backend.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 <sys/stat.h>
#include <bluetooth/bluetooth.h>
#include <bluetooth/rfcomm.h>
#include <pthread.h>
#include <assert.h>
#include <errno.h>
#include <string.h>
#include <sys/ioctl.h>
#include <sys/types.h>
#include <netinet/tcp.h>

//user created includes
#include "commands.h"
#include "vrpn_tracker.hpp"
#include "type_def.h"
#include "packet.h"
#include "param.h"
#include "update.h"
#include "config.h"
#include "source.h"
#include "output.h"
#include "nodes.h"
#include "bitwise.h"

#define QUAD_BT_ADDR  "00:06:66:64:61:D6"
#define QUAD_BT_CHANNEL  0x01
#define CMD_MAX_LENGTH 4096
#define MAX_HASH_SIZE 50

/* Backend-internal command magics */
#define TD_MAGIC "TRACKERDATA"

// function prototypes
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 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);
/* Return pointer to client pending responses, or -1*/ 
static int * get_client_pend_responses(int fd);