accelresp },			//RESPONSE
-	{ 0x03, 0x01, stringType, "gyroresp",   	&gyroresp },
-	{ 0x03, 0x02, stringType, "pitchangleresp", &pitchangleresp },
-	{ 0x03, 0x03, stringType, "rollangleresp", 	&rollangleresp },
-	{ 0x04, 0x00, stringType, "update", 		&update },				//UPDATE
-	{ 0x04, 0x01, stringType, "beginupdate", 	&beginupdate },
-	{ 0x05, 0x00, stringType, "log", 			&logdata },				//LOG
-	{ 0x05, 0x01, stringType, "response", 		&response },
-};
-
-int debug(unsigned char *c, int dataLen){
-	return 0;
-}
-int setyaw(unsigned char *c, int dataLen){
-	return 0;
-}
-int setyawp(unsigned char *c, int dataLen){
-	return 0;
-}
-int setyawd(unsigned char *c, int dataLen){
-	return 0;
-}
-int setroll(unsigned char *c, int dataLen){
-	return 0;
-}
-int setrollp(unsigned char *c, int dataLen){
-	return 0;
-}
-int setrolld(unsigned char *c, int dataLen){
-	return 0;
-}
-int setpitch(unsigned char *c, int dataLen){
-	return 0;
-}
-int setpitchp(unsigned char *c, int dataLen){
-	return 0;
-}
-int setpitchd(unsigned char *c, int dataLen){
-	return 0;
-}
-int setthrottle(unsigned char *c, int dataLen){
-	return 0;
-}
-int setthrottlep(unsigned char *c, int dataLen){
-	return 0;
-}
-int setthrottlei(unsigned char *c, int dataLen){
-	return 0;
-}
-int setthrottled(unsigned char *c, int dataLen){
-	return 0;
-}
-int getaccel(unsigned char *c, int dataLen){
-	return 0;
-}
-int getgyro(unsigned char *c, int dataLen){
-	return 0;
-}
-int getpitchangle(unsigned char *c, int dataLen){
-	return 0;
-}
-int getrollangle(unsigned char *c, int dataLen){
-	return 0;
-}
-int accelresp(unsigned char *c, int dataLen){
-	return 0;
-}
-int gyroresp(unsigned char *c, int dataLen){
-	return 0;
-}
-int pitchangleresp(unsigned char *c, int dataLen){
-	return 0;
-}
-int rollangleresp(unsigned char *c, int dataLen){
-	return 0;
-}
-int update(unsigned char *c, int dataLen){
-	return 0;
-}
-int beginupdate(unsigned char *c, int dataLen){
-	return 0;
-}
-int logdata(unsigned char *c, int dataLen){
-	return 0;
-}
-int response(unsigned char *packet, int dataLen){
-	return 0;
-}
\ No newline at end of file

src/commands.h

-#ifndef _COMMANDS_H
-#define _COMMANDS_H
-
-#define NUM_COMMANDS 26
-
-//TODO handle with enums
-#define MAX_TYPE 6
-#define MAX_SUBTYPE 100
-
-int debug(unsigned char *c, int dataLen);
-int setyaw(unsigned char *c, int dataLen);
-int setyawp(unsigned char *c, int dataLen);
-int setyawd(unsigned char *c, int dataLen);
-int setroll(unsigned char *c, int dataLen);
-int setrollp(unsigned char *c, int dataLen);
-int setrolld(unsigned char *c, int dataLen);
-int setpitch(unsigned char *c, int dataLen);
-int setpitchp(unsigned char *c, int dataLen);
-int setpitchd(unsigned char *c, int dataLen);
-int setthrottle(unsigned char *c, int dataLen);
-int setthrottlep(unsigned char *c, int dataLen);
-int setthrottlei(unsigned char *c, int dataLen);
-int setthrottled(unsigned char *c, int dataLen);
-int getaccel(unsigned char *c, int dataLen);
-int getgyro(unsigned char *c, int dataLen);
-int getpitchangle(unsigned char *c, int dataLen);
-int getrollangle(unsigned char *c, int dataLen);
-int accelresp(unsigned char *c, int dataLen);
-int gyroresp(unsigned char *c, int dataLen);
-int pitchangleresp(unsigned char *c, int dataLen);
-int rollangleresp(unsigned char *c, int dataLen);
-int update(unsigned char *c, int dataLen);
-int beginupdate(unsigned char *c, int dataLen);
-int logdata(unsigned char *c, int dataLen);
-int response(unsigned char *packet, int dataLen);
-
-enum Message{
-	BEGIN_CHAR = 0xBE,
-	END_CHAR   = 0xED
-};
-
-enum DataType
-{
-	floatType,
-	intType,
-	stringType
-};
-
-typedef struct command {
-	char ID;
-	char subID;
-	char dataType;
-	char commandText[100];
-	int (*functionPtr)(unsigned char *command, int dataLen);
-}command_t;
-
-enum CommandIDs{
-	DEBUG,
-	CALIBRATION,
-	REQUEST,
-	RESPONSE,
-	UPDATE,
-	LOG,
-	MAX_COMMAND_IDS
-};
-
-static command_t registeredCommands[NUM_COMMANDS];
-
-#endif
\ No newline at end of file

src/microcart_cli.c

-/* Author: Kris Burney
- *
- * BlueTooth socket program for passing vrpn data to quad.
- */
-//system includes
-#include <stdio.h>
-#include <stdlib.h>
-#include <unistd.h>
-#include <signal.h>
-#include <sys/socket.h>
-#include <bluetooth/bluetooth.h>
-#include <bluetooth/rfcomm.h>
-#include <pthread.h>
-
-//user created includes
-#include "communication.h"
-#include "commands.h"
-#include "vrpn_tracker.hpp"
-#include "type_def.h"
-#include "logger.h"
-
-#define QUAD_BT_ADDR  "00:06:66:64:61:D6"
-#define QUAD_BT_CHANNEL  0x01
-#define CMD_MAX_LENGTH 1024
-
-// function prototypes
-void killHandler(int);
-void readAndPrint(void);
-void sendVrpnPacket(struct ucart_vrpn_TrackerData *);
-void sendStartPacket(void);
-void getVRPNPacket(struct ucart_vrpn_TrackerData *);
-void printVrpnData(struct ucart_vrpn_TrackerData *);
-int connectToZybo();
-void *handleQuadResponse();
-void *handleCliInput();
-int atomic_check(int*, pthread_mutex_t*);
-void performCommand(char *cmdName, char * command);
-int startsWith(const char *pre, const char *str);
-
-//static void cb(struct ucart_vrpn_TrackerData *);
-
-// global variables
-static volatile int keepRunning = 1;
-const char *TRACKER_IP = "UAV@192.168.0.120:3883";
-int quadlog_file;
-int zyboSocket, status, bytes_read;
-struct ucart_vrpn_tracker * tracker = NULL;
-const char *logHeader = "";//"#\n#\tDefault log header\n#\tEverything after '#'`s will be printed as is in the processed logs.\n#\n\0";
-
-pthread_mutex_t quadResponseMutex, cliInputMutex ;
-unsigned char *respBuf, *commandBuf;
-int newQuadResponse = 0, newCliInput = 0;
-
-// Structures to be used throughout
-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;
-
-// 	if(!(count % 10)) {
-// 		sendVrpnPacket(td);
-// 		updateLogFile(td);
-// 	}
-
-// 	count++;
-
-// 	// This will print the vrpn data to the terminal if necissary.
-// 	// Commented out because the callback will cover quad log data
-// 	//   at the end of flight.
-// 	/**if(!(count % 100)) {
-// 	 	printVrpnData(td);
-// 	 	printf("[Info] Received %d tracker updates.\n", count);
-// 	}**/
-// }
-
-
-void *handleQuadResponse() {
-	unsigned char buffer[255];
-
-	while(keepRunning) {
-		// Clear the buffer and read the message from the socket (from the server)
-		memset(buffer, 0, 255);
-
-		// If there was an error reading from the socket, throw an error
-		if(read(zyboSocket, buffer, 255) <= 0) {
-			fprintf(stderr, "CLI QUAD: ERROR reading from quad.\n");
-			continue;
-		}
-
-		pthread_mutex_lock(&quadResponseMutex);
-		newQuadResponse = 1;
-		memcpy(respBuf, buffer, 255);
-		pthread_mutex_unlock(&quadResponseMutex);
-
-		//parse_packet(buffer, &respBuf, &metadata);
-		// fprintf(stderr, "CLI QUAD: %s\n", buffer);
-	}
-
-	pthread_exit(NULL);
-}
-
-void *handleCliInput() {
-	sleep(1);
-	while(keepRunning)
-	{
-		char userCommand[CMD_MAX_LENGTH] = {};
-		fprintf(stderr, "$microcart> ");
-
-		while(fgets(userCommand, sizeof(userCommand), stdin) != NULL && keepRunning) {
-			
-			// if the user simply hit enter then let them try again
-			if((userCommand[0] == '\n') || (userCommand[0] == '\r'))
-			{
-				fprintf(stderr, "$microcart> ");
-
-				memset(userCommand, 0, CMD_MAX_LENGTH);
-
-				continue;
-			}
-
-			if((userCommand[strlen(userCommand) - 1] == '\n') || (userCommand[strlen(userCommand) - 1] == '\r'))
-			userCommand[strlen(userCommand) - 1] = '\0';
-
-			pthread_mutex_lock(&cliInputMutex);
-			newCliInput = 1;
-			memcpy(commandBuf, &userCommand, CMD_MAX_LENGTH);
-			pthread_mutex_unlock(&cliInputMutex);
-
-			fprintf(stderr, "$microcart> ");
-
-			memset(userCommand, 0, CMD_MAX_LENGTH);
-		}
-	}
-
-	pthread_exit(NULL);
-}
-
-int main(int argc, char **argv)
-{
-	pthread_t quadResponse, cliInput;
-	respBuf = malloc(1024);
-	commandBuf = malloc(CMD_MAX_LENGTH);
-	
-	signal(SIGINT, killHandler);
-
-	if ((zyboSocket = connectToZybo()) < 0)
-	{
-		perror("Error connecting to Zybo...");
-		free(respBuf);
-		free(commandBuf);
-		exit(1);
-	}
-	
-	// create vrpnTracker instance
-//	tracker = ucart_vrpn_tracker_createInstance(TRACKER_IP);
-
-	// Retrieve VRPN data from the control loop
-	fprintf(stderr, "CLI: Starting quad receiving thread...\n");
-	pthread_create(&quadResponse, NULL, handleQuadResponse, NULL);
-	fprintf(stderr, "CLI: Thread quad receiving started.\n");
-
-	// Retrieve user command input
-	fprintf(stderr, "CLI: Starting cli input thread...\n");
-	pthread_create(&cliInput, NULL, handleCliInput, NULL);
-	fprintf(stderr, "CLI: Thread Cli input started.\n");
-
-	// open the log file
-	if( (status = createLogFile(argc, argv[1])) < 0)
-	{
-		perror("Error creating log file...");
-		free(respBuf);
-		free(commandBuf);
-		exit(1);
-	}
-	writeStringToLog(logHeader);
-
-	//tell the quad we are ready to send it vrpn data
-	printf("sending Start Packet...\n");
-	sendStartPacket();
-
-	// this function will be called whenever tracker receives data
-	// ucart_vrpn_tracker_addCallback(tracker, cb);
-	int updatePrompt = 0;
-	while(keepRunning)
-	{
-		char tmpRespBuf[1024];
-		unsigned char tmpCommandBuf[CMD_MAX_LENGTH];
-
-
-		if(updatePrompt)
-		{
-			fprintf(stderr, "$microcart> ");
-			updatePrompt = 0;	
-		}
-
-		//check for user input via cli
-		if(atomic_check(&newCliInput, &cliInputMutex))
-		{
-			pthread_mutex_lock(&cliInputMutex);
-			newCliInput = !newCliInput;
-			memcpy(tmpCommandBuf, commandBuf, CMD_MAX_LENGTH);
-			pthread_mutex_unlock(&cliInputMutex);
-
-			// I can use printf becuase the command was gathered using fgets.
