groundStation/README.md

+# groundStation
+
+## Make Process
+
+First, if submodules were not recursevly added through git. Run this command if you have made any attempt to make vrpn manually. 
+run
+	'git submodule update --init --recursive'
+
+Now that you have all of the files necissary.
+
+cd into the groundstation folder.
+	cd groundStation
+	make vrpn
+	make
+
+run the program with sudo privledges
+	sudo -E ./BackEnd
+
+If you wish to change the way the backend communicates to the quad and vice versa, look at src/config.h. 
+	This provides a list of environment variables which you can set and use for your computer or time of use.
+	Because the backend must be ran with sudo privledges, you will need to preserve the env. vars. with sudo rights.
+	Hence the "-E" flag.
+
+## Modifying
+See MODIFYING for the software architecture/organization and how to add new functionality.
+
+## Using
+First, the backend daemon must be running. Run the backend with ./BackEnd. Note
+the environment variables in config.h, especially the backend socket path. The backend
+requires root for bluetooth, but can run as a normal user with TCP, as long as the
+socket path is writable by the user.
+
+Once the backend is running, various CLI tools can be used to view the state of the
+quad and send commands. Each of these tools is given as the first argument
+to the CLI program, for example, to monitor the quad, use `cli monitor`. Note that
+the backend socket environment variable must be set to the same value as it
+was for the backend. The CLI program also supports busybox-style symbolic links.
+For example, if there is a symlink named `monitor` that points to the `cli` binary,
+running the `monitor` program will effectively run `cli monitor`.
+
+The names of the binaries is subject to change.
+
+### Example
+In one terminal or screen, run the backend:
+
+`UCART_SOCKET=./ucart.socket ./BackEnd`
+
+This will activate the quad and the backend, and the backend will be available for
+connections from the frontend tools. One useful tool is the monitor. In another
+terminal window, run the monitor forever:
+
+`UCART_SOCKET=./ucart.socket ./cli monitor -f`
+
+This will begin a periodic monitoring that updates 10 times per second.
+
+Finally, in a third window, export the socket path:
+
+`export UCART_SOCKET=./ucart.socket`
+
+and then run any other tools to modify the quad, for example modifying PID constants:
+
+`./cli setpid --pitch -p 1.000`
+

