int main(int argc, char *argv[])
{
	int i;
	setbuf(stdout, NULL);
	for(i = 1; i < argc; i++)
		do_cmd(argv[i]);

	exit(EXIT_SUCCESS);
}

static int
vxlan_exists(int sock)
{
	struct ifvxlancfg cfg;

	bzero(&cfg, sizeof(cfg));

	return (do_cmd(sock, VXLAN_CMD_GET_CONFIG, &cfg, sizeof(cfg), 0) != -1);
}

static void
vxlan_status(int s)
{
	struct ifvxlancfg cfg;
	char src[NI_MAXHOST], dst[NI_MAXHOST];
	char srcport[NI_MAXSERV], dstport[NI_MAXSERV];
	struct sockaddr *lsa, *rsa;
	int vni, mc, ipv6;

	bzero(&cfg, sizeof(cfg));

	if (do_cmd(s, VXLAN_CMD_GET_CONFIG, &cfg, sizeof(cfg), 0) < 0)
		return;

	vni = cfg.vxlc_vni;
	lsa = &cfg.vxlc_local_sa.sa;
	rsa = &cfg.vxlc_remote_sa.sa;
	ipv6 = rsa->sa_family == AF_INET6;

	/* Just report nothing if the network identity isn't set yet. */
	if (vni >= VXLAN_VNI_MAX)
		return;

	if (getnameinfo(lsa, lsa->sa_len, src, sizeof(src),
	    srcport, sizeof(srcport), NI_NUMERICHOST | NI_NUMERICSERV) != 0)
		src[0] = srcport[0] = '\0';
	if (getnameinfo(rsa, rsa->sa_len, dst, sizeof(dst),
	    dstport, sizeof(dstport), NI_NUMERICHOST | NI_NUMERICSERV) != 0)
		dst[0] = dstport[0] = '\0';

	if (!ipv6) {
		struct sockaddr_in *sin = (struct sockaddr_in *)rsa;
		mc = IN_MULTICAST(ntohl(sin->sin_addr.s_addr));
	} else {
		struct sockaddr_in6 *sin6 = (struct sockaddr_in6 *)rsa;
		mc = IN6_IS_ADDR_MULTICAST(&sin6->sin6_addr);
	}

	printf("\tvxlan vni %d", vni);
	printf(" local %s%s%s:%s", ipv6 ? "[" : "", src, ipv6 ? "]" : "",
	    srcport);
	printf(" %s %s%s%s:%s", mc ? "group" : "remote", ipv6 ? "[" : "",
	    dst, ipv6 ? "]" : "", dstport);

	if (verbose) {
		printf("\n\t\tconfig: ");
		printf("%slearning portrange %d-%d ttl %d",
		    cfg.vxlc_learn ? "" : "no", cfg.vxlc_port_min,
		    cfg.vxlc_port_max, cfg.vxlc_ttl);
		printf("\n\t\tftable: ");
		printf("cnt %d max %d timeout %d",
		    cfg.vxlc_ftable_cnt, cfg.vxlc_ftable_max,
		    cfg.vxlc_ftable_timeout);
	}

	putchar('\n');
}

static void
do_bridgeflag(int sock, const char *ifs, int flag, int set)
{
	struct ifbreq req;

	strlcpy(req.ifbr_ifsname, ifs, sizeof(req.ifbr_ifsname));

	if (do_cmd(sock, BRDGGIFFLGS, &req, sizeof(req), 0) < 0)
		err(1, "unable to get bridge flags");

	if (set)
		req.ifbr_ifsflags |= flag;
	else
		req.ifbr_ifsflags &= ~flag;

	if (do_cmd(sock, BRDGSIFFLGS, &req, sizeof(req), 1) < 0)
		err(1, "unable to set bridge flags");
}

static void handle_satn(ESPState *s)
{
    uint8_t buf[32];
    int len;

    len = get_cmd(s, buf);
    if (len)
        do_cmd(s, buf);
}

static void stop_wpa_client( void )
{
	if ( ps_exist(WPA_PID) ) {
		kill_pidfile(WPA_PID, 15);
		unlink(WPA_PID);
	} else { 
		do_cmd(IFCONFIG, WLAN_PORT, "0.0.0.0", "down", NULL);
	}
}

int main(void)
{
	double omega = (2.0*M_PI*SIN_FREQ*SAMP_TIME)/1.0E9;
	RTIME until;
	RT_TASK *task;

	lsampl_t data[NCHAN*2];
	long k, sinewave, retval = 0;

	signal(SIGKILL, endme);
	signal(SIGTERM, endme);