-			//fprintf(stderr, "\rINPUT FOUND via CLI: '%s'\n", tmpCommandBuf);
-			updatePrompt = !updatePrompt;
-			unsigned char *packet;
-			formatCommand(tmpCommandBuf, &packet);
-		}
-
-		//check for update/response from quad
-		if(atomic_check(&newQuadResponse, &quadResponseMutex))
-		{
-			pthread_mutex_lock(&quadResponseMutex);
-			newQuadResponse = !newQuadResponse;
-			memcpy(tmpRespBuf, respBuf, 1024);
-			pthread_mutex_unlock(&quadResponseMutex);
-
-			char buf[1025];
-			memcpy(buf, tmpRespBuf, 1024);
-			buf[1025] = '\0';
-			//fprintf(stderr, "\rINPUT FOUND via QUAD: '%s'\n", buf);
-			writeStringToLog(buf);
-			updatePrompt = !updatePrompt;
-		}
-	}
-
-	//ucart_vrpn_tracker_freeInstance(tracker);
-	//free(vrpnData);
-	free(respBuf);
-	free(commandBuf);
-	pthread_mutex_destroy(&cliInputMutex);
-	pthread_mutex_destroy(&quadResponseMutex);
-	close(zyboSocket);
-	close(quadlog_file);
-	return 0;
-}
-
-// signal handler to exit while loop of main function
-void killHandler(int dummy) {
-	keepRunning = 0;
-	printf("\nleaving Bluetooth module\n");
-}
-
-void readAndPrint() {
-	// read data from the server
-	// this is a blocking call.
-	//TODO: Implement a non blocking version of this.
-	bytes_read = read(zyboSocket, respBuf, sizeof(respBuf) -1);
-	if( bytes_read > 0)
-	{
-		respBuf[bytes_read] = '\0';
-		printf("%s", respBuf);
-	}
-}
-
-void sendStartPacket() {
-	unsigned char packet[8] = {0};
-
-	metadata_t metadata = 
-	{
-		BEGIN_CHAR,
-		0x04,
-		0x01,
-		0x01,
-		0
-	};
-
-	packet[0] = metadata.begin_char; // BEGIN					//PACKET_START_BYTE;
-	packet[1] = metadata.msg_type;	// UPDATE				//'U'; // U for vrpn camera update, C for command
-	packet[2] = metadata.msg_subtype; // BEGIN UPDATE
-	packet[3] = 1; 			// MSG ID(1)
-	packet[4] =	0; // MSG ID(2)
-	packet[5] = 0; 			// DATALEN(1)
-	packet[6] = 0; 	// DATALEN(2)
-	
-	char checksum = 0;
-	int i;
-	for(i=0; i < metadata.data_len + 7; i++)
-		checksum ^= packet[i];
-
-	packet[metadata.data_len + 7] = checksum; //PACKET_END_BYTE;
-	status = write(zyboSocket, &packet, metadata.data_len + 8);
-	if (status != 8)
-	{
-		perror("Error sending start packet...\n");
-		keepRunning = 0;
-	}else
-	{
-		printf("Start packet successfuly sent...\n");
-	}
-}
-
-void sendVrpnPacket(struct ucart_vrpn_TrackerData *info) {
-	int pSize = sizeof(info) + 8;
-	int n;
-	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
-	//TODO Figure out Packet ID with this new ucar_vrpn_TrackerData struct
-	packet[3] = (0x00 & 0x000000ff); 			// MSG ID(1)
-	packet[4] =	((0x00 >> 8) & 0x000000ff); // MSG ID(2)
-	packet[5] = (sizeof(info) & 0x000000ff); 			// DATALEN(1)
-	packet[6] = ((sizeof(info) >> 8) & 0x00000ff); 	// DATALEN(2)
-	memcpy(&packet[7], &info, sizeof(info));
-
-	char checksum = 0;
-	int i;
-	for(i=0; i < pSize - 1; i++)
-		checksum ^= packet[i];
-
-	packet[pSize - 1] = checksum; //PACKET_END_BYTE;
-
-	n = write(zyboSocket, packet, pSize);
-	if(n < 0) {	
-		perror("vrpnhandler: ERROR writing to socket");
-		keepRunning = 0;
-	}
-}
-
-void getVRPNPacket(struct ucart_vrpn_TrackerData *td) {
-	int status;
-	if((status = ucart_vrpn_tracker_getData(tracker, td)) < 0)
-	{
-		perror("Error receiving VRPN data from tracker...");
-		keepRunning = 0;
-	}
-}
-
-void printVrpnData(struct ucart_vrpn_TrackerData * td) {
-	printf("FPS: %lf Pos (xyz): (%lf %lf %lf) Att (pry): (%lf %lf %lf)\n",
-		td->fps, td->x, td->y, td->z, td->pitch, td->roll, td->yaw);
-}
-
-int connectToZybo() {
-	int sock;
-	struct sockaddr_rc addr = { -1 };
-
-	// allocate a socket	
-	sock = socket(AF_BLUETOOTH, SOCK_STREAM, BTPROTO_RFCOMM);
-
-	//set the connection params ie. who to connect to	
-	addr.rc_family = AF_BLUETOOTH;
-	addr.rc_channel = (uint8_t) QUAD_BT_CHANNEL;
-	str2ba( QUAD_BT_ADDR, &addr.rc_bdaddr );
-	
-	printf("Attempting to connect to zybo. Please be patient...\n");
-	// blocking call to connect to socket sock ie. zybo board
-	status = connect(sock, (struct sockaddr *)&addr, sizeof(addr));
-
-	// connection failed
-	if(status < 0)
-	{
-		close(sock);
-		printf("Connection failed!...\n");
-		return -1;
-	} 
-	else
-	{
-		printf("connection successful!...\n");
-		return sock;
-	}
-}
-
-int atomic_check(int* atomicFlag, pthread_mutex_t* mutex) {
-   pthread_mutex_lock(mutex);
-   int result = *atomicFlag;
-   pthread_mutex_unlock(mutex);
-   return result;
-}
-
-void performCommand(char *cmdName, char * command) {
-	for(int i = 0; i < NUM_COMMANDS; ++i)
-	{
-		if(startsWith(registeredCommands[i].commandText, command));
-			fprintf(stderr, "\r\n You used cmd '%s'\n",registeredCommands[i].commandText);
-	}
-}
-
-int startsWith(const char *pre, const char *str) {
-    size_t lenpre = strlen(pre),
-           lenstr = strlen(str);
-    return lenstr < lenpre ? 0 : (strncmp(pre, str, lenpre) == 0);
-}
\ No newline at end of file

src/vrpn/.clang-format

----
-Language:        Cpp
-BasedOnStyle:  LLVM
-Standard:        Auto
-IndentWidth:     4
-TabWidth:        4
-UseTab:          Never
-AccessModifierOffset: -4
-AllowShortIfStatementsOnASingleLine: true
-BreakBeforeBraces: Stroustrup
-BreakConstructorInitializersBeforeComma: true
-NamespaceIndentation: All
-DerivePointerBinding: true
-...
-

src/vrpn/.clang-tidy

----
-# Remove these blocked checks once the first batch are cleaned up
-# - readability-braces-around-statements
-Checks:          '*,-clang-analyzer-alpha*,-llvm-include-order,-google-*,-llvm-header-guard,-readability-braces-around-statements,-misc-use-override'
-HeaderFilterRegex: '.*'
-...
-

src/vrpn/.gitmodules

-[submodule "submodules/hidapi"]
-	path = submodules/hidapi
-	url = https://github.com/vrpn/hidapi.git
-[submodule "submodules/jsoncpp"]
-	path = submodules/jsoncpp
-	url = https://github.com/vrpn/jsoncpp.git

src/vrpn/.travis.yml

-compiler:
-  - clang
-  - gcc
-
-before_install:
-  - git submodule update --init --recursive
-  - sudo apt-get update -qq
-  - sudo apt-get install -qq libgpm-dev freeglut3-dev libxmu-dev libxi-dev libusb-1.0-0-dev libqt4-dev
-
-language: cpp
-script: mkdir build && cd build && cmake -DVRPN_GPL_SERVER=TRUE -D  VRPN_BUILD_EXTRA_COMPILER_WARNINGS=TRUE .. && make && make test

src/vrpn/CMakeLists.txt

-cmake_minimum_required(VERSION 2.8.3)
-project(VRPN)
-
-#-----------------------------------------------------------------------------
-# XXX Things to make better.
-#
-# Repeat for all other configurable headers/libraries - see below for a list
-# Move the shared-library code over to CMake's normal definition
-# Improve this CPack installer.
-
-###
-# Local CMake Modules - keep this first
-###
-list(APPEND CMAKE_MODULE_PATH ${VRPN_SOURCE_DIR}/cmake)
-include(UseBackportedModules)
-include(MSVCMultipleProcessCompile)
-include(CppcheckTargets)
-include(SetDefaultBuildType)
-include(OptionRequires)
-include(CTest)
-include(CreateDashboardScripts)
-include(CheckIncludeFileCXX)
-
-if((NOT CMAKE_SOURCE_DIR STREQUAL CMAKE_CURRENT_SOURCE_DIR) OR VRPN_SUBPROJECT_BUILD)
-	# If you're using this as a subproject and want things installed, set VRPN_INSTALL TRUE.
