groundStation/src/cli/cli_getpid.h

+#ifndef CLI_GETPID_H
+#define CLI_GETPID_H
+
+#include "frontend_getpid.h"
+
+int getValues(struct backend_conn *, struct frontend_pid_data *);
+int cli_getpid(struct backend_conn * conn, int argc, char ** argv);
+
+#endif
\ No newline at end of file

groundStation/src/cli/cli_monitor.h

+#ifndef CLI_MONITOR_H
+#define CLI_MONITOR_H
+#include "frontend_getpid.h"
+
+int cli_getpid(
+		struct backend_conn * conn,
+		struct frontend_pid_data * pid_data);
+
+#endif
\ No newline at end of file

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, "rw");
+	if (conn->socket == NULL) {
+		perror("fdopen");
+		goto fail_malloc_conn;
+	}
+
+	/* 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 = 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[10] = "getpid \0";
+	char pid_option[2];
+	switch (pid_data->pid) {
+		case PITCH :
+			strncpy(pid_option, "p\0", 2);
+			break;
+		case ROLL :
+			strncpy(pid_option, "i\0", 2);
+			break;
+		case YAW :
+			strncpy(pid_option, "d\0", 2);
+			break;
+		default :
+			return 1;
+	}
+
+	strncat(line, pid_option, 2);
+
+	int size;
+	if((size = ucart_backendWrite(conn, line)) < 0 ) {
+		printf("nope! %d \n", size);
+		return 1;
+	}
+
+	printf("we send size bytes\n");
+
+	return 0;
+}	
\ No newline at end of file

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/pid_common.h

+#ifndef PID_COMMON_H
+#define PID_COMMON_H
+
+enum frontend_pid {
+	PITCH,
+	ROLL,
+	YAW,
+	NUM_PIDS
+};
+
+struct frontend_pid_data {
+	enum frontend_pid pid;
+
+	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/DashboardBuildInitialCache.cmake.in

-# Project configuration settings
-set(VRPN_USE_PHANTOM_SERVER "@VRPN_USE_PHANTOM_SERVER@" CACHE BOOL "")
-set(VRPN_INCLUDE_TIMECODE_SERVER "@VRPN_INCLUDE_TIMECODE_SERVER@" CACHE BOOL "")
-set(VRPN_INCLUDE_INTERSENSE "@VRPN_INCLUDE_INTERSENSE@" CACHE BOOL "")
-set(VRPN_USE_NATIONAL_INSTRUMENTS "@VRPN_USE_NATIONAL_INSTRUMENTS@" CACHE BOOL "")
-set(VRPN_USE_NATIONAL_INSTRUMENTS_MX "@VRPN_USE_NATIONAL_INSTRUMENTS_MX@" CACHE BOOL "")
-set(VRPN_USE_NIDAQ "@VRPN_USE_NIDAQ@" CACHE BOOL "")
-set(VRPN_USE_USDIGITAL "@VRPN_USE_USDIGITAL@" CACHE BOOL "")
-set(VRPN_USE_MICROSCRIBE "@VRPN_USE_MICROSCRIBE@" CACHE BOOL "")
-set(VRPN_INCLUDE_PHASESPACE "@VRPN_INCLUDE_PHASESPACE@" CACHE BOOL "")
-set(VRPN_USE_MOTIONNODE "@VRPN_USE_MOTIONNODE@" CACHE BOOL "")
-set(VRPN_USE_WIIUSE "@VRPN_USE_WIIUSE@" CACHE BOOL "")
-set(VRPN_USE_FREESPACE "@VRPN_USE_FREESPACE@" CACHE BOOL "")
-set(VRPN_USE_DIRECTINPUT "@VRPN_USE_DIRECTINPUT@" CACHE BOOL "")
-set(VRPN_USE_DIRECTSHOW "@VRPN_USE_DIRECTSHOW@" CACHE BOOL "")
-set(VRPN_USE_SHARED_LIBRARY "@VRPN_USE_SHARED_LIBRARY@" CACHE BOOL "")
-set(VRPN_USE_GPM_MOUSE "@VRPN_USE_GPM_MOUSE@" CACHE BOOL "")
-
-set(VRPN_GPL_SERVER "@VRPN_GPL_SERVER@" CACHE BOOL "")
-
-# Root directories to search for dependencies
-set(WIIUSE22_ROOT_DIR "@WIIUSE_ROOT_DIR@" CACHE PATH "")