Cleaning up code

groundStation/src/microcart_cli.c

@@ -163,7 +163,7 @@ int main(int argc, char **argv)
 
 	if ((zyboSocket = connectToZybo()) < 0)
 	{
-		perror("Error connecting to Zybo...");
+		perror("Error connecting to Quad...");
 		free(respBuf);
 		free(commandBuf);
 		exit(1);
@@ -182,16 +182,14 @@ int main(int argc, char **argv)
 		perror("Error creating log file...");
 		exit(1);
 	}
-//	writeStringToLog(logHeader);
+	// writeStringToLog(logHeader);
 
 	// watch for input from stdin (fd 0) to see when it has input
 	safe_fd_set(fileno(stdin), &rfds_master, &max_fd);
 	// watch for input from the zybo socket
 	safe_fd_set(zyboSocket, &rfds_master, &max_fd);
 
-	//printf("zyboSocket = %d, max_fd = %d\n", zyboSocket, max_fd);
-
-	//tell the quad we are ready to send it vrpn data
+	// Tell the quad we are ready to send it vrpn data
 	sendStartPacket();
 
 	// this function will be called whenever tracker receives data
@@ -214,8 +212,9 @@ int main(int argc, char **argv)
 		} else if (activity) {
 			for(int fd = 0; fd <= max_fd; ++fd) {
 				if (FD_ISSET(fd, &rfds)) {
-					if(wasDisconnected(fd))
+					if(wasDisconnected(fd)){
 						break;
+					}
 
 					if (fd == fileno(stdin)) {
 						// break;
@@ -247,13 +246,13 @@ int main(int argc, char **argv)
 						// Read the response from the control loop
 						int available;
 						ioctl(fd, FIONREAD, &available);
-						if (available < 12)
+						if (available < 12) {
 							continue;
+						}
 						int respLen = readQuad(respBuf, 12);
 						if(respLen <= 0) {
-							printf("CLI: ERROR reading from socket %d: %s\n", respLen, strerror(errno));
+							perror("ERROR reading from quad...\n");
 						}
-						//printf("recognized info from quad\n");
 						int id = getInt((unsigned char *)respBuf, 7);
 						findTimeDiff(id);
 						// if(respLen == 11) {
@@ -384,8 +383,8 @@ int connectToZybo() {
 	int status = 0;
 
 	/* Use bluetooth by default */
-	if (getenv(QUAD_WIFI_ENV) == NULL && 0) {
-		printf("Using BT Settings\n")
+	if (!getenv(QUAD_WIFI_ENV)) {
+		printf("Using BT Settings\n");
 		struct sockaddr_rc addr;
 
 		// allocate a socket	
@@ -424,7 +423,6 @@ int connectToZybo() {
 			/* Quick 'n dirty, oh yeah! */
 			addr.sin_port = htons(atoi(getenv(QUAD_PORT_ENV)));		
 		} else {
-			printf("using default port\n");
 			addr.sin_port = htons(QUAD_PORT_DEFAULT);
 		}
 
@@ -433,6 +431,7 @@ int connectToZybo() {
 			perror("socket");
 			return -1;
 		}
+		printf("Connecting to Quad @ %s:%u\n", inet_ntoa(addr.sin_addr), ntohs(addr.sin_port));
 
 		status = connect(sock, (struct sockaddr *)&addr, sizeof(addr));
 	}
@@ -475,7 +474,7 @@ int safe_fd_clr(int fd, fd_set* fds, int* max_fd) {
 
 static ssize_t writeQuad(const char * buf, size_t count) {
 	ssize_t retval;
-	if (0) {//getenv(NOQUAD_ENV)) {
+	if (getenv(NOQUAD_ENV)) {
 		return count;
 	}
 	if (pthread_mutex_lock(&quadSocketMutex)) {