-	set(SUBPROJECT TRUE)
-	set(DEFAULT_OFF_IF_SUBPROJECT OFF_BY_DEFAULT)
-	set(TRUE_UNLESS_SUBPROJECT FALSE)
-else()
-	set(VRPN_INSTALL TRUE)
-	set(SUBPROJECT FALSE)
-	set(DEFAULT_OFF_IF_SUBPROJECT)
-	set(TRUE_UNLESS_SUBPROJECT TRUE)
-endif()
-
-# TODO Remove the following when it is fixed in the Android CMake.
-if(BUILD_WITH_ANDROID_NDK)
-	set(CMAKE_CXX_FLAGS
-		"--sysroot=${ANDROID_NDK_SYSROOT} ${CMAKE_CXX_FLAGS}")
-	set(CMAKE_C_FLAGS "--sysroot=${ANDROID_NDK_SYSROOT} ${CMAKE_C_FLAGS}")
-endif()
-
-###
-# On Windows 7, it does not work to install in the default location,
-# which is the Program Files directory, because you have to not only have
-# file permission to write there but also "run as administrator."  This
-# means that "make install" from a Visual Studio project fails.  To get
-# around that, we need to set CMAKE_INSTALL_PREFIX to something other
-# than the default.  However, it is a cache variable that has already been
-# set.  If we make a local variable, it uses this rather than the cache
-# variable and never tells the poor user what happened (the GUI location
-# looks standard but the files end up somewhere else).  If we make it a
-# non-forced cache variable, it already has a value so does not change.
-# If we make it a forced cache variable, it gets overwritten every time
-# and the user cannot change it on the GUI.  So we have a workaround here.
-# We make a cache variable that records whether we have ever forced the
-# install prefix.  If not, we force it.  If so, we don't force it again.
-# This has the effect of setting it the first time cmake is run, showing
-# the change in the GUI, and also letting the user change the value in
-# the GUI if they don't like what we did.  If I knew how to do this only
-# happen on Windows 7, I'd make the if(WIN32) more specific.
-if(WIN32 AND NOT SUBPROJECT)
-	if(CMAKE_INSTALL_PREFIX_INITIALIZED_TO_DEFAULT
-		AND
-		(NOT
-		ONCE_SET_CMAKE_INSTALL_PREFIX))
-		set(ONCE_SET_CMAKE_INSTALL_PREFIX
-			true
-			CACHE
-			INTERNAL
-			"Have we set the install prefix yet?"
-			FORCE)
-		set(CMAKE_INSTALL_PREFIX
-			C:/usr/local
-			CACHE
-			PATH
-			"Install path prefix, prepended onto install directories"
-			FORCE)
-	endif()
-endif()
-
-
-###
-# Basic packaging options and versioning
-
-include("${CMAKE_CURRENT_SOURCE_DIR}/ParseVersion.cmake")
-
-message(STATUS
-	"Configuring the VRPN suite version ${CPACK_PACKAGE_VERSION} using the CMake-based build system\n")
-
-set(CPACK_PACKAGE_VENDOR
-	"Russell M. Taylor II at the University of North Carolina at Chapel Hill")
-set(CPACK_PACKAGE_FILE_NAME
-	"${PROJECT_NAME}-${CPACK_PACKAGE_VERSION}-${CMAKE_SYSTEM_NAME}-${CMAKE_SYSTEM_PROCESSOR}")
-set(CPACK_SOURCE_PACKAGE_FILE_NAME
-	"${PROJECT_NAME}-${CPACK_PACKAGE_VERSION}-src")
-set(CPACK_PACKAGE_CONTACT "VRPN Community <vrpn@listserv.unc.edu>")
-
-#-----------------------------------------------------------------------------
-# Compiler flags we got from Hans for Windows and from Sheldon Andrews
-# for other architectures.
-if(MSVC)	# MS-Windows Visual Studio, both 32 and 64 bits
-	set(CMAKE_DEBUG_POSTFIX "d" CACHE STRING "add a postfix, usually d on windows")
-	if(MSVC_VERSION GREATER 1310) # This compiler flag needs newer than VS.NET 2003 (7.1)
-		# Choose fast, possibly less accurate floating point
-		# See http://msdn.microsoft.com/en-us/library/e7s85ffb(v=vs.80).aspx
-		set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} /fp:fast")
-		set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /fp:fast")
-	endif()
-
-	# Do not assume fixed base address (probably for DLL integration?)
-	# http://msdn.microsoft.com/en-us/library/w368ysh2(v=vs.80).aspx
-	set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} /FIXED:NO")
-else()
-	# GCC compilers on 64-bit machines require -fPIC for shared libraries or libs
-	# linked into shared libraries.
-
-	set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${CMAKE_SHARED_LIBRARY_C_FLAGS}")
-	set(CMAKE_CXX_FLAGS
-		"${CMAKE_CXX_FLAGS} ${CMAKE_SHARED_LIBRARY_CXX_FLAGS}")
-endif()
-
-set(SERVER_EXTRA_LIBS)
-set(SERVER_LINK_FLAGS)
-
-# Set up correct defines for Windows header compilation:
-# This theoretically sets the lower-bound on operating system compatibility
-# http://msdn.microsoft.com/en-us/library/windows/desktop/aa383745(v=vs.85).aspx
-# NT4	0x0400
-# Win2k	0x0500
-# WinXP	0x0501
-# WS2003SP1/WinXPSP2 	0x0502
-# Vista 0x0600
-# Win7  0x0601
-# Win8  0x0602
-# Win8.1 0x0603 (though some docs say 0x0602 with NTDDI_VERSION 0x06030000)
-if(WIN32)
-	set(WIN_MIN_VER 0x0500) # Default to Windows 2000
-	if(MSVC AND MSVC_VERSION GREATER 1699)
-		# VS2012: defaults to vista+, update 1 added XP support in additional toolset.
-		if("${CMAKE_VS_PLATFORM_TOOLSET}" MATCHES "_xp")
-			set(WIN_MIN_VER 0x0501) # WinXP
-		else()
-			set(WIN_MIN_VER 0x0600) # Vista
-		endif()
-	endif()
-	add_definitions("-D_WIN32_WINNT=${WIN_MIN_VER}" "-DNTDDI_VERSION=${WIN_MIN_VER}0000")
-endif()
-
-#-----------------------------------------------------------------------------
-# Options that control what gets built and how.
-
-if(NOT SUBPROJECT)
-	# We can build two configurations (passing defs to the compile lines) - which ones do we want?
-	# Note that we can build both now, if desired!
-	option(VRPN_BUILD_CLIENT_LIBRARY
-		"Build the vrpn library including only client code"
-		ON)
-	option(VRPN_BUILD_SERVER_LIBRARY
-		"Build the vrpnserver library including client and server code"
-		ON)
-
-	# Build various applications if we want them.
-	option(VRPN_BUILD_CLIENTS "Build VRPN client apps and tests" ON)
-	option(VRPN_BUILD_SERVERS "Build VRPN servers" ON)
-
-	# Development tools
-	if(MSVC_IDE AND MSVC_VERSION LESS 1600)
-		# VS 2012 Express and newer has folder support...
-		option(VRPN_BUILD_WITH_PROJECT_FOLDERS
-			"Use project folders in build system - not compatible with Visual C++ Express editions!"
-			OFF)
-	else()
-		set(VRPN_BUILD_WITH_PROJECT_FOLDERS ON)
-	endif()
-
-	set_property(GLOBAL
-		PROPERTY
-		USE_FOLDERS
-		${VRPN_BUILD_WITH_PROJECT_FOLDERS})
-
-	# Set a default build type
-	set_default_build_type("RelWithDebInfo")
-
-endif()
-
-# Force use of our CMake-processed configuration header before the stock one.
-include_directories("${PROJECT_BINARY_DIR}")
-
-
-# Include directory needed by all of the files
-include_directories(${VRPN_SOURCE_DIR}
-	${VRPN_SOURCE_DIR}/atmellib
-	${VRPN_SOURCE_DIR}/quat)
-
-
-#-----------------------------------------------------------------------------
-# Libraries we need to do our thing.
-#
-# CMake variables:
-#   SERVER_EXTRA_LIBS - libraries to link against when building the server lib
-#   EXTRA_LIBS - libraries to link against when building any VRPN lib
-#
-# Note that library linking is, by default, transitive:
-# Specify linking here (even though static libraries might not use it
-# directly - think of shared libs and your fellow developer) rather than
-# in the included apps.
-
-###
-# Quatlib
-###
-add_subdirectory(quat)
-list(APPEND EXTRA_LIBS quat)
-
-###
-# Threading (not on win32)
-# Remove the test for Android when threads are fixed in the Android CMake.
-###
-if(NOT WIN32 AND NOT BUILD_WITH_ANDROID_NDK)
-	find_package(Threads REQUIRED)
-	list(APPEND EXTRA_LIBS ${CMAKE_THREAD_LIBS_INIT})
-endif()
-
-###
-# Windows-specific (non-Cygwin) dependencies
-###
-if(WIN32 AND NOT UNIX)
-	# Winsock - needed for endianness conversion
-	list(APPEND EXTRA_LIBS ws2_32)
-
-	# Windows multimedia - needed for joywin32
-	list(APPEND EXTRA_LIBS winmm)
-endif()
-
-###
-# Optional packages
-###
-message(STATUS
-	"Now searching for auto-configurable optional packages...\n")
-
-###
-# Submodules - bundled libraries/sources
-###
-add_subdirectory(submodules)
-
-###
-# SWIG and Python Libs (for python wrappers)
-###
-find_package(SWIG)
-
-set(CurrentPythonSettings
-	"${VRPN_BUILD_PYTHON}${VRPN_BUILD_PYTHON_HANDCODED_2X}${VRPN_BUILD_PYTHON_HANDCODED_3X}")
-if(NOT CurrentPythonSettings STREQUAL _VRPN_PYTHON_SETTINGS)
-	set(vrpn_python_versionsearch)
-	set(vrpn_python_versionsearchargs)
-	if(VRPN_BUILD_PYTHON)
-		# Swig wants 2.x, I assume
-		set(vrpn_python_versionsearch 2)
-		if(VRPN_BUILD_PYTHON_HANDCODED_3X)
-			message(FATAL_ERROR
-				"Can't build both SWIG (2.x) and hand-coded 3.x Python bindings. Disable either VRPN_BUILD_PYTHON or VRPN_BUILD_PYTHON_HANDCODED_3X.")