groundStation/src/backend/commands.h

+#ifndef _COMMANDS_H
+#define _COMMANDS_H
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include "type_def.h"
+
+
+// ----------------------
+// Helper stuff
+
+#define MAX_TYPE 6
+#define MAX_SUBTYPE 100
+
+enum Message{
+	BEGIN_CHAR = 0xBE,
+	END_CHAR   = 0xED
+};
+
+// This should also have double to avoid confusion with float values.
+enum DataType
+{
+	floatType,
+	intType,
+	stringType
+};
+
+// MESSAGE SUBTYPES
+struct MessageSubtype{
+	char ID;
+	char cmdText[100];
+	char cmdDataType;
+	int (*functionPtr)(unsigned char *command, int dataLen, modular_structs_t *structs);
+};
+
+// MESSAGE TYPES
+struct MessageType{
+	char ID;
+	struct MessageSubtype subtypes[MAX_SUBTYPE];
+};
+
+int debug(unsigned char *c, int dataLen, modular_structs_t *structs);
+int update(unsigned char *c, int dataLen, modular_structs_t *structs);
+int logdata(unsigned char *c, int dataLen, modular_structs_t *structs);
+int response(unsigned char *packet, int dataLen, modular_structs_t *structs);
+int setyaw(unsigned char *c, int dataLen, modular_structs_t *structs);
+int setyawp(unsigned char *c, int dataLen, modular_structs_t *structs);
+int setyawd(unsigned char *c, int dataLen, modular_structs_t *structs);
+int setroll(unsigned char *c, int dataLen, modular_structs_t *structs);
+int setrollp(unsigned char *c, int dataLen, modular_structs_t *structs);
+int setrolld(unsigned char *c, int dataLen, modular_structs_t *structs);
+int setpitch(unsigned char *c, int dataLen, modular_structs_t *structs);
+int setpitchp(unsigned char *c, int dataLen, modular_structs_t *structs);
+int setpitchd(unsigned char *c, int dataLen, modular_structs_t *structs);
+int setthrottle(unsigned char *c, int dataLen, modular_structs_t *structs);
+int setthrottlep(unsigned char *c, int dataLen, modular_structs_t *structs);
+int setthrottlei(unsigned char *c, int dataLen, modular_structs_t *structs);
+int setthrottled(unsigned char *c, int dataLen, modular_structs_t *structs);
+int getyaw(unsigned char *c, int dataLen, modular_structs_t *structs);
+int getyawp(unsigned char *c, int dataLen, modular_structs_t *structs);
+int getyawd(unsigned char *c, int dataLen, modular_structs_t *structs);
+int getroll(unsigned char *c, int dataLen, modular_structs_t *structs);
+int getrollp(unsigned char *c, int dataLen, modular_structs_t *structs);
+int getrolld(unsigned char *c, int dataLen, modular_structs_t *structs);
+int getpitch(unsigned char *c, int dataLen, modular_structs_t *structs);
+int getpitchp(unsigned char *c, int dataLen, modular_structs_t *structs);
+int getpitchd(unsigned char *c, int dataLen, modular_structs_t *structs);
+int getthrottle(unsigned char *c, int dataLen, modular_structs_t *structs);
+int getthrottlep(unsigned char *c, int dataLen, modular_structs_t *structs);
+int getthrottlei(unsigned char *c, int dataLen, modular_structs_t *structs);
+int getthrottled(unsigned char *c, int dataLen, modular_structs_t *structs);
+int getaccel(unsigned char *c, int dataLen, modular_structs_t *structs);
+int getgyro(unsigned char *c, int dataLen, modular_structs_t *structs);
+int getpitchangle(unsigned char *c, int dataLen, modular_structs_t *structs);
+int getrollangle(unsigned char *c, int dataLen, modular_structs_t *structs);
+int respaccel(unsigned char *c, int dataLen, modular_structs_t *structs);
+int respgyro(unsigned char *c, int dataLen, modular_structs_t *structs);
+int resppitchangle(unsigned char *c, int dataLen, modular_structs_t *structs);
+int resprollangle(unsigned char *c, int dataLen, modular_structs_t *structs);
+int respyaw(unsigned char *c, int dataLen, modular_structs_t *structs);
+int respyawp(unsigned char *c, int dataLen, modular_structs_t *structs);
+int respyawd(unsigned char *c, int dataLen, modular_structs_t *structs);
+int resproll(unsigned char *c, int dataLen, modular_structs_t *structs);
+int resprollp(unsigned char *c, int dataLen, modular_structs_t *structs);
+int resprolld(unsigned char *c, int dataLen, modular_structs_t *structs);
+int resppitch(unsigned char *c, int dataLen, modular_structs_t *structs);
+int resppitchp(unsigned char *c, int dataLen, modular_structs_t *structs);
+int resppitchd(unsigned char *c, int dataLen, modular_structs_t *structs);
+int respthrottle(unsigned char *c, int dataLen, modular_structs_t *structs);
+int respthrottlep(unsigned char *c, int dataLen, modular_structs_t *structs);
+int respthrottlei(unsigned char *c, int dataLen, modular_structs_t *structs);
+int respthrottled(unsigned char *c, int dataLen, modular_structs_t *structs);
+int respaccel(unsigned char *c, int dataLen, modular_structs_t *structs);
+int respgyro(unsigned char *c, int dataLen, modular_structs_t *structs);
+int resppitchangle(unsigned char *c, int dataLen, modular_structs_t *structs);
+int resprollangle(unsigned char *c, int dataLen, modular_structs_t *structs);
+
+float getFloat(unsigned char* str, int pos);
+int getInt(unsigned char* str, int pos);
+
+// TODO add in string to be read from the command line when sending a subtype of message
+extern struct MessageType MessageTypes[MAX_TYPE];
+
+#endif
\ No newline at end of file

src/communication.c → groundStation/src/backend/communication.c

@@ -52,84 +52,95 @@ int checkInt(char *intString, int *value) {
 //--------------------------------
 
