CLI responds correctly to user input

.gitignore

@@ -34,5 +34,5 @@
 
 
 # vrpn/build files
-bt_poc/src/vrpn/build*
+src/vrpn/build*
 src/vrpn/pc_linux64/*

src/microcart_cli.c

@@ -34,6 +34,7 @@ void printVrpnData(struct ucart_vrpn_TrackerData *);
 int connectToZybo();
 void *handleQuadResponse();
 void *handleCliInput();
+int atomic_check(int*, pthread_mutex_t*);
 
 static void cb(struct ucart_vrpn_TrackerData *);
 
@@ -80,14 +81,12 @@ void *handleQuadResponse() {
 	unsigned char buffer[255];
 
 	while(keepRunning) {
-		printf("in quad response thread\n"); fflush(0);
 		// 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");
-			fflush(stderr);
 			continue;
 		}
 
@@ -98,7 +97,7 @@ void *handleQuadResponse() {
 
 
 		//parse_packet(buffer, &respBuf, &metadata);
-		printf("CLI QUAD: %s\n", buffer);
+		fprintf(stderr, "CLI QUAD: %s\n", buffer);
 	}
 
 	pthread_exit(NULL);
@@ -107,7 +106,6 @@ void *handleQuadResponse() {
 void *handleCliInput() {
 	while(keepRunning)
 	{
-		printf("in cli input thread\n"); fflush(0);
 		char userCommand[CMD_MAX_LENGTH] = {};
 		fprintf(stderr, "$microcart> ");
 
@@ -123,6 +121,9 @@ void *handleCliInput() {
 				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);
@@ -148,11 +149,11 @@ int main(int argc, char **argv)
 
 	signal(SIGINT, killHandler);
 
-//	if ((zyboSocket = connectToZybo()) < 0)
-//	{
-//		perror("Error connecting to Zybo...");
-//		exit(1);
-//	}
+	if ((zyboSocket = connectToZybo()) < 0)
+	{
+		perror("Error connecting to Zybo...");
+		exit(1);
+	}
 	
 	// create vrpnTracker instance
 //	tracker = ucart_vrpn_tracker_createInstance(TRACKER_IP);
@@ -181,12 +182,21 @@ int main(int argc, char **argv)
 
 	// this function will be called whenever tracker receives data
 //	ucart_vrpn_tracker_addCallback(tracker, cb);
+	int updatePrompt = 0;
 	while(1)
 	{
 		char tmpRespBuf[1024];
 		char tmpCommandBuf[CMD_MAX_LENGTH];
+
+
+		if(updatePrompt)
+		{
+			fprintf(stderr, "$microcart> ");
+			updatePrompt = !updatePrompt;	
+		}
+
 		//check for user input via cli
-		if(newCliInput)
+		if(atomic_check(&newCliInput, &cliInputMutex))
 		{
 			pthread_mutex_lock(&cliInputMutex);
 			newCliInput = 0;
@@ -194,21 +204,24 @@ int main(int argc, char **argv)
 			pthread_mutex_unlock(&cliInputMutex);
 
 			// I can use printf becuase the command was gathered using fgets.
-			printf("\nINPUT FOUND via CLI: '%s'\n", tmpCommandBuf); fflush(0);
+			fprintf(stderr, "\rINPUT FOUND via CLI: '%s'\n", tmpCommandBuf);
+			updatePrompt = 1;
 		}
 
 		//check for update/response from quad
-		if(newQuadResponse)
+		if(atomic_check(&newQuadResponse, &quadResponseMutex))
 		{
 			pthread_mutex_lock(&quadResponseMutex);
 			newQuadResponse = 0;
 			memcpy(tmpRespBuf, respBuf, 1024);
 			pthread_mutex_unlock(&quadResponseMutex);
 
-			printf("\nINPUT FOUND via QUAD: '"); fflush(0);
+			fprintf(stderr, "\rINPUT FOUND via QUAD: '");
 			fwrite(tmpRespBuf, 1024, 1, stdout);
-			printf("'\n"); fflush(0);
+			fprintf(stderr, "'\n");
+			updatePrompt = 1;
 		}
+
 		usleep(10000);
 	}
 
@@ -351,3 +364,10 @@ int connectToZybo() {
 		return sock;
 	}
 }
+
+int atomic_check(int* atomicFlag, pthread_mutex_t* mutex) {
+   pthread_mutex_lock(mutex);
+   int result = *atomicFlag;
+   pthread_mutex_unlock(mutex);
+   return result;
+}