-		endif()
-	elseif(VRPN_BUILD_PYTHON_HANDCODED_3X
-		AND
-		VRPN_BUILD_PYTHON_HANDCODED_2X)
-		message(FATAL_ERROR
-			"Can't build handcoded Python bindings for both 2.x and 3.x versions. Pick one, please.")
-	elseif(VRPN_BUILD_PYTHON_HANDCODED_2X
-		AND
-		NOT
-		VRPN_BUILD_PYTHON_HANDCODED_3X)
-		set(vrpn_python_versionsearch 2)
-	elseif(VRPN_BUILD_PYTHON_HANDCODED_3X
-		AND
-		NOT
-		VRPN_BUILD_PYTHON_HANDCODED_2X)
-		set(vrpn_python_versionsearch 3)
-	endif()
-	unset(PYTHON_INCLUDE_DIR CACHE)
-	unset(PYTHON_INCLUDE_DIR)
-	unset(PYTHON_LIBRARY CACHE)
-	unset(PYTHON_LIBRARY)
-
-	set(_VRPN_PYTHON_VERSIONSEARCH
-		${vrpn_python_versionsearch}
-		CACHE
-		INTERNAL
-		""
-		FORCE)
-	set(_VRPN_PYTHON_SETTINGS
-		${CurrentPythonSettings}
-		CACHE
-		INTERNAL
-		""
-		FORCE)
-endif()
-
-# Passing just the major version works with as desired multi-python-capable find module such
-# as in latest CMake (2.8.9)
-find_package(PythonLibs ${_VRPN_PYTHON_VERSIONSEARCH})
-if(PYTHONLIBS_FOUND)
-	if(PYTHONLIBS_VERSION_STRING)
-		string(SUBSTRING
-			${PYTHONLIBS_VERSION_STRING}
-			0
-			1
-			vrpn_python_majorver)
-		set(PYTHON${vrpn_python_majorver}_FOUND ON)
-	elseif(PYTHON_LIBRARY MATCHES "python([23])")
-		set(PYTHON${CMAKE_MATCH_1}_FOUND ON)
-	elseif(_VRPN_PYTHON_VERSIONSEARCH)
-		set(PYTHON${_VRPN_PYTHON_VERSIONSEARCH}_FOUND ON)
-	else()
-		message(STATUS
-			"Warning: found python but couldn't determine which version. Please set either VRPN_PYTHON_IS_3 or VRPN_PYTHON_IS_2")
-		option(VRPN_PYTHON_IS_3 "Python found is version 3.x" OFF)
-		option(VRPN_PYTHON_IS_2 "Python found is version 2.x" OFF)
-		if(VRPN_PYTHON_IS_3 AND VRPN_PYTHON_IS_2)
-			unset(VRPN_PYTHON_IS_2 CACHE)
-			unset(VRPN_PYTHON_IS_3 CACHE)
-			message(FATAL_ERROR
-				"If needed, please set either VRPN_PYTHON_IS_3 or VRPN_PYTHON_IS_2, not both!")
-		elseif(VRPN_PYTHON_IS_3)
-			set(PYTHON3_FOUND ON)
-		elseif(VRPN_PYTHON_IS_2)
-			set(PYTHON2_FOUND ON)
-		endif()
-	endif()
-endif()
-
-# If MSVC, and we don't have a debug lib, default to off, or the default (debug runtime) build is broken.
-if(MSVC AND NOT PYTHON_LIBRARY_DEBUG)
-	set(PYTHON_DEFAULT_OFF OFF_BY_DEFAULT)
-else()
-	set(PYTHON_DEFAULT_OFF ${DEFAULT_OFF_IF_SUBPROJECT})
-endif()
-option_requires(VRPN_BUILD_PYTHON
-	"Build VRPN Python 2.x SWIG-based bindings"
-	${PYTHON_DEFAULT_OFF}
-	SWIG_FOUND
-	PYTHON2_FOUND)
-
-option_requires(VRPN_BUILD_PYTHON_HANDCODED_2X
-	"Build VRPN Python handcoded bindings for Python 2.x"
-	${PYTHON_DEFAULT_OFF}
-	PYTHON2_FOUND)
-
-option_requires(VRPN_BUILD_PYTHON_HANDCODED_3X
-	"Build VRPN Python handcoded bindings for Python 3.x"
-	${PYTHON_DEFAULT_OFF}
-	PYTHON3_FOUND)
-
-###
-# javac, jar, and javah (for java wrapper)
-###
-if(BUILD_WITH_ANDROID_NDK)
-	set(CMAKE_FIND_ROOT_PATH_MODE_PROGRAM NEVER)
-	set(CMAKE_FIND_ROOT_PATH_MODE_LIBRARY NEVER)
-	set(CMAKE_FIND_ROOT_PATH_MODE_INCLUDE NEVER)
-	find_package(Java COMPONENTS Development REQUIRED)
-	find_package(JNI REQUIRED)
-else()
-	find_package(Java COMPONENTS Development)
-	find_package(JNI)
-endif()
-find_program(JAVAH_EXECUTABLE NAMES javah)
-mark_as_advanced(JAVAH_EXECUTABLE)
-option_requires(VRPN_BUILD_JAVA
-	"Build VRPN Java bindings"
-	${DEFAULT_OFF_IF_SUBPROJECT}
-	Java_JAVAC_EXECUTABLE
-	Java_JAR_EXECUTABLE
-	JNI_FOUND
-	JAVAH_EXECUTABLE)
-
-if(BUILD_WITH_ANDROID_NDK)
-	set(CMAKE_FIND_ROOT_PATH_MODE_PROGRAM ONLY)
-	set(CMAKE_FIND_ROOT_PATH_MODE_LIBRARY ONLY)
-	set(CMAKE_FIND_ROOT_PATH_MODE_INCLUDE ONLY)
-endif()
-
-###
-# MPI
-###
-find_package(MPI)
-# XXX Safe to enable by default if we find it?
-option_requires(VRPN_USE_MPI
-	"Build with MPI support"
-	OFF_BY_DEFAULT
-	MPI_FOUND)
-
-if(VRPN_USE_MPI)
-	# XXX what else needs to be done here?
-	add_definitions(${MPI_COMPILE_FLAGS})
-	include_directories(${MPI_INCLUDE_PATH})
-	list(APPEND EXTRA_LIBS ${MPI_LIBRARIES})
-endif()
-
-###
-# Modbus library
-###
-find_package(Modbus)
-option_requires(VRPN_USE_MODBUS
-	"Build with Modbus support"
-	OFF_BY_DEFAULT
-	MODBUS_FOUND)
-
-if(VRPN_USE_MODBUS)
-	# XXX what else needs to be done here?
-	include_directories(${MODBUS_INCLUDE_DIR})
-	list(APPEND EXTRA_LIBS ${MODBUS_LIBRARY})
-endif()
-
-###
-# Libusb1
-###
-find_package(Libusb1)
-option_requires(VRPN_USE_LIBUSB_1_0
-	"Attempt to use LibUSB-1.0 to talk directly to USB devices."
-	${DEFAULT_OFF_IF_SUBPROJECT}
-	LIBUSB1_FOUND)
-
-if(VRPN_USE_LIBUSB_1_0)
-	include_directories(${LIBUSB1_INCLUDE_DIRS})
-	list(APPEND SERVER_EXTRA_LIBS ${LIBUSB1_LIBRARIES})
-endif()
-
-
-###
-# HID and HIDAPI
-###
-
-# Setting up the local HIDAPI was handled above, in the submodules directory
-if(NOT VRPN_USE_LOCAL_HIDAPI)
-	find_package(HIDAPI)
-endif()
-
-# HID requires either local or system-installed HIDAPI
-# Both set HIDAPI_FOUND, HIDAPI_LIBRARIES, and HIDAPI_INCLUDE_DIRS
-# If the user chose VRPN_USE_LOCAL_HIDAPI, the HIDAPI_SOURCES
-# variable, as included in the source list below, will also be set.
-option_requires(VRPN_USE_HID
-	"Build with support for HID devices using HIDAPI"
-	${DEFAULT_OFF_IF_SUBPROJECT}
-	HIDAPI_FOUND)
-
-if(VRPN_USE_HID)
-	include_directories(${HIDAPI_INCLUDE_DIRS})
-	list(APPEND SERVER_EXTRA_LIBS ${HIDAPI_LIBRARIES})
-	option(VRPN_BUILD_HID_GUI
-		"Should we build a GUI for analyzing live HID streams?"
-		OFF)
-	option(VRPN_HID_DEBUGGING
-		"Should verbose debugging messages be displayed during HID interactions?"
-		off)
-	if(VRPN_HID_DEBUGGING)
-		add_definitions(-DVRPN_HID_DEBUGGING)
-	endif()
-else()
-	# Clear this variable if they don't want HID after all.
-	message(STATUS
-		"NOTE: You have VRPN_USE_LOCAL_HIDAPI enabled, but "
-		"VRPN_USE_HID disabled: HIDAPI will only be built if you enable HID support for VRPN")
-	set(HIDAPI_SOURCES)
-endif()
-
-###
-# Sensable "OpenHaptics" HDAPI/HLAPI
-###
-find_package(OpenHaptics)
-option_requires(VRPN_USE_HDAPI
-	"Allow SensAble Phantom support through HDAPI/HLAPI - VRPN_USE_PHANTOM_SERVER must still be set"
-	${DEFAULT_OFF_IF_SUBPROJECT}
-	OPENHAPTICS_FOUND)
-if(VRPN_USE_HDAPI)
-	set(PHANTOM_POSSIBLE ON)
-endif()
-
-###
-# Sensable GHOST
-###
-if(NOT VRPN_USE_HDAPI)
-	find_package(GHOST)
-	option_requires(VRPN_USE_GHOST
-		"Allow SensAble Phantom support through GHOST - VRPN_USE_PHANTOM_SERVER must still be set"
-		${DEFAULT_OFF_IF_SUBPROJECT}
-		GHOST_FOUND)
-	if(VRPN_USE_GHOST)
-		if(NOT ${GHOST_LIBRARIES} MATCHES ".*40.*")
-			message(STATUS "GHOST pre-4.0 detected - calling it 3.1.")