	start_rt_timer(0);
	task = rt_task_init_schmod(nam2num("MYTASK"), 1, 0, 0, SCHED_FIFO, 0xF);
	printf("COMEDI CMD TEST BEGINS: SAMPLING FREQ: %d, RUN TIME: %d.\n", SAMP_FREQ, RUN_TIME);

	if (init_board()) {;
		printf("Board initialization failed.\n");
		return 1;
	}
	do_cmd();

	mlockall(MCL_CURRENT | MCL_FUTURE);
	rt_make_hard_real_time();

	until = rt_get_cpu_time_ns() + (long long)RUN_TIME*1000000000;
	for (k = 0; k < SAMP_FREQ*RUN_TIME && !end; k++) {
		sinewave =  (long)(maxdata/4*sin(k*omega));
		data[0] = (lsampl_t)(  sinewave + maxdata/2);
		data[1] = (lsampl_t)(- sinewave + maxdata/2);
		while (rt_comedi_command_data_write(dev, subdev, NCHAN, data) != NCHAN) {
			rt_sleep(nano2count(SAMP_TIME/2));
		}
		if (k == TRIGSAMP) {
			rt_comedi_trigger(dev, subdev);
		}
	}

	while (until > rt_get_cpu_time_ns()) {
		rt_sleep(nano2count(100000));
	}
	comedi_cancel(dev, subdev);
	comedi_close(dev);
	comedi_data_write(dev, subdev, 0, 0, AREF_GROUND, 2048);
	comedi_data_write(dev, subdev, 1, 0, AREF_GROUND, 2048);
	printf("COMEDI TEST ENDS.\n");

	if (retval < 0) {
		printf("rt_comedi_wait_timed overruns: %d\n", abs(retval));
	}

	stop_rt_timer();
	rt_make_soft_real_time();
	rt_task_delete(task);

	return 0;
}

int
main(int argc, char *argv[])
{
	int		i;

	for (i = 1; i < argc; i++)
		do_cmd(argv[i]);	/* once for each command-line arg */
	exit(0);
}

int main(void)
{

	lb_init(&lb);
	event_init();
	motor_init();
	uart_init(); 	// init USART
	enc_init();
	i2c_init();
	adc_init();
	kalman_init();
	sei();  		// enable interrupts


	// Wait a second at startup
	_delay_ms(1000);

	// send initial string
	printf_P(PSTR("Hello world!\n"));
	imu_init();

	for (;/*ever*/;)
	{
//		ADCSRA |= (1<<ADSC);								// Set start conversion bit and wait for conversion to finish
//		while(ADCSRA&(1<<ADSC));

//		OCR1AL = ADCH;										// Set ADC reading to timer 0 compare

		if(event_pending())
		{
			event_action();
		}
		else // No pending operation, do low priority tasks
		{
			// dequeue receive buffer if any bytes waiting
			while (uart_avail())
			{
				char c = uart_getc();
				if (lb_append(&lb, c) == LB_BUFFER_FULL)
				{
					lb_init(&lb); // Clear line
					printf_P(PSTR("\nMax line length exceeded\n"));
				}
				// Process command if line buffer is ready ...
				if (lb_line_ready(&lb))
				{
					strcpy(cmd_string,lb_gets(&lb));
					do_cmd(cmd_string);
					lb_init(&lb);
				}
			}
		}
		// Process command if line buffer is terminated by a line feed or carriage return
	}
	return 0;
}

static void
setbridge_flushall(const char *val, int d, int s, const struct afswtch *afp)
{
	struct ifbreq req;

	memset(&req, 0, sizeof(req));
	req.ifbr_ifsflags = IFBF_FLUSHALL;
	if (do_cmd(s, BRDGFLUSH, &req, sizeof(req), 1) < 0)
		err(1, "BRDGFLUSH");
}

int 
main(int argc,char **argv)
{
	int i;
	for(i=1;i<argc;i++){
		do_cmd(argv[i]);
	}
	exit(0);

}

int main (int argc, char *argv[])
{
	int		i;

	setbuf (stdout, NULL);
	for (i = 1; i < argc; i++) {
		do_cmd (argv[i]);			/* once for each command-line arg */
	}
	exit (0);
}

static int myping()
{
char cmd[100];
	filterstdout(pingfilter);
	strcpy(cmd,"ping -c 3 10.0.0.3");
	do_cmd(cmd);
	filterstdout(0);
	printf("%d %d %d%%\n",transmitted,received,loss);
return 0;
}

static void fcrtest(int argc,char *argv[])
{
int i;
char buf[100];
printf("test spi");
sprintf(buf,"spi_read_w25x_id");
do_cmd(buf);
sprintf(buf,"spi_read_w25x_id");
do_cmd(buf);
printf("test i2c");
sprintf(buf,"i2cs 0");
do_cmd(buf);
for(i=0;i<5;i++)
{
delay(1000*1000);
sprintf(buf,"d1 0 10");
do_cmd(buf);
}
}