 // Formatting commands from ground station CLI
-int formatCommand(unsigned char *command, unsigned char **formattedCommand) {
-	//command[strlen((char *)command) - 1] = 0;
-	
-	tokenList_t tokens = tokenize((char *)command);
+int formatCommand(char *command, unsigned char **formattedCommand) {
+	//fprintf(stderr, "length = %li , received '%s'\n", strlen(command), command);
+	char cmd[strlen(command)];
+	strncpy(cmd, command, strlen(command));
+	cmd[strlen(command)] = '\0';
+
+	tokenList_t tokens = tokenize(cmd);
 	float floatValue = 0.0;
 	int intValue = 0;
 	int valid;
-	metadata_t metadata = {};
+	metadata_t metadata;
 	
 	// ----------------------------------------------
-	if(tokens.numTokens > 1) {
-		for(int cmdIndex = 0; cmdIndex < NUM_COMMANDS; ++cmdIndex)
+	if(tokens.numTokens > 0) {
+		for(int type = 0; type < MAX_TYPE; type++)
 		{
-			if(strcmp(tokens.tokens[0], registeredCommands[cmdIndex].commandText) == 0)
+			for(int subtype = 0; subtype < MAX_SUBTYPE; subtype++)
 			{
-
-				switch (registeredCommands[cmdIndex].dataType)
+				if(strcmp(tokens.tokens[0], MessageTypes[type].subtypes[subtype].cmdText) == 0)
 				{
-					// Validate the float input
-					case floatType:
-						valid = checkFloat(tokens.tokens[1], &floatValue);
-						if(!valid) {
-							return -1;
-						}
-						
-						printf("%f, %s\n", floatValue, tokens.tokens[1]);
-						
-						metadata.begin_char  = BEGIN_CHAR;
-						metadata.msg_type    = registeredCommands[cmdIndex].ID;
-						metadata.msg_subtype = registeredCommands[cmdIndex].subID;
-						metadata.msg_id      = msgNum++;
-						metadata.data_len    = sizeof(floatValue);
-						
-						formatPacket(&metadata, &floatValue, formattedCommand);
-						
-						break;
-					
-					// Validate the integer input
-					case intType:
-						valid = checkInt(tokens.tokens[1], &intValue);
-						if(!valid) {
-							return -1;
-						}
-						
-						metadata.begin_char  = BEGIN_CHAR;
-						metadata.msg_type    = registeredCommands[cmdIndex].ID;
-						metadata.msg_subtype = registeredCommands[cmdIndex].subID;
-						metadata.msg_id      = msgNum++;
-						metadata.data_len    = sizeof(intValue);
-						
-						formatPacket(&metadata, &intValue, formattedCommand);
-						
-						break;
+					printf("Sending\n\ttype: %d, \n\tsubtype: %d\n\tcommand: %s\n", type, subtype, MessageTypes[type].subtypes[subtype].cmdText);
 					
-					// Validate the string input (doesn't need to happen)
-					case stringType:
-						metadata.begin_char  = BEGIN_CHAR;
-						metadata.msg_type    = registeredCommands[cmdIndex].ID;
-						metadata.msg_subtype = registeredCommands[cmdIndex].subID;
-						metadata.msg_id      = msgNum++;
-						metadata.data_len    = strlen(tokens.tokens[1]);
+					// Make sure the second token is the right type
+					switch (MessageTypes[type].subtypes[subtype].cmdDataType)
+					{
+						// Validate the float input
+						case floatType:
+							metadata.begin_char = (char) BEGIN_CHAR;
+							metadata.msg_type = MessageTypes[type].ID;
+							metadata.msg_subtype = MessageTypes[type].subtypes[subtype].ID;
+
+							if(MessageTypes[type].ID == 0x01) {
+								valid = checkFloat(tokens.tokens[1], &floatValue);
+								if(!valid) {
+									return -1;
+								}
+								metadata.data_len = sizeof(floatValue);
+							} else {
+								metadata.data_len = 0;
+							}
+							
+							metadata.msg_id = msgNum++;
+							formatPacket(&metadata, &floatValue, formattedCommand);
+							break;
 						
-						formatPacket(&metadata, &tokens.tokens[1], formattedCommand);
+						// Validate the integer input
+						case intType:
+							metadata.begin_char = (char) BEGIN_CHAR;
+							metadata.msg_type = MessageTypes[type].ID;
+							metadata.msg_subtype = MessageTypes[type].subtypes[subtype].ID;
+							
+							if(MessageTypes[type].ID == 0x01) {
+								valid = checkInt(tokens.tokens[1], &intValue);
+								if(!valid) {
+									return -1;
+								}
+								metadata.data_len = sizeof(intValue);
+							} else {
+								metadata.data_len = 0;
+							}
+							
+							metadata.msg_id = msgNum++;
+							formatPacket(&metadata, &intValue, formattedCommand);
+							
+							break;
 						