-			set(VRPN_USE_GHOST_31 ON)
-		endif()
-		set(PHANTOM_POSSIBLE ON)
-	endif()
-endif()
-
-###
-# Sensable PHANToM Support - Overall Option
-###
-option_requires(VRPN_USE_PHANTOM_SERVER
-	"Build with SensAble Phantom support"
-	${DEFAULT_OFF_IF_SUBPROJECT}
-	PHANTOM_POSSIBLE)
-
-if(VRPN_USE_PHANTOM_SERVER)
-	if(VRPN_USE_HDAPI)
-		include_directories(${OPENHAPTICS_INCLUDE_DIRS})
-		list(APPEND SERVER_EXTRA_LIBS ${OPENHAPTICS_LIBRARIES})
-	else()
-		# VRPN_USE_GHOST
-		include_directories(${GHOST_INCLUDE_DIRS})
-		list(APPEND SERVER_EXTRA_LIBS ${GHOST_LIBRARIES})
-	endif()
-endif()
-
-
-###
-# WiiUse
-###
-find_package(WiiUse)
-option_requires(VRPN_USE_WIIUSE
-	"Build with WiiUse library support (makes servers GPL)"
-	${DEFAULT_OFF_IF_SUBPROJECT}
-	WIIUSE_FOUND)
-
-if(VRPN_USE_WIIUSE)
-	include_directories(${WIIUSE_INCLUDE_DIRS})
-	list(APPEND SERVER_EXTRA_LIBS ${WIIUSE_LIBRARIES})
-endif()
-
-###
-# JsonCpp
-##
-## Setting up the local JSONCPP was handled above, in the submodules directory
-if(NOT VRPN_USE_LOCAL_JSONCPP)
-	find_package(JsonCpp)
-endif()
-option_requires(VRPN_USE_JSONNET
-	"Build with JSONCPP (for Android widgets and other UDP JSON-based APIs)"
-	${DEFAULT_OFF_IF_SUBPROJECT}
-	JSONCPP_FOUND)
-
-if(VRPN_USE_JSONNET)
-	include_directories(${JSONCPP_INCLUDE_DIRS})
-	list(APPEND SERVER_EXTRA_LIBS ${JSONCPP_LIBRARIES})
-else()
-	set(JSONCPP_SOURCES)
-endif()
-
-###
-# libnifalcon
-###
-find_package(LibNifalcon)
-option_requires(VRPN_USE_LIBNIFALCON
-	"Build with libnifalcon support to access Novint Falcon devices"
-	${DEFAULT_OFF_IF_SUBPROJECT}
-	LIBNIFALCON_FOUND)
-
-if(VRPN_USE_LIBNIFALCON)
-	include_directories(${LIBNIFALCON_INCLUDE_DIRS})
-	list(APPEND SERVER_EXTRA_LIBS ${LIBNIFALCON_LIBRARIES})
-endif()
-
-###
-# DirectInput and XInput
-###
-if(WIN32)
-	find_package(DirectX)
-	option_requires(VRPN_USE_DIRECTINPUT
-		"Build with Microsoft DirectInput support"
-		${DEFAULT_OFF_IF_SUBPROJECT}
-		DIRECTX_DXGUID_LIBRARY
-		DIRECTX_DINPUT_LIBRARY
-		DIRECTX_DINPUT_INCLUDE_DIR
-		DIRECTX_SDK_SUPPORTS_COMPILER)
-	if(VRPN_USE_DIRECTINPUT)
-		include_directories(${DIRECTX_INCLUDE_DIRS})
-		list(APPEND
-			SERVER_EXTRA_LIBS
-			${DIRECTX_DXGUID_LIBRARY}
-			${DIRECTX_DINPUT_LIBRARY})
-		if(MSVC)
-			# Delay-load DirectInput DLL
-			# TODO is this always the right name
-			# TODO how to do this with MinGW? Can we? Do we need to?
-			list(APPEND SERVER_LINK_FLAGS "/DELAYLOAD:dinput8.dll")
-			list(APPEND SERVER_EXTRA_LIBS "delayimp.lib")
-		endif()
-	endif()
-
-	# XInput - enhanced API for XBOX 360 controllers and more.
-	find_directx_include(DIRECTX_XINPUT_INCLUDE_DIR
-		xinput.h)
-	option_requires(VRPN_USE_WINDOWS_XINPUT
-		"Build with Microsoft XInput support"
-		${DEFAULT_OFF_IF_SUBPROJECT}
-		DIRECTX_XINPUT_INCLUDE_DIR
-		DIRECTX_XINPUT_LIBRARY
-		DIRECTX_SDK_SUPPORTS_COMPILER) #TODO will this be a valid check here?
-	if(VRPN_USE_WINDOWS_XINPUT)
-		list(APPEND
-			SERVER_EXTRA_LIBS
-			${DIRECTX_XINPUT_LIBRARY})
-		mark_as_advanced(DIRECTX_XINPUT_INCLUDE_DIR)
-
-		# Get name of DLL to delay-load.
-		include(GetDefineString)
-		get_define_string(NAME XINPUT_DLL
-			INCLUDES windows.h xinput.h
-			DEFINES "-D_WIN32_WINNT=${WIN_MIN_VER}"
-			INCLUDE_DIRS ${DIRECTX_DINPUT_INCLUDE_DIR} ${DIRECTX_XINPUT_INCLUDE_DIR}
-			RESULT VRPN_XINPUT_DLL)
-		if(VRPN_XINPUT_DLL AND MSVC)
-			# Delay-load XInput DLL
-			# TODO how to do this with MinGW? Can we? Do we need to?
-			list(APPEND SERVER_LINK_FLAGS "/DELAYLOAD:${VRPN_XINPUT_DLL}")
-			list(APPEND SERVER_EXTRA_LIBS "delayimp.lib")
-		endif()
-	endif()
-
-	# ATL is used for the vrpn_Tracker_zSight (which is based on DirectInput)
-	# to provide a smart pointer, but ATL isn't always available.
-	include(CheckIncludeFileCXX)
-	check_include_file_cxx(atlbase.h VRPN_HAVE_ATLBASE)
-endif()
-
-
-###
-# DirectShow
-###
-# Note that header removal makes this harder for VS10 and later - you need an earlier
-# version of MSVC also installed or an older Windows/Platform SDK with qedit.h in it.
-if(MSVC)
-	if(MSVC_VERSION GREATER 1500)
-		set(DIRECTSHOW_OFF_BY_DEFAULT OFF_BY_DEFAULT)
-	else()
-		set(DIRECTSHOW_OFF_BY_DEFAULT)
-	endif()
-	find_package(DirectShow)
-	option_requires(VRPN_USE_DIRECTSHOW
-		"Build with Microsoft DirectShow support"
-		${DIRECTSHOW_OFF_BY_DEFAULT}
-		DIRECTSHOW_FOUND)
-	option_requires(VRPN_BUILD_DIRECTSHOW_VIDEO_SERVER
-		"Enable to build DirectShow Video Server (Windows)"
-		${DEFAULT_OFF_IF_SUBPROJECT}
-		VRPN_BUILD_DIRECTSHOW_VIDEO_SERVER
-		DIRECTSHOW_FOUND)
-endif()
-
-###
-# GPM
-###
-if(UNIX)
-	find_package(GPM)
-	option_requires(VRPN_USE_GPM_MOUSE
-		"Build with GPM Linux mouse interface support (makes servers GPL)"
-		${DEFAULT_OFF_IF_SUBPROJECT}
-		GPM_FOUND)
-endif()
-
-if(VRPN_USE_GPM_MOUSE)
-	list(APPEND SERVER_EXTRA_LIBS ${GPM_LIBRARIES})
-endif()
-
-###
-# INTERSENSE
-###
-find_package(InterSense)
-option_requires(VRPN_INCLUDE_INTERSENSE
-	"Build with InterSense support"
-	${DEFAULT_OFF_IF_SUBPROJECT}
-	INTERSENSE_FOUND)
-
-if(VRPN_INCLUDE_INTERSENSE)
-	include_directories(${INTERSENSE_INCLUDE_DIRS})
-	list(APPEND SERVER_EXTRA_LIBS ${INTERSENSE_LIBRARIES})
-endif()
-
-###
-# NIDAQMX
-###
-find_package(NIDAQmx)
-option_requires(VRPN_USE_NATIONAL_INSTRUMENTS_MX
-	"Build with National Instruments NIDAQMX support"
-	${DEFAULT_OFF_IF_SUBPROJECT}
-	NIDAQMX_FOUND)
-
-if(VRPN_USE_NATIONAL_INSTRUMENTS_MX)
-	include_directories(${NIDAQMX_INCLUDE_DIRS})
-	list(APPEND SERVER_EXTRA_LIBS ${NIDAQMX_LIBRARIES})
-endif()
-
-###
-# Arrington Research ViewPoint EyeTracker
-###
-find_package(ViewPoint)
-option_requires(VRPN_USE_VIEWPOINT
-	"Build with support for ViewPoint EyeTracker"
-	${DEFAULT_OFF_IF_SUBPROJECT}
-	VIEWPOINT_FOUND)
-
-if(VRPN_USE_VIEWPOINT)
-	include_directories(${VIEWPOINT_INCLUDE_DIRS})
-	list(APPEND SERVER_EXTRA_LIBS ${VIEWPOINT_LIBRARIES})
-
-	# Needed for the config file, apparently - it was added to the non-CMake one.
