Thread-safe writes to quad

Makefile

@@ -23,7 +23,9 @@ OBJECTS = $(CPPOBJECTS) $(COBJECTS)
 LIBS= -lpthread -lbluetooth -lvrpn -lquat -Lsrc/vrpn/build -Lsrc/vrpn/build/quat 
 
 # Default target
-all: logs vrpn/build $(EXE)
+all: logs $(EXE)
+
+vrpn: vrpn/build
 
 # Main target
 $(EXE): $(OBJECTS) 

src/microcart_cli.c

@@ -3,6 +3,7 @@
  * BlueTooth socket program for passing vrpn data to quad.
  */
 //system includes
+#include <err.h>
 #include <stdio.h>
 #include <stdlib.h>
 #include <unistd.h>
@@ -44,15 +45,13 @@ int safe_fd_clr(int , fd_set* , int* );
 static void cb(struct ucart_vrpn_TrackerData *);
 
 /* Thread-safe wrappers */
-pthread_mutex_t quadSocketMutex, logFileMutex;
-ssize_t writeQuad(const char * buf, size_t count);
-ssize_t dprintfLog(const char * fmt, ...);
+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";
-int quadlog_file;
-int zyboSocket, status, bytes_read;
+static int zyboSocket;
 struct ucart_vrpn_tracker * tracker = NULL;
 const char *logHeader = "";//"#\n#\tDefault log header\n#\tEverything after '#'`s will be printed as is in the processed logs.\n#\n\0";
 
@@ -96,6 +95,10 @@ int main(int argc, char **argv)
 	
 	signal(SIGINT, killHandler);
 
+	if (pthread_mutex_lock(&quadSocketMutex)) {
+		err(-2, "pthrtead_mutex_lock (%s:%d):", __FILE__, __LINE__);
+	}
+
 	// if ((zyboSocket = connectToZybo()) < 0)
 	// {
 	// 	perror("Error connecting to Zybo...");
@@ -103,12 +106,16 @@ int main(int argc, char **argv)
 	// 	free(commandBuf);
 	// 	exit(1);
 	// }
+
+	if (pthread_mutex_unlock(&quadSocketMutex)) {
+		err(-2, "pthrtead_mutex_unlock (%s:%d):", __FILE__, __LINE__);
+	}
 	
 	// create vrpnTracker instance
 	//tracker = ucart_vrpn_tracker_createInstance(TRACKER_IP);
 
 	// open the log file
-	if( (status = createLogFile(argc, argv[1])) < 0)
+	if(createLogFile(argc, argv[1]))
 	{
 		perror("Error creating log file...");
 		exit(1);
@@ -162,7 +169,7 @@ int main(int argc, char **argv)
 							fprintf(stdout, "CLI sees as: %f\n", getFloat(packet, 7));
 
 							// Write the command to the control_loop socket
-							// int n = write(zyboSocket, packet, ((packet[6] << 8) | packet[5]) + 8);
+							// int n = writeQuad(packet, ((packet[6] << 8) | packet[5]) + 8);
 							// if(n < 0) {
 							// 	fprintf(stdout, "CLI: ERROR writing to socket\n");
 							// }
@@ -180,8 +187,16 @@ int main(int argc, char **argv)
 	}
 
 	// ucart_vrpn_tracker_freeInstance(tracker);
+	
+	if (pthread_mutex_lock(&quadSocketMutex)) {
+		err(-2, "pthrtead_mutex_lock (%s:%d):", __FILE__, __LINE__);
+	}
 	close(zyboSocket);
-	close(quadlog_file);
+	if (pthread_mutex_unlock(&quadSocketMutex)) {
+		err(-2, "pthrtead_mutex_unlock (%s:%d):", __FILE__, __LINE__);
+	}
+
+	closeLogFile();
 	return 0;
 }
 
@@ -217,7 +232,7 @@ void sendStartPacket() {
 		checksum ^= packet[i];
 
 	packet[metadata.data_len + 7] = checksum; //PACKET_END_BYTE;
-	status = write(zyboSocket, &packet, metadata.data_len + 8);
+	int status = writeQuad((char * ) packet, metadata.data_len + 8);
 	if (status != 8)
 	{
 		perror("Error sending start packet...\n");
@@ -249,7 +264,7 @@ void sendVrpnPacket(struct ucart_vrpn_TrackerData *info) {
 
 	packet[pSize - 1] = checksum; //PACKET_END_BYTE;
 
-	n = write(zyboSocket, packet, pSize);
+	n = writeQuad(packet, pSize);
 	if(n < 0) {	
 		perror("vrpnhandler: ERROR writing to socket");
 		keepRunning = 0;
@@ -284,7 +299,7 @@ int connectToZybo() {
 	
 	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));
+	int status = connect(sock, (struct sockaddr *)&addr, sizeof(addr));
 
 	// connection failed
 	if(status < 0)
@@ -335,3 +350,16 @@ int safe_fd_clr(int fd, fd_set* fds, int* max_fd) {
     }
     return 0;
 }
+
+static ssize_t writeQuad(const char * buf, size_t count) {
+	ssize_t retval;
+	if (pthread_mutex_lock(&quadSocketMutex)) {
+		err(-2, "pthrtead_mutex_lock (%s:%d):", __FILE__, __LINE__);
+	}
+	retval = writeQuad(buf, count);
+	if (pthread_mutex_unlock(&quadSocketMutex)) {
+		err(-2, "pthrtead_mutex_unlock (%s:%d):", __FILE__, __LINE__);
+	}
+
+	return retval;
+}