-						break;
-					default:
-						return -1;
+						// Validate the string input (doesn't need to happen)
+						case stringType:
+							metadata.begin_char = (char) BEGIN_CHAR;
+							metadata.msg_type = MessageTypes[type].ID;
+							metadata.msg_subtype = MessageTypes[type].subtypes[subtype].ID;
+							metadata.msg_id = msgNum++;
+							metadata.data_len = strlen(tokens.tokens[1]);
+							
+							formatPacket(&metadata, &tokens.tokens[1], formattedCommand);
+							
+							break;
+						default:
+							return -1;
+					}
+					return 0;
 				}
-
-				return 0;
 			}
 		}
 	}
-	
+
 	// Only gets here if the command does not exist
-	return -1;
+	return -1;	
 }
-
 // QUAD & Ground Station
 // Format the log data from log_message
 //int formatData(unsigned char *log_msg, unsigned char *formattedCommand)
@@ -154,7 +165,8 @@ int formatPacket(metadata_t *metadata, void *data, unsigned char **formattedComm
 	(*formattedCommand)[2] = metadata->msg_subtype;
 	
 	//Msg id (msgNum is 2 bytes)
-	(*formattedCommand)[3] = metadata->msg_id;
+	(*formattedCommand)[3] = (metadata->msg_id & 0x000000ff);
+	(*formattedCommand)[4] = ((metadata->msg_id >> 8) & 0x000000ff);
 	
 	// Data length and data - bytes 5&6 for len, 7+ for data
 	(*formattedCommand)[5] = metadata->data_len & 0x000000ff;
@@ -232,7 +244,7 @@ int parse_packet(unsigned char * packet, unsigned char ** data, metadata_t * met
 
 // QUAD & Ground Station
 // Process the command received
-int processCommand(unsigned char *packet, unsigned int cmdIndex) {
+int processCommand(unsigned char *packet, modular_structs_t *structs) {
 	int validPacket;
 	unsigned char *data;
 	metadata_t metadata;
@@ -244,9 +256,13 @@ int processCommand(unsigned char *packet, unsigned int cmdIndex) {
 	}
 	
 	if(metadata.data_len >= 0) {
-		// Call the appropriate subtype function
-		(* (registeredCommands[cmdIndex].functionPtr))(data, metadata.data_len);
-		
+		/* Null check*/
+		if (MessageTypes[(unsigned char)metadata.msg_type].subtypes[
+				(unsigned char) metadata.msg_subtype].functionPtr) {
+			// Call the appropriate subtype function
+			(* (MessageTypes[(unsigned char)metadata.msg_type].subtypes[(unsigned char)metadata.msg_subtype].functionPtr))(data, metadata.data_len, structs);
+		}
+			
 		return 0;
 	}
 	

src/communication.h → groundStation/src/backend/communication.h

@@ -10,12 +10,10 @@
 tokenList_t tokenize(char* cmd);
 int checkFloat(char *floatString, float *value);
 int checkInt(char *intString, int *value);
-int formatCommand(unsigned char *command, unsigned char **formattedCommand);
+int formatCommand(char *command, unsigned char **formattedCommand);
 int formatPacket(metadata_t *metadata, void *data, unsigned char **formattedCommand);
 int parse_packet(unsigned char * packet, unsigned char ** data, metadata_t * meta_data);
-int processCommand(unsigned char *command, unsigned int cmdIndex);
+int processCommand(unsigned char *command, modular_structs_t *structs);
 int logData(unsigned char *log_msg, unsigned char *formattedCommand);
-float getFloat(unsigned char* str, int pos);
-int getInt(unsigned char* str, int pos);
 