-	get_filename_component(VRPN_VIEWPOINT_LIB_PATH
-		"${VIEWPOINT_LIBRARY}"
-		PATH)
-	file(TO_CMAKE_PATH
-		"${VRPN_VIEWPOINT_LIB_PATH}"
-		VRPN_VIEWPOINT_LIB_PATH)
-endif()
-
-###
-# Adrienne timecode boards
-###
-if(WIN32 OR CYGWIN)
-	find_package(Adrienne)
-	option_requires(VRPN_INCLUDE_TIMECODE_SERVER
-		"Build with support for Adrienne timecode server"
-		${DEFAULT_OFF_IF_SUBPROJECT}
-		ADRIENNE_FOUND)
-else()
-	set(VRPN_INCLUDEE_TIMECODE_SERVER OFF)
-endif()
-
-if(VRPN_INCLUDE_TIMECODE_SERVER)
-	set(VRPN_ADRIENNE_INCLUDE_FILENAME "${ADRIENNE_INCLUDE_FILENAME}")
-	set(VRPN_ADRIENNE_INCLUDE_HAS_EXTERN_C
-		${ADRIENNE_INCLUDE_HAS_EXTERN_C})
-endif()
-
-###
-# Linux kernel joystick interface
-###
-if(${CMAKE_SYSTEM_NAME} STREQUAL "Linux")
-	check_include_file_cxx(linux/joystick.h HAVE_LINUX_JOYSTICK_H)
-	option_requires(VRPN_USE_JOYLIN
-		"Build with support for Linux kernel joystick interface (Uses kernel header - may make servers GPL)"
-		${DEFAULT_OFF_IF_SUBPROJECT}
-		HAVE_LINUX_JOYSTICK_H)
-else()
-	set(VRPN_USE_JOYLIN OFF)
-endif()
-
-###
-# /dev/input kernel joystick interface
-###
-if(${CMAKE_SYSTEM_NAME} STREQUAL "Linux")
-	check_include_file_cxx(linux/input.h HAVE_LINUX_INPUT_H)
-	option_requires(VRPN_USE_DEV_INPUT
-		"Build with flags to enable the use of DevInput. (Uses kernel header - may make servers GPL)"
-		${DEFAULT_OFF_IF_SUBPROJECT}
-		HAVE_LINUX_INPUT_H)
-else()
-	set(VRPN_USE_DEV_INPUT OFF)
-endif()
-
-###
-# Perl, for vrpn_rpc_gen
-###
-if(NOT WIN32)
-	# TODO - a bit of a compatibility hack
-	# MiKTeX 2.9's perl is broken - missing libgcc-s-sjlj-1.dll -
-	# and can't seem to work around it without popping up dialogs
-	# which is no fun for automated builds.
-	find_package(Perl)
-	find_package(PerlModules COMPONENTS Parse::RecDescent)
-endif()
-
-option_requires(VRPN_BUILD_TEST_RPC_GENERATION
-	"Build VRPN RPC generation"
-	${DEFAULT_OFF_IF_SUBPROJECT}
-	PERL_FOUND
-	PERLMODULES_FOUND)
-
-###
-# Polhemus PDI library
-###
-# TODO Generalize this to use a FindPDI.cmake - someone with access
-# to this library must do it.
-# Make this also work with debug (use PDID)
-option(VRPN_USE_PDI
-	"Build with flags to enable the use of Polhemus DVI library."
-	OFF)
-if(VRPN_USE_PDI)
-	include_directories("C:/Program Files (x86)/Polhemus/PDI/PDI_90/Inc")
-	list(APPEND
-		SERVER_EXTRA_LIBS
-		"C:/Program Files (x86)/Polhemus/PDI/PDI_90/Lib/Win32/PDI.lib")
-endif()
-
-###
-# PhaseSpace API
-###
-# TODO Actually do a proper search for the PhaseSpace API headers and libraries
-# and not use link_directories.
-option(VRPN_INCLUDE_PHASESPACE
-	"Build with PhaseSpace library support"
-	OFF)
-set(PHASESPACE_INCLUDE_DIR "${CMAKE_SOURCE_DIR}/phasespace" CACHE PATH "location of PhaseSpace headers")
-set(PHASESPACE_LIBRARY_DIR "${CMAKE_SOURCE_DIR}/phasespace" CACHE PATH "location of PhaseSpace libraries (libowlsock.so, etc")
-if(VRPN_INCLUDE_PHASESPACE)
-	include_directories(${PHASESPACE_INCLUDE_DIR})
-	link_directories(${PHASESPACE_LIBRARY_DIR})
-	if(WIN32)
-		list(APPEND SERVER_EXTRA_LIBS libowlsock)
-	else()
-		list(APPEND SERVER_EXTRA_LIBS owlsock)
-	endif()
-endif()
-
-###
-# Hillcrest Labs' Freespace
-###
-find_package(LibFreespace)
-option_requires(VRPN_USE_FREESPACE
-	"Build with Hillcrest Labs' Freespace devices support"
-	${DEFAULT_OFF_IF_SUBPROJECT}
-	LIBFREESPACE_FOUND)
-
-if(VRPN_USE_FREESPACE)
-	include_directories(${LIBFREESPACE_INCLUDE_DIRS})
-	list(APPEND SERVER_EXTRA_LIBS ${LIBFREESPACE_LIBRARIES})
-endif()
-
-###
-# MotionNode tracker support. Loads shared library dynamically if available
-###
-option(VRPN_USE_MOTIONNODE
-	"Build with MotionNode tracker support"
-	OFF)
-if(VRPN_USE_MOTIONNODE)
-	list(APPEND SERVER_EXTRA_LIBS ${CMAKE_DL_LIBS})
-endif()
-
-###
-# XXX Other libraries needing detection and handling (TODO)
-###
-# National Instruments Nidaq traditional
-# US Digital SEI/A2
-# microscribe3D library
-#
-# All include paths should be moved out of at least vrpn_Configure.h.cmake_in
-# as well as all #pragma comment (lib, "" ) lines, since cmake replaces
-# them more flexibly (include_directories and target_link_libraries)
-
-
-# Configuration options controlling what gets included in the build.
-# These are the default options for libraries we can't yet detect -
-# if a library can be detected above it will be pre-set to an appropriate
-# value by default.
-option(VRPN_USE_NATIONAL_INSTRUMENTS
-	"Build with National Instruments (old library) support"
-	OFF)
-option(VRPN_USE_NIDAQ "Build with NIDAQ support ca. 1999" OFF)
-option(VRPN_USE_USDIGITAL
-	"Build with US Digital SEI/A2 library support"
-	OFF)
-option(VRPN_USE_MICROSCRIBE
-	"Build with MicroScribe3D library support"
-	OFF)
-option(VRPN_USE_TRIVISIOCOLIBRI
-	"Build with support for TrivisioColibri tracker"
-	OFF)
-if(WIN32)
-	option(VRPN_USE_WINSOCK2
-		"Use Winsock2 library, rather than Winsock."
-		OFF)
-	option(VRPN_USE_SHARED_LIBRARY
-		"Enable to use DLLs on Windows (see vrpn_Configure.h for more info)"
-		OFF)
-endif()
-
-if(UNIX)
-	option(VRPN_BUILD_PROFILING_SUPPORT
-		"Build with flags to enable profiling."
-		OFF)
-	if(VRPN_BUILD_PROFILING_SUPPORT)
-		include(EnableProfiling)
-		globally_enable_profiling()
-	endif()
-
-endif()
-
-option(VRPN_USE_STATIC_ASSERTIONS "Use some compile-time assertions" ON)
-option(VRPN_BUILD_EXTRA_COMPILER_WARNINGS
-	"Build with flags to enable extra warnings."
-	OFF)
-if(VRPN_BUILD_EXTRA_COMPILER_WARNINGS)
-	include(EnableExtraCompilerWarnings)
-	globally_enable_extra_compiler_warnings()
-	if(NOT MSVC)
-		# shadowing virtual functions is pretty much unavoidable with the
-		# multiple inheritance design and methods like "report_changes"
-		check_cxx_compiler_flag(-Wno-overloaded-virtual SUPPORTS_WNO_OVERLOADED_VIRTUAL_FLAG)
-		if(SUPPORTS_WNO_OVERLOADED_VIRTUAL_FLAG)
-			set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wno-overloaded-virtual")
-		endif()
-	endif()
-endif()
-
-set(VRPN_CLIENT_ONLY)
-if(VRPN_BUILD_CLIENT_LIBRARY AND NOT VRPN_BUILD_SERVER_LIBRARY)
-	# We can define VRPN_CLIENT_ONLY in the header in this case!
-	set(VRPN_CLIENT_ONLY ON)
-endif()
-
-#-----------------------------------------------------------------------------
-# configure a header file to pass some of the CMake settings
-# to the source code
-configure_file("${PROJECT_SOURCE_DIR}/vrpn_Configure.h.cmake_in"
-	"${PROJECT_BINARY_DIR}/vrpn_Configure.h")
-file(RELATIVE_PATH
-	VRPN_PATH_TO_CMAKE_CONFIG
-	"${CMAKE_CURRENT_SOURCE_DIR}"
-	"${PROJECT_BINARY_DIR}/vrpn_Configure.h")
-add_definitions("-DVRPN_USING_CMAKE=\"${VRPN_PATH_TO_CMAKE_CONFIG}\"")
-
-if(SUBPROJECT)
-	set(BUILD_TESTING FALSE)
-endif()
-
-if(APPLE)
-	if(NOT CMAKE_OSX_ARCHITECTURES OR CMAKE_OSX_ARCHITECTURES STREQUAL "")
-		if(_CMAKE_OSX_MACHINE MATCHES "ppc")
-			set(CMAKE_OSX_ARCHITECTURES
-				"ppc;ppc64"
-				CACHE
-				STRING
-				"Build architectures for OS X"
-				FORCE)
-		else()
-			set(CMAKE_OSX_ARCHITECTURES
-				"i386;x86_64"
-				CACHE
-				STRING
-				"Build architectures for OS X"
-				FORCE)
-		endif()
-	endif()
-	set(CMAKE_INCLUDE_SYSTEM_FLAG_C "-isystem ")
-	set(CMAKE_INCLUDE_SYSTEM_FLAG_CXX "-isystem ")
-	if(NOT CMAKE_INSTALL_NAME_DIR)