static void
unsetbridge_span(const char *val, int d, int s, const struct afswtch *afp)
{
	struct ifbreq req;

	memset(&req, 0, sizeof(req));
	strlcpy(req.ifbr_ifsname, val, sizeof(req.ifbr_ifsname));
	if (do_cmd(s, BRDGDELS, &req, sizeof(req), 1) < 0)
		err(1, "BRDGDELS %s",  val);
}

static void
bridge_status(int s)
{
	struct ifbropreq ifbp;
	struct ifbrparam param;
	u_int16_t pri;
	u_int8_t ht, fd, ma, hc, pro;
	u_int8_t lladdr[ETHER_ADDR_LEN];
	u_int16_t bprio;
	u_int32_t csize, ctime;

	if (do_cmd(s, BRDGGCACHE, &param, sizeof(param), 0) < 0)
		return;
	csize = param.ifbrp_csize;
	if (do_cmd(s, BRDGGTO, &param, sizeof(param), 0) < 0)
		return;
	ctime = param.ifbrp_ctime;
	if (do_cmd(s, BRDGPARAM, &ifbp, sizeof(ifbp), 0) < 0)
		return;
	pri = ifbp.ifbop_priority;
	pro = ifbp.ifbop_protocol;
	ht = ifbp.ifbop_hellotime;
	fd = ifbp.ifbop_fwddelay;
	hc = ifbp.ifbop_holdcount;
	ma = ifbp.ifbop_maxage;

	PV2ID(ifbp.ifbop_bridgeid, bprio, lladdr);
	printf("\tid %s priority %u hellotime %u fwddelay %u\n",
	    ether_ntoa((struct ether_addr *)lladdr), pri, ht, fd);
	printf("\tmaxage %u holdcnt %u proto %s maxaddr %u timeout %u\n",
	    ma, hc, stpproto[pro], csize, ctime);

	PV2ID(ifbp.ifbop_designated_root, bprio, lladdr);
	printf("\troot id %s priority %d ifcost %u port %u\n",
	    ether_ntoa((struct ether_addr *)lladdr), bprio,
	    ifbp.ifbop_root_path_cost, ifbp.ifbop_root_port & 0xfff);

	bridge_interfaces(s, "\tmember: ");

	return;

}

static int esp_do_dma(ESPState *s)
{
    int len, len2;
    int to_device;

    to_device = (s->ti_size < 0);
    len = s->dma_left;
    if (s->do_cmd) {
        s->dma_memory_read(s->dma_opaque, &s->cmdbuf[s->cmdlen], len);
        s->ti_size = 0;
        s->cmdlen = 0;
        s->do_cmd = 0;
        do_cmd(s, s->cmdbuf);
        return 1;
    }
    if (s->async_len == 0) {
        /* Defer until data is available.  */
        return 1;
    }
    if (len > s->async_len) {
        len = s->async_len;
    }
	len2 = len;
    if (to_device) {
        len = s->dma_memory_read(s->dma_opaque, s->async_buf, len2);
    } else {
        len = s->dma_memory_write(s->dma_opaque, s->async_buf, len2);
    }
	if (len < 0)
		len = len2;
    s->dma_left -= len;
    s->async_buf += len;
    s->async_len -= len;
    if (to_device)
        s->ti_size += len;
    else
        s->ti_size -= len;
    if (s->async_len == 0) {
		scsiesp_req_continue(s->current_req);
        /* If there is still data to be read from the device then
           complete the DMA operation immediately.  Otherwise defer
           until the scsi layer has completed.  */
        if (to_device || s->dma_left != 0 || s->ti_size == 0) {
            return 1;
        }
    }

	if (len2 > len && s->dma_left > 0)
		return 0;

    /* Partially filled a scsi buffer. Complete immediately.  */
    esp_dma_done(s);
	return 1;
}

int main(int argc, char *argv[])
{
	int	i;
	setbuf(stdout, NULL);
	for(i = 1; i < argc; i++)
	{
		do_cmd(argv[i]);
	
	}
	exit(0);
}

int main(int argc, char *argv[])
{
	int i;
	
	//void setbuf(FILE *stream, char *buf);
	setbuf(stdout, NULL);
	for(i = 1; i < argc; i++){
		do_cmd(argv[i]);
	}
	exit(0);
}

int main(int argc, char *argv[])
{
     int    i = 0;

     setbuf(stdout, NULL);          //why set unbuffered ?

     for (i = 1; i < argc; i++)
     {
          do_cmd(argv[i]);
     }
     exit(0);
}