-#endif
+#endif
\ No newline at end of file

groundStation/src/backend/config.h

+#ifndef __CONFIG_H
+#define __CONFIG_H
+
+
+#define DEFAULT_SOCKET "/var/run/ucart.socket"
+#define SOCKET_ENV "UCART_SOCKET"
+#define NOQUAD_ENV "UCART_NO_QUAD"
+#define NOVRPN_ENV "UCART_NO_VRPN"
+
+
+// If you are planning on using any of these env vars and you have
+// 	exported them with normal user rights. You will need to run the 
+// 	backend with sudo elevation and with the --preserve-env flag or -E
+#define QUAD_WIFI_ENV "UCART_USE_WIFI"
+#define QUAD_IP_ENV "UCART_QUAD_IP"
+#define QUAD_IP_DEFAULT "192.168.4.1"
+#define QUAD_PORT_ENV "UCART_QUAD_PORT"
+#define QUAD_PORT_DEFAULT 8080
+
+#endif

src/logger.c → groundStation/src/backend/logger.c

@@ -4,21 +4,30 @@
  */
 #include "logger.h"
 #include <stdio.h>
+#include <err.h>
+#include <pthread.h>
 
-int quadlog_file;
+static FILE * quadlog_file = NULL;
+static pthread_mutex_t mutex = PTHREAD_MUTEX_INITIALIZER;
 
 int createLogFile(int argc, char* argv)
 {
-	char log_file[300] = {'l', 'o', 'g','s', '/'};
+	if (quadlog_file != NULL) {
+		return -1;
+	}
+
+	if (pthread_mutex_lock(&mutex)) {
+		err(-2, "pthrtead_mutex_lock (%s:%d):", __FILE__, __LINE__);
+	}
+
+	char log_file[300];
+	strcpy(log_file, "logs/");
 	if(argc >= 2)
 	{
-		strcat(log_file, argv);
+		strncat(log_file, argv, 294);
 		printf("Creating log file '%s'...\n",log_file);
-		quadlog_file = open(log_file, O_WRONLY | O_CREAT, 0666);
-		return quadlog_file;
-	}
-	else
-	{
+		quadlog_file = fopen(log_file, "a");
+	} else {
 		time_t rawtime;
 		char timestr [30];
 		time(&rawtime);
@@ -26,7 +35,7 @@ int createLogFile(int argc, char* argv)
 
 		// Lets convert space to _ in
 		char *p = timestr;
-		int i = 0;
+		size_t i = 0;
 		while(i < strlen(timestr))
 		{ 
 		    if (*p == ' ')
@@ -40,18 +49,60 @@ int createLogFile(int argc, char* argv)
 		strncat(log_file, timestr, strlen(timestr) -1 );
 		strcat(log_file, ".txt");
 		printf("Creating log file '%s'...\n",log_file);
-		quadlog_file = open(log_file, O_WRONLY | O_CREAT, 0666);
-		return quadlog_file;
+		quadlog_file = fopen(log_file, "a");
+	}
+	if (pthread_mutex_unlock(&mutex)) {
+		err(-2, "pthrtead_mutex_unlock (%s:%d):", __FILE__, __LINE__);
 	}
+	return 0;
 }
 
 int updateLogFile(const struct ucart_vrpn_TrackerData * td)
 {
-	return dprintf(quadlog_file, "FPS: %lf Pos (xyz): (%lf %lf %lf) Att (pry): (%lf %lf %lf)\n",
+	int retval;
+
+	if (pthread_mutex_lock(&mutex)) {
+		err(-2, "pthrtead_mutex_lock (%s:%d):", __FILE__, __LINE__);
+	}
+     
+	retval = fprintf(quadlog_file, 
+			"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);
+
+	if (pthread_mutex_unlock(&mutex)) {
+		err(-2, "pthrtead_mutex_unlock (%s:%d):", __FILE__, __LINE__);
+	}
+	
+	return retval;
 }
 
 int writeStringToLog(const char * string)
 {
-	return dprintf(quadlog_file, "%s", string);
+	int retval;
+
+	if (pthread_mutex_lock(&mutex)) {
+		err(-2, "pthrtead_mutex_lock (%s:%d):", __FILE__, __LINE__);
+	}
+
+	retval = fprintf(quadlog_file, "%s", string);
+
+	if (pthread_mutex_unlock(&mutex)) {
+		err(-2, "pthrtead_mutex_unlock (%s:%d):", __FILE__, __LINE__);
+	}
+
+	return retval;
+}
+
+void closeLogFile(void)
+{
+	if (pthread_mutex_lock(&mutex)) {
+		err(-2, "pthrtead_mutex_lock (%s:%d):", __FILE__, __LINE__);
+	}
+
+	fclose(quadlog_file);
+
+	if (pthread_mutex_unlock(&mutex)) {
+		err(-2, "pthrtead_mutex_unlock (%s:%d):", __FILE__, __LINE__);
+	}
+
 }

src/logger.h → groundStation/src/backend/logger.h

@@ -15,6 +15,7 @@
 int createLogFile(int, char*);
 int writeStringToLog(const char*);
 int updateLogFile(const struct ucart_vrpn_TrackerData* );
+void closeLogFile();
 