-		set(CMAKE_INSTALL_NAME_DIR "${CMAKE_INSTALL_PREFIX}/lib")
-	endif()
-	message(STATUS
-		"Building ${CMAKE_PROJECT_NAME} for ${CMAKE_OSX_ARCHITECTURES}")
-endif()
-
-#-----------------------------------------------------------------------------
-# Build the library itself and declare what bits need to be installed
-
-set(VRPN_CLIENT_SOURCES
-	vrpn_Analog.C
-	vrpn_Analog_Output.C
-	vrpn_Auxiliary_Logger.C
-	vrpn_BaseClass.C
-	vrpn_Button.C
-	vrpn_Connection.C
-	vrpn_Dial.C
-	vrpn_FileConnection.C
-	vrpn_FileController.C
-	vrpn_ForceDevice.C
-	vrpn_Forwarder.C
-	vrpn_ForwarderController.C
-	vrpn_FunctionGenerator.C
-	vrpn_Imager.C
-	vrpn_LamportClock.C
-	vrpn_Mutex.C
-	vrpn_Poser.C
-	vrpn_RedundantTransmission.C
-	vrpn_Serial.C
-	vrpn_SerialPort.C
-	vrpn_Shared.C
-	vrpn_SharedObject.C
-	vrpn_Sound.C
-	vrpn_Text.C
-	vrpn_Tracker.C)
-
-set(VRPN_CLIENT_PUBLIC_HEADERS
-	"${PROJECT_BINARY_DIR}/vrpn_Configure.h"
-	vrpn_Analog.h
-	vrpn_Analog_Output.h
-	vrpn_Auxiliary_Logger.h
-	vrpn_BaseClass.h
-	vrpn_Button.h
-	vrpn_Connection.h
-	vrpn_ConnectionPtr.h
-	vrpn_Dial.h
-	vrpn_FileConnection.h
-	vrpn_FileController.h
-	vrpn_ForceDevice.h
-	vrpn_ForwarderController.h
-	vrpn_Forwarder.h
-	vrpn_FunctionGenerator.h
-	vrpn_Imager.h
-	vrpn_LamportClock.h
-	vrpn_Log.h
-	vrpn_MainloopContainer.h
-	vrpn_MainloopObject.h
-	vrpn_Mutex.h
-	vrpn_RedundantTransmission.h
-	vrpn_SendTextMessageStreamProxy.h
-	vrpn_Serial.h
-	vrpn_SerialPort.h
-	vrpn_Shared.h
-	vrpn_SharedObject.h
-	vrpn_Sound.h
-	vrpn_Text.h
-	vrpn_Tracker.h
-	vrpn_Types.h)
-
-set(VRPN_SERVER_SOURCES
-	${VRPN_CLIENT_SOURCES}
-	vrpn_3DConnexion.C
-	vrpn_3DMicroscribe.C
-	vrpn_3Space.C
-	vrpn_5DT16.C
-	vrpn_ADBox.C
-	vrpn_Analog_5dt.C
-	vrpn_Analog_5dtUSB.C
-	vrpn_Analog_Radamec_SPI.C
-	vrpn_Analog_USDigital_A2.C
-	vrpn_Atmel.C
-	vrpn_BiosciencesTools.C
-	vrpn_Button_NI_DIO24.C
-	vrpn_Button_USB.cpp
-	vrpn_CerealBox.C
-	vrpn_CHProducts_Controller_Raw.C
-	vrpn_Contour.C
-	vrpn_DevInput.C
-	vrpn_DirectXFFJoystick.C
-	vrpn_DirectXRumblePad.C
-	vrpn_DreamCheeky.C
-	vrpn_Dyna.C
-	vrpn_Event_Analog.C
-	vrpn_Event.C
-	vrpn_Event_Mouse.C
-	vrpn_Flock.C
-	vrpn_Flock_Parallel.C
-	vrpn_ForceDeviceServer.C
-	vrpn_Freespace.C
-	vrpn_FunctionGenerator.C
-	vrpn_Futaba.C
-	vrpn_GlobalHapticsOrb.C
-	vrpn_Griffin.C
-	vrpn_HumanInterface.C
-	vrpn_IDEA.C
-	vrpn_Imager_Stream_Buffer.C
-	vrpn_ImmersionBox.C
-	vrpn_inertiamouse.C
-	vrpn_JoyFly.C
-	vrpn_Joylin.C
-	vrpn_Joywin32.C
-	vrpn_Keyboard.C
-	vrpn_LUDL.C
-	vrpn_Logitech_Controller_Raw.C
-	vrpn_Magellan.C
-	vrpn_Microsoft_Controller_Raw.C
-	vrpn_Mouse.C
-	vrpn_NationalInstruments.C
-	vrpn_Nidaq.C
-	vrpn_nikon_controls.C
-	vrpn_OmegaTemperature.C
-	vrpn_Poser_Analog.C
-	vrpn_Poser_Tek4662.C
-	vrpn_raw_sgibox.C
-	vrpn_Retrolink.C
-	vrpn_Saitek_Controller_Raw.C
-	vrpn_sgibox.C
-	vrpn_Spaceball.C
-	vrpn_Tng3.C
-	vrpn_Tracker_3DMouse.C
-	vrpn_Tracker_AnalogFly.C
-	vrpn_Tracker_ButtonFly.C
-	vrpn_Tracker_Crossbow.C
-	vrpn_Tracker_DTrack.C
-	vrpn_Tracker_Fastrak.C
-	vrpn_Tracker_Filter.C
-	vrpn_Tracker_GameTrak.C
-	vrpn_Tracker_GPS.C
-	vrpn_Tracker_isense.C
-	vrpn_Tracker_Isotrak.C
-	vrpn_Tracker_JsonNet.C
-	vrpn_Tracker_Liberty.C
-	vrpn_Tracker_MotionNode.C
-	vrpn_Tracker_NDI_Polaris.C
-	vrpn_Tracker_NovintFalcon.C
-	vrpn_Tracker_OSVRHackerDevKit.C
-	vrpn_Tracker_PDI.C
-	vrpn_Tracker_PhaseSpace.C
-	vrpn_Tracker_RazerHydra.C
-	vrpn_Tracker_SpacePoint.C
-	vrpn_Tracker_Wintracker.C
-	vrpn_Tracker_TrivisioColibri.C
-	vrpn_Tracker_WiimoteHead.C
-	vrpn_Tracker_zSight.C
-	vrpn_Tracker_ViewPoint.C
-	vrpn_UNC_Joystick.C
-	vrpn_VPJoystick.C
-	vrpn_Wanda.C
-	vrpn_WiiMote.C
-	vrpn_XInputGamepad.C
-	vrpn_Xkeys.C
-	vrpn_Tracker_LibertyHS.C
-	vrpn_YEI_3Space.C
-	vrpn_Zaber.C
-	server_src/vrpn_Generic_server_object.C
-	${HIDAPI_SOURCES}
-	${JSONCPP_SOURCES}
-	${PDI_SOURCES})
-
-set(VRPN_SERVER_PUBLIC_HEADERS
-	${VRPN_CLIENT_PUBLIC_HEADERS}
-	vrpn_3DConnexion.h
-	vrpn_3DMicroscribe.h
-	vrpn_3Space.h
-	vrpn_5DT16.h
-	vrpn_ADBox.h
-	vrpn_Analog_5dt.h
-	vrpn_Analog_5dtUSB.h
-	vrpn_Analog_Radamec_SPI.h
-	vrpn_Analog_USDigital_A2.h
-	vrpn_Atmel.h
-	vrpn_BiosciencesTools.h
-	vrpn_Button_NI_DIO24.h
-	vrpn_Button_USB.h
-	vrpn_CerealBox.h
-	vrpn_CHProducts_Controller_Raw.h
-	vrpn_Contour.h
-	vrpn_DevInput.h
-	vrpn_DirectXFFJoystick.h
-	vrpn_DirectXRumblePad.h
-	vrpn_DreamCheeky.h
-	vrpn_Dyna.h
-	vrpn_Event_Analog.h
-	vrpn_Event.h
-	vrpn_Event_Mouse.h
-	vrpn_Flock.h
-	vrpn_Flock_Parallel.h
-	vrpn_ForceDeviceServer.h
-	vrpn_Freespace.h
-	vrpn_FunctionGenerator.h
-	vrpn_Futaba.h
-	vrpn_GlobalHapticsOrb.h
-	vrpn_Griffin.h
-	vrpn_HashST.h
-	vrpn_HumanInterface.h
-	vrpn_IDEA.h
-	vrpn_Imager_Stream_Buffer.h
-	vrpn_ImmersionBox.h
-	vrpn_inertiamouse.h
-	vrpn_JoyFly.h
-	vrpn_Joylin.h
-	vrpn_Joywin32.h
-	vrpn_Keyboard.h
-	vrpn_Logitech_Controller_Raw.h
-	vrpn_LUDL.h
-	vrpn_Magellan.h
-	vrpn_MessageMacros.h
-	vrpn_Microsoft_Controller_Raw.h
-	vrpn_Mouse.h
-	vrpn_NationalInstruments.h
-	vrpn_Nidaq.h
-	vrpn_nikon_controls.h
-	vrpn_OmegaTemperature.h
-	vrpn_OneEuroFilter.h
-	vrpn_Poser_Analog.h
-	vrpn_Poser.h
-	vrpn_Poser_Tek4662.h
-	vrpn_raw_sgibox.h
-	vrpn_Retrolink.h
-	vrpn_Saitek_Controller_Raw.h
-	vrpn_sgibox.h
-	vrpn_Spaceball.h
-	vrpn_Tng3.h
-	vrpn_Tracker_3DMouse.h
-	vrpn_Tracker_AnalogFly.h
-	vrpn_Tracker_ButtonFly.h
-	vrpn_Tracker_Crossbow.h
-	vrpn_Tracker_DTrack.h
-	vrpn_Tracker_Fastrak.h
-	vrpn_Tracker_Filter.h
-	vrpn_Tracker_GameTrak.h
-	vrpn_Tracker_GPS.h
-	vrpn_Tracker_isense.h
-	vrpn_Tracker_Isotrak.h
-	vrpn_Tracker_JsonNet.h
-	vrpn_Tracker_Liberty.h
-	vrpn_Tracker_MotionNode.h
-	vrpn_Tracker_NDI_Polaris.h
-	vrpn_Tracker_NovintFalcon.h
-	vrpn_Tracker_OSVRHackerDevKit.h
-	vrpn_Tracker_PDI.h
-	vrpn_Tracker_PhaseSpace.h
-	vrpn_Tracker_RazerHydra.h
-	vrpn_Tracker_SpacePoint.h
-	vrpn_Tracker_Wintracker.h
-	vrpn_Tracker_TrivisioColibri.h
-	vrpn_Tracker_WiimoteHead.h
-	vrpn_Tracker_zSight.h
-	vrpn_Tracker_ViewPoint.h
-	vrpn_UNC_Joystick.h
-	vrpn_VPJoystick.h
-	vrpn_Wanda.h
-	vrpn_WiiMote.h
-	vrpn_XInputGamepad.h
-	vrpn_Xkeys.h
-	vrpn_Tracker_LibertyHS.h
-	vrpn_YEI_3Space.h
-	vrpn_Zaber.h
-	server_src/vrpn_Generic_server_object.h)
-
-set(VRPN_SERVER_LIBRARY)
-set(VRPN_CLIENT_LIBRARY)
-
-if(VRPN_BUILD_SERVER_LIBRARY)
-	add_library(vrpnserver
-		${VRPN_SERVER_SOURCES}
-		${VRPN_SERVER_PUBLIC_HEADERS})
-	target_link_libraries(vrpnserver ${EXTRA_LIBS} ${SERVER_EXTRA_LIBS})
-	set(VRPN_CLIENT_LIBRARY vrpnserver)
-	set(VRPN_SERVER_LIBRARY vrpnserver)
-	set_property(TARGET
-		vrpnserver
-		PROPERTY
-		PUBLIC_HEADER
-		${VRPN_SERVER_PUBLIC_HEADERS})
-	set_property(TARGET
-		vrpnserver
-		PROPERTY
-		PROJECT_LABEL
-		"Core VRPN Server Library")
-	set_property(TARGET
-		vrpnserver
-		PROPERTY
-		FOLDER
-		"Library")
-	set_property(TARGET
-		vrpnserver
-		PROPERTY
-		LINK_FLAGS
-		${SERVER_LINK_FLAGS})
-
-	if(UNIX)
-		add_subdirectory(atmellib)
-		target_link_libraries(vrpnserver vrpn_atmel)
-	endif()
-
-	add_subdirectory(gpsnmealib)
-	target_link_libraries(vrpnserver gpsnmea)
-	if(VRPN_INSTALL)
-		install(TARGETS
-			vrpnserver
-			ARCHIVE
-			DESTINATION
-			lib
-			COMPONENT
-			serversdk
-			PUBLIC_HEADER
-			DESTINATION
-			include
-			COMPONENT
-			serversdk)
-	endif()
-	add_cppcheck(vrpnserver STYLE UNUSED_FUNCTIONS)
