first go at the local socket virt-quad test system

groundStation/src/backend/backend.c

@@ -341,28 +341,48 @@ void printVrpnData(struct ucart_vrpn_TrackerData * td) {
 
 int connectToZybo() {
 	int sock;
-	int status = 0;
+	int status = -1;
 
 	if (getenv(NOQUAD_ENV)) {
 		return 0;
 	}
 
-	/* Use bluetooth by default */
-	if (!getenv(QUAD_WIFI_ENV)) {
-		printf("Using BT Settings\n");
-		struct sockaddr_rc addr;
+	/* Use wifi by default */
+	if (getenv(QUAD_COMM_ENV)) {
+		/* Determine if we are using bluetooth or local */
+		if(strcmp(getenv(QUAD_COMM_ENV), "local") == 0) {
+			printf("Using Local Socket Settings\n");
+			
+			struct sockaddr_un remote;
+			char str[100];
+
+			if ((sock = socket(AF_UNIX, SOCK_STREAM, 0)) == -1) {
+				perror("socket");
+				exit(1);
+			}
 
-		// allocate a socket	
-		sock = socket(AF_BLUETOOTH, SOCK_STREAM, BTPROTO_RFCOMM);
+			remote.sun_family = AF_UNIX;
+			char * sock_env = getenv(QUAD_LOCAL_SOCKET);
+			strcpy(remote.sun_path, sock_env ? sock_env : QUAD_DEFAULT_LOCAL_SOCKET);
+			printf("Attempting to connect to local socket at '%s'. please be patiend.\n", remote.sun_path);
 
-		//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));
+			status = connect(sock, (struct sockaddr *)&remote, sizeof(remote));
+		} else if (strcmp(getenv(QUAD_COMM_ENV), "bluetooth") == 0) {
+			printf("Using BT Settings\n");
+			struct sockaddr_rc addr;
+
+			// 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));
+		}
 	} else {
 		printf("Using WIFI settings\n");
 		struct sockaddr_in addr;

groundStation/src/backend/config.h

@@ -11,7 +11,10 @@
 // If you are planning on using any of these env vars and you have
 // 	exported them with normal user rights. You will need to run the 
 // 	backend with sudo elevation and with the --preserve-env flag or -E
-#define QUAD_WIFI_ENV "UCART_USE_WIFI"
+#define QUAD_COMM_ENV "UCART_COMM_CHANNEL"
+
+#define QUAD_DEFAULT_LOCAL_SOCKET "./virtquad.socket"
+#define QUAD_LOCAL_SOCKET "UCART_LOCAL_SOCKET"
 #define QUAD_IP_ENV "UCART_QUAD_IP"
 #define QUAD_IP_DEFAULT "192.168.1.1"
 #define QUAD_PORT_ENV "UCART_QUAD_PORT"

quad/src/virt_quad/hw_impl_unix_uart.c

 #include "hw_impl_unix.h"
+#include <sys/types.h>       
+#include <sys/socket.h>
+#include <stdio.h>
+#include <sys/un.h>
+#include <err.h>
+#include <netinet/in.h>
+
+#define DEFAULT_SOCKET "../../groundStation/virtquad.socket"
+#define SOCKET_ENV "VIRT_QUAD_SOCKET"
+
+static int backendSocket;
+static int sendSocket;
 
 int unix_uart_reset(struct UARTDriver *self) {
+
+
+	char * backend_socket_path = DEFAULT_SOCKET;
+	if (getenv(SOCKET_ENV)) {
+	backend_socket_path = getenv(SOCKET_ENV);
+	}
+	/* Unlink if it exists */
+	unlink(backend_socket_path);
+	printf("using socket at '%s'\n", backend_socket_path);
+
+	/* Create socket */
+	backendSocket = socket(AF_UNIX, SOCK_STREAM | SOCK_NONBLOCK, 0);
+
+
+	/* Create sockaddr and bind */
+	struct sockaddr_un sa;
+	sa.sun_family = AF_UNIX;
+	strncpy(sa.sun_path, backend_socket_path, 107);
+	sa.sun_path[107] = '\0';
+	if (bind(backendSocket, (struct sockaddr *) &sa, sizeof(sa))) {
+		err(-1, "bind");
+	}
+
+	/* Listen */
+	if (listen(backendSocket, 1)) {
+		err(-1, "listen");
+	}
+
+	while (1) {
+		sendSocket = accept(backendSocket, NULL, NULL);
+		if (sendSocket > 0)
+			break;
+	}
+
+	printf(" accpet() returned with %d\n", sendSocket);
   return 0;
 }
 
 int unix_uart_write(struct UARTDriver *self, unsigned char c) {
-  return 0;
+	printf("sending %c\n", c);
+	return send(sendSocket, &c, 1, 0);
 }
 
 int unix_uart_read(struct UARTDriver *self, unsigned char *c) {
-  return 0;
+	int bytes = read(sendSocket, c, 1);
+	printf("read in %d byte [%x], msg=%d\n", bytes, *c, self->msg);
+	return bytes;
 }