Ready for commands to be added to complete functionality

Makefile

 # Declaration of variables
 GCC=gcc
 GXX=g++
-CFLAGS= -Wall -pedantic -std=c99 -g
-CPPFLAGS= -Wall -pedantic -std=c++11 -g
+CFLAGS= -Wall  -std=c99 -g
+CPPFLAGS= -Wall  -std=c++11 -g
 INCLUDES = $(foreach dir, $(INCDIR), -I$(dir))
 
 # Directories
@@ -47,8 +47,6 @@ clean_logs:
 
 clean:
 	rm -f $(EXE) $(OBJECTS)
-	rm -rf src/vrpn/build
-
 
 debug:
 	@echo $(COBJECTS)

logs/Sat_Oct__8_20:57:03_2016.txt

-#
-#	Default log header
-#	Everything after '#'`s will be printed as is in the processed logs.
-#

logs/Sat_Oct__8_20:58:15_2016.txt

-#
-#	Default log header
-#	Everything after '#'`s will be printed as is in the processed logs.
-#

logs/Sat_Oct__8_20:58:44_2016.txt

-#
-#	Default log header
-#	Everything after '#'`s will be printed as is in the processed logs.
-#

logs/Sat_Oct__8_21:14:17_2016.txt

-#
-#	Default log header
-#	Everything after '#'`s will be printed as is in the processed logs.
-#

logs/Sat_Oct__8_21:18:29_2016.txt

-#
-#	Default log header
-#	Everything after '#'`s will be printed as is in the processed logs.
-#

src/logger.c

@@ -2,7 +2,8 @@
  *
  * Logger file for holding functions pertaining to loging to a file.
  */
- #include "logger.h"
+#include "logger.h"
+#include <stdio.h>
 
 int quadlog_file;
 
@@ -44,13 +45,13 @@ int createLogFile(int argc, char* argv)
 	}
 }
 
-int updateLogFile(struct ucart_vrpn_TrackerData * td)
+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",
 		td->fps, td->x, td->y, td->z, td->pitch, td->roll, td->yaw);
 }
 
-int writeLogHeader(const char * header)
+int writeStringToLog(const char * string)
 {
-	return dprintf(quadlog_file, "%s", header);
+	return dprintf(quadlog_file, "%s", string);
 }

src/logger.h

@@ -13,8 +13,8 @@
 #include "vrpn_tracker.hpp"
 
 int createLogFile(int, char*);
-int writeLogHeader(const char*);
-int updateLogFile(struct ucart_vrpn_TrackerData* );
+int writeStringToLog(const char*);
+int updateLogFile(const struct ucart_vrpn_TrackerData* );
 
 
 #endif
\ No newline at end of file

src/microcart_cli.c

@@ -51,9 +51,6 @@ pthread_mutex_t quadResponseMutex, cliInputMutex ;
 unsigned char *respBuf, *commandBuf;
 int newQuadResponse = 0, newCliInput = 0;
 
-
-
-
 // Callback to be ran whenever the tracker receives data.
 // Currently doing much more than it should. It will be slimmed down 
 // 		in the future.
@@ -95,15 +92,15 @@ void *handleQuadResponse() {
 		memcpy(respBuf, buffer, 255);
 		pthread_mutex_unlock(&quadResponseMutex);
 
-
 		//parse_packet(buffer, &respBuf, &metadata);
-		fprintf(stderr, "CLI QUAD: %s\n", buffer);
+		// fprintf(stderr, "CLI QUAD: %s\n", buffer);
 	}
 
 	pthread_exit(NULL);
 }
 
 void *handleCliInput() {
+	sleep(1);
 	while(keepRunning)
 	{
 		char userCommand[CMD_MAX_LENGTH] = {};
@@ -129,7 +126,6 @@ void *handleCliInput() {
 			memcpy(commandBuf, &userCommand, CMD_MAX_LENGTH);
 			pthread_mutex_unlock(&cliInputMutex);
 
-			
 			fprintf(stderr, "$microcart> ");
 
 			memset(userCommand, 0, CMD_MAX_LENGTH);
@@ -145,13 +141,13 @@ int main(int argc, char **argv)
 	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);
 	}
 	
@@ -163,27 +159,28 @@ int main(int argc, char **argv)
 	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...");
-//		exit(1);
-//	}
-//	writeLogHeader(logHeader);
+	if( (status = createLogFile(argc, argv[1])) < 0)
+	{
+		perror("Error creating log file...");
+		exit(1);
+	}
+	writeStringToLog(logHeader);
 
 	//tell the quad we are ready to send it vrpn data
-//	printf("sending Start Packet...\n");
-//	sendStartPacket();
+	printf("sending Start Packet...\n");
+	sendStartPacket();
 
 	// this function will be called whenever tracker receives data
-//	ucart_vrpn_tracker_addCallback(tracker, cb);
+	// ucart_vrpn_tracker_addCallback(tracker, cb);
 	int updatePrompt = 0;
-	while(1)
+	while(keepRunning)
 	{
 		char tmpRespBuf[1024];
 		char tmpCommandBuf[CMD_MAX_LENGTH];
@@ -192,42 +189,43 @@ int main(int argc, char **argv)
 		if(updatePrompt)
 		{
 			fprintf(stderr, "$microcart> ");
-			updatePrompt = !updatePrompt;	
+			updatePrompt = 0;	
 		}
 
 		//check for user input via cli
 		if(atomic_check(&newCliInput, &cliInputMutex))
 		{
 			pthread_mutex_lock(&cliInputMutex);
-			newCliInput = 0;
+			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 = 1;
+			updatePrompt = !updatePrompt;
 		}
 
 		//check for update/response from quad
 		if(atomic_check(&newQuadResponse, &quadResponseMutex))
 		{
 			pthread_mutex_lock(&quadResponseMutex);
-			newQuadResponse = 0;
+			newQuadResponse = !newQuadResponse;
 			memcpy(tmpRespBuf, respBuf, 1024);
 			pthread_mutex_unlock(&quadResponseMutex);
 
-			fprintf(stderr, "\rINPUT FOUND via QUAD: '");
-			fwrite(tmpRespBuf, 1024, 1, stdout);
-			fprintf(stderr, "'\n");
-			updatePrompt = 1;
+			char buf[1025];
+			memcpy(buf, tmpRespBuf, 1024);
+			buf[1025] = '\0';
+			//fprintf(stderr, "\rINPUT FOUND via QUAD: '%s'\n", buf);
+			writeStringToLog(buf);
+			updatePrompt = !updatePrompt;
 		}
-
 		usleep(10000);
 	}
 
 	
 
-	ucart_vrpn_tracker_freeInstance(tracker);
+	//ucart_vrpn_tracker_freeInstance(tracker);
 	//free(vrpnData);
 	free(respBuf);
 	free(commandBuf);

src/vrpn_tracker.cpp

@@ -57,7 +57,6 @@ namespace microcart
 	{
 		while (1) {
 			remote.mainloop();
-
 			{
 				std::lock_guard<std::mutex> guard(vrpn_mutex);
 
@@ -94,7 +93,7 @@ namespace microcart
 
 		auto td = trackerData;
 		std::for_each(cb_vector.begin(), cb_vector.end(),
-			[&td](std::function<void(const TrackerData &)> &fn){
+			[td](std::function<void(const TrackerData &)> &fn){
 				fn(td);
 		});
 	}