-endif()
-
-
-if(VRPN_BUILD_CLIENT_LIBRARY)
-	add_library(vrpn ${VRPN_CLIENT_SOURCES} ${VRPN_CLIENT_PUBLIC_HEADERS})
-	target_link_libraries(vrpn ${EXTRA_LIBS})
-	set(VRPN_CLIENT_LIBRARY vrpn)
-
-	set_property(TARGET
-		vrpn
-		PROPERTY
-		PUBLIC_HEADER
-		${VRPN_CLIENT_PUBLIC_HEADERS})
-
-	if(NOT VRPN_CLIENT_ONLY)
-		set_property(TARGET
-			vrpn
-			PROPERTY
-			COMPILE_DEFINITIONS
-			"VRPN_CLIENT_ONLY")
-	endif()
-	set_property(TARGET
-		vrpn
-		PROPERTY
-		PROJECT_LABEL
-		"Core VRPN Client Library")
-	set_property(TARGET
-		vrpn
-		PROPERTY
-		FOLDER
-		"Library")
-
-	if(VRPN_INSTALL)
-		install(TARGETS
-			vrpn
-			ARCHIVE
-			DESTINATION
-			lib
-			COMPONENT
-			clientsdk
-			PUBLIC_HEADER
-			DESTINATION
-			include
-			COMPONENT
-			clientsdk)
-	endif()
-	add_cppcheck(vrpn STYLE UNUSED_FUNCTIONS)
-endif()
-
-add_subdirectory(client_src)
-
-#-----------------------------------------------------------------------------
-# Set some internal cache variables to make life easier if we're a subproject
-
-set(VRPN_DEFINITIONS "-DVRPN_USING_CMAKE=\"${CMAKE_CURRENT_BINARY_DIR}/vrpn_Configure.h\""
-	CACHE INTERNAL "Definition to add if using as a subproject" FORCE)
-set(VRPN_CLIENT_LIBRARY ${VRPN_CLIENT_LIBRARY} CACHE INTERNAL "" FORCE)
-set(VRPN_SERVER_LIBRARY ${VRPN_SERVER_LIBRARY} CACHE INTERNAL "" FORCE)
-set(VRPN_SERVER_LINK_FLAGS ${SERVER_LINK_FLAGS} CACHE INTERNAL "" FORCE)
-set(VRPN_INCLUDE_DIRS
-	"${CMAKE_CURRENT_BINARY_DIR}"
-	"${VRPN_SOURCE_DIR}"
-	"${VRPN_SOURCE_DIR}/atmellib"
-	"${VRPN_SOURCE_DIR}/quat"
-	CACHE INTERNAL "" FORCE)
-
-#-----------------------------------------------------------------------------
-# Build the server applications if we've been asked to and we didn't build
-# the library client-only.
-
-if(VRPN_BUILD_SERVERS AND VRPN_BUILD_SERVER_LIBRARY)
-	add_subdirectory(server_src)
-endif()
-
-#-----------------------------------------------------------------------------
-# Build the RPC generation if we've been asked to
-
-if(VRPN_BUILD_TEST_RPC_GENERATION)
-	add_subdirectory(util/gen_rpc)
-endif()
-
-if(VRPN_BUILD_CLIENTS)
-	add_subdirectory(util/printStream)
-endif()
-
-#-----------------------------------------------------------------------------
-# Create documentation
-if(NOT SUBPROJECT)
-	add_subdirectory(doxygen)
-endif()
-
-#-----------------------------------------------------------------------------
-# Python wrappers
-add_subdirectory(python_vrpn)
-add_subdirectory(python)
-
-#-----------------------------------------------------------------------------
-# Java wrappers
-add_subdirectory(java_vrpn)
-
-#-----------------------------------------------------------------------------
-# HID Gui
-if(VRPN_BUILD_HID_GUI)
-	add_subdirectory(hid_gui)
-endif()
-
-#-----------------------------------------------------------------------------
-# Testing applications that live in the main directory.
-if(VRPN_BUILD_SERVERS AND VRPN_BUILD_SERVER_LIBRARY AND BUILD_TESTING AND WIN32)
-	foreach(SOURCE time_test.cpp)
-		get_filename_component(APP ${SOURCE} NAME_WE)
-		add_executable(${APP} ${SOURCE})
-		target_link_libraries(${APP} vrpnserver)
-		set_target_properties(${APP} PROPERTIES FOLDER Tests)
-		if(VRPN_INSTALL)
-			install(TARGETS ${APP} RUNTIME DESTINATION bin COMPONENT tests)
-		endif()
-	endforeach()
-endif()
-
-#-----------------------------------------------------------------------------
-# Do a little check for GPL and GPL-incompatible libraries
-
-# What flags cause us to link against GPL libraries?
-
-# TODO: Figure out about the kernel headers we use.
-# Conflicting stories:
-# ML post by Linus: https://lkml.org/lkml/2003/12/5/13
-# Interview of Linus: http://www.itworld.com/open-source/140916/android-sued-microsoft-not-linux
-
-set(ALL_GPL_SERVER_FLAGS
-	#VRPN_USE_DEV_INPUT # Kernel header: GPL2
-	#VRPN_USE_JOYLIN # Kernel header: GPL2
-	VRPN_USE_GPM_MOUSE # GPL2+
-	VRPN_USE_WIIUSE # GPL3
-)
-
-# What flags cause us to link against GPL-incompatible libraries?
-set(ALL_GPLINCOMPAT_SERVER_FLAGS
-	VRPN_INCLUDE_INTERSENSE
-	VRPN_INCLUDE_TIMECODE_SERVER
-	VRPN_USE_PHANTOM_SERVER)
-
-set(GPL_SERVER_FLAGS)
-foreach(POSSIBLE_GPL_FLAG ${ALL_GPL_SERVER_FLAGS})
-	if(${POSSIBLE_GPL_FLAG})
-		list(APPEND GPL_SERVER_FLAGS "${POSSIBLE_GPL_FLAG}")
-	endif()
-endforeach()
-
-set(GPLINCOMPAT_SERVER_FLAGS)
-foreach(POSSIBLE_GPLINCOMPAT_FLAG ${ALL_GPLINCOMPAT_SERVER_FLAGS})
-	if(${POSSIBLE_GPLINCOMPAT_FLAG})
-		list(APPEND GPLINCOMPAT_SERVER_FLAGS "${POSSIBLE_GPLINCOMPAT_FLAG}")
-	endif()
-endforeach()
-
-
-if(GPL_SERVER_FLAGS)
-	# Some GPL options are enabled
-	message(STATUS "")
-	message(STATUS
-		"NOTE: The following build options may produce a GPL-licensed server library/binary.")
-	message(STATUS "  ${GPL_SERVER_FLAGS}")
-	message(STATUS
-		"NOTE: I am not a lawyer, and this is not legal advice!")
-
-	option(VRPN_GPL_SERVER
-		"Check this to accept the possibility of linking GPL libraries with the server."
-		OFF)
-endif()
-
-if(GPLINCOMPAT_SERVER_FLAGS)
-	# Some GPL-incompatible options are enabled
-	message(STATUS "")
-	message(STATUS
-		"NOTE: The following build options may produce a server library/binary")
-	message(STATUS
-		"  that is incompatible with the GPL/undistributable if linked with GPL libraries.")
-	message(STATUS "  ${GPLINCOMPAT_SERVER_FLAGS}")
-	message(STATUS
-		"NOTE: I am not a lawyer, and this is not legal advice!")
-endif()
-
-# Check for errors.
-if(VRPN_BUILD_SERVER_LIBRARY)
-	if(GPL_SERVER_FLAGS AND NOT VRPN_GPL_SERVER)
-		message(STATUS "")
-		message(STATUS "Selected build options produce a GPL server library.")
-		message(STATUS
-			"You may disable them, otherwise set VRPN_GPL_SERVER to acknowledge this and build anyway.")
-		message(FATAL_ERROR
-			"Need VRPN_GPL_SERVER to build server library with GPL options enabled!")
-	endif()
-
-	if(GPL_SERVER_FLAGS AND GPLINCOMPAT_SERVER_FLAGS)
-		message(STATUS "")
-		message(STATUS "IMPORTANT LICENSING NOTE!")
-		message(STATUS
-			"Building with the current settings may produce a legally non-distributable server binary!")
-		message(STATUS
-			"NOTE: I am not a lawyer, and this is not legal advice!")
-	endif()
-endif()
-
-#-----------------------------------------------------------------------------
-# Enable testing/dashboards
-create_dashboard_scripts("${CMAKE_CURRENT_SOURCE_DIR}/DashboardBuildInitialCache.cmake.in")
-
-#-----------------------------------------------------------------------------
-# If we succeeded, we can go on and include packaging!
-if(VRPN_INSTALL)
-	include(CPack)
-	cpack_add_component(serversdk
-		DISPLAY_NAME
-		"VRPN Server Library and C++ Headers")
-	cpack_add_component(clientsdk
-		DISPLAY_NAME
-		"VRPN Client Library and C++ Headers")
-	cpack_add_component(tests DISPLAY_NAME "Test applications")
-	cpack_add_component(clients DISPLAY_NAME "Client applications")
-	cpack_add_component(servers DISPLAY_NAME "Server applications")
-	cpack_add_component(mainserver
-		DISPLAY_NAME
-		"VRPN main server application")
-	cpack_add_component(python DISPLAY_NAME "Python bindings")
-	cpack_add_component(java DISPLAY_NAME "Java bindings")
-	cpack_add_component(doc DISPLAY_NAME "C++ API Documentation")
-endif()