microcart_cli.c

/* Author: Kris Burney & Jake Drahos
 *
 * BlueTooth socket program for passing vrpn data to quad.
 */

#define _GNU_SOURCE
#define _BSD_SOURCE

//system includes
#include <err.h>
#include <stdio.h>
#include <stdlib.h>
#include <unistd.h>
#include <signal.h>
#include <sys/socket.h>
#include <sys/un.h>
#include <netinet/in.h>
#include <arpa/inet.h>
#include <sys/select.h>
#include <bluetooth/bluetooth.h>
#include <bluetooth/rfcomm.h>
#include <pthread.h>
#include <assert.h>

//user created includes
#include "communication.h"
#include "commands.h"
#include "vrpn_tracker.hpp"
#include "type_def.h"
#include "logger.h"
#include "config.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();
int startsWith(const char *, const char *);
int safe_fd_set(int , fd_set* , int* );
int safe_fd_clr(int , fd_set* , int* );
static void safe_close_fd(int fd, pthread_mutex_t *mutexLock);

static void cb(struct ucart_vrpn_TrackerData *);
static int new_client(int fd);
/* Return index of client, or -1 */
static ssize_t get_client_index(int fd);
/* Returns pointer to client buffer, or -1 */
static char * get_client_buffer(int fd);
/* Returns -1 on error */
static int remove_client(int fd);
/* Receive data from client */
static void client_recv(int fd);
/* Checks to see if socket has disconnected. Returns 1 on disconnect, else returns 0 */
static int wasDisconnected(int fd);

/* Thread-safe wrappers */
pthread_mutex_t quadSocketMutex;
static ssize_t writeQuad(const char * buf, size_t count);

// global variables
static volatile int keepRunning = 1;
const char *TRACKER_IP = "UAV@192.168.0.120:3883";
static int zyboSocket;