 
-#endif
\ No newline at end of file
+#endif

src/vrpn_tracker.cpp → groundStation/src/backend/vrpn_tracker.cpp

 #include <iostream>
 #include <algorithm>
+#include <functional>
 
 #include "vrpn_Tracker.h"
 #include "quat.h"
@@ -9,28 +10,25 @@
 namespace microcart
 {
 	static void VRPN_CALLBACK vrpn_cb(void * param, const vrpn_TRACKERCB t);
+	
+	TrackerData::TrackerData() :
+		x(0.0), y(0.0), z(0.0),
+		pitch(0.0), roll(0.0), yaw(0.0),
+		fps(0.0), timestamp()
+	{
+	}
 
-	Tracker::Tracker(std::string server) : Tracker(server.c_str())
+	Tracker::Tracker(std::string server) : 
+		remote(server.c_str()),
+		stop_flag(0),
+		trackerData()
 	{
 	}
 
 	Tracker::Tracker(const char * server) :
 		remote(server),
 		stop_flag(0),
-		trackerData({
-			.x = 0.0,
-			.y = 0.0,
-			.z = 0.0,
-			.pitch = 0.0,
-			.roll = 0.0,
-			.yaw = 0.0,
-			.fps = 0.0,
-			.timestamp = {
-				.tv_sec = 0,
-				.tv_usec = 0
-			}
-		})
-
+		trackerData()
 	{
 		remote.register_change_handler(this, vrpn_cb);
 
@@ -92,10 +90,9 @@ namespace microcart
 		trackerData.fps = 1.0 / elapsed_time_usec;
 
 		auto td = trackerData;
-		std::for_each(cb_vector.begin(), cb_vector.end(),
-			[td](std::function<void(const TrackerData &)> &fn){
-				fn(td);
-		});
+		for(auto i = cb_vector.begin(); i != cb_vector.end(); ++i) {
+			(*i)(td);
+		}
 	}
 
 	void Tracker::addCallback(std::function<void(const TrackerData&)> cb) 
@@ -115,6 +112,20 @@ struct ucart_vrpn_tracker {
 	microcart::Tracker * t;
 };
 
+void cb_wrapper(void (*cb)(struct ucart_vrpn_TrackerData *),
+		const microcart::TrackerData &td)
+{
+						struct ucart_vrpn_TrackerData data;
+						data.x = td.x;
+						data.y = td.y;
+						data.z = td.z;
+						data.pitch = td.pitch;
+						data.roll = td.roll;
+						data.yaw = td.yaw;
+						data.fps = td.fps;
+						(*cb)(&data);
+}
+
 extern "C"
 {
 	struct ucart_vrpn_tracker * ucart_vrpn_tracker_createInstance(
@@ -123,6 +134,7 @@ extern "C"
 		try {
 			auto inst = new struct ucart_vrpn_tracker;
 			inst->t = new microcart::Tracker(server);
+			return inst;
 		} catch(...) {
 			return NULL;
 		}
@@ -138,16 +150,8 @@ extern "C"
 			void (*cb)(struct ucart_vrpn_TrackerData *))
 	{
 		try {
-			inst->t->addCallback([cb](const microcart::TrackerData & td) {
-						struct ucart_vrpn_TrackerData data;
-						data.x = td.x;
-						data.y = td.y;
-						data.z = td.z;
-						data.pitch = td.pitch;
-						data.roll = td.roll;
-						data.yaw = td.yaw;
-						(*cb)(&data);
-					});
+			auto new_cb = bind(cb_wrapper, cb, std::placeholders::_1);
+			inst->t->addCallback(new_cb);
 		} catch(...) {
 			return -1;
 		}