Merge branch 'master' of github.com:worklist/hifi

domain/src/main.cpp

@@ -43,6 +43,8 @@ struct AgentList {
 
 int num_agents = 0;
 
+int lastActiveCount = 0;
+
 double diffclock(timeval clock1,timeval clock2)
 {
 	double diffms = (clock2.tv_sec - clock1.tv_sec) * 1000.0;
@@ -115,7 +117,8 @@ void update_agent_list(timeval now) {
     for (i = 0; i < num_agents; i++) {
         if ((diffclock(agents[i].time, now) > LOGOFF_CHECK_INTERVAL) &&
             agents[i].active) {
-            std::cout << "Expired Agent #" << i+1 << "\n";
+            std::cout << "Expired Agent from " <<
+            inet_ntoa(agents[i].sin_addr) << ":" << agents[i].port << "\n";
             agents[i].active = false; 
         }
     }
@@ -127,7 +130,8 @@ void send_agent_list(int handle, sockaddr_in * dest_address) {
     char buffer[MAX_PACKET_SIZE];
     char * address;
     char portstring[10];
-    buffer[length++] = 'S';
+    int numSent = 0;
+    buffer[length++] = 'D';
     //std::cout << "send list to:  " << inet_ntoa(dest_address->sin_addr) << "\n";
     for (i = 0; i < num_agents; i++) {
         if (agents[i].active) {
@@ -142,6 +146,7 @@ void send_agent_list(int handle, sockaddr_in * dest_address) {
             length += strlen(portstring);
             //  Add comma separator between agents 
             buffer[length++] = ',';
+            numSent++;
         }
     }
     if (length > 1) {
@@ -149,8 +154,10 @@ void send_agent_list(int handle, sockaddr_in * dest_address) {
                             0, (sockaddr *) dest_address, sizeof(sockaddr_in) );
         if (sent_bytes < length) 
             std::cout << "Error sending agent list!\n";
-         else
+        else if (numSent != lastActiveCount) {
-            std::cout << "Agent list sent: " << buffer << "\n";
+            std::cout << numSent << " Active Agents\n";
+            lastActiveCount = numSent;
+        }
     }
     
 }
@@ -167,7 +174,7 @@ int main(int argc, const char * argv[])
         std::cout << "Failed to create network.\n";
         return 0;
     } else {
-        std::cout << "DomainServer Started.  Waiting for packets.\n";
+        std::cout << "DomainServer started, listening on port " << LISTENING_UDP_PORT << "\n";
     }
     gettimeofday(&last_time, NULL);
     
@@ -179,9 +186,9 @@ int main(int argc, const char * argv[])
             //<< " " << packet_data << "\n";
             float x,y,z;
             sscanf(packet_data, "%f,%f,%f", &x, &y, &z);
-            if (addAgent(dest_address.sin_addr.s_addr, dest_address.sin_port, x, y, z)) {
+            if (addAgent(dest_address.sin_addr.s_addr, ntohs(dest_address.sin_port), x, y, z)) {
-                std::cout << "Added agent from IP, port: " << 
+                std::cout << "Added Agent from " <<
-                inet_ntoa(dest_address.sin_addr) << "," << dest_address.sin_port << "\n";
+                inet_ntoa(dest_address.sin_addr) << ":" << ntohs(dest_address.sin_port) << "\n";
             }
             //  Reply with packet listing nearby active agents
             send_agent_list(handle, &dest_address);

interface/src/Agent.cpp

@@ -10,36 +10,47 @@
 #include "Agent.h"
 #include "Head.h" 
 
+
 //  Structure to hold references to other agents that are nearby 
 
 const int MAX_AGENTS = 100; 
 struct AgentList {
-    in_addr sin_addr;
+    char address[255];
+    unsigned short port;
     Head head;
 } agents[MAX_AGENTS];
 
 int num_agents = 0; 
 
 //
-// Process an incoming domainserver packet telling you about other nearby agents 
+// Process an incoming domainserver packet telling you about other nearby agents,
+// and returns the number of agents that were reported.
 //
-void update_agents(char * data, int length) {
+int update_agents(char * data, int length) {
+    int numAgents = 0;
     std::string packet(data, length);
-    //std::cout << " Update Agents, string: " << packet << "\n";
     size_t spot;
     size_t start_spot = 0;
+    std::string address, port;
+    unsigned short nPort = 0;
     spot = packet.find_first_of (",", 0);
     while (spot != std::string::npos) {
-        std::string IPstring = packet.substr(start_spot, spot-start_spot);
+        std::string thisAgent = packet.substr(start_spot, spot-start_spot);
-        //std::cout << "Found " << num_agents <<
+        if (thisAgent.find_first_of(":", 0) != std::string::npos) {
-        //" with IP " << IPstring << " from " << start_spot << " to " << spot << "\n";
+            address = thisAgent.substr(0, thisAgent.find_first_of(":", 0));
-        //  Add the IP address to the agent table
+            port = thisAgent.substr(thisAgent.find_first_of(":", 0) + 1,
-        add_agent(&IPstring);
+                                    thisAgent.length() - thisAgent.find_first_of(":", 0));
+            nPort = atoi(port.c_str());
+        }
+        //std::cout << "IP: " << address << ", port: " << nPort << "\n";
+        add_agent((char *)address.c_str(), nPort);
+        numAgents++;
         start_spot = spot + 1;
         if (start_spot < packet.length())
             spot = packet.find_first_of (",", start_spot);
         else spot = std::string::npos;
     }
+    return numAgents;
 }
 
 void render_agents() {
@@ -55,11 +66,11 @@ void render_agents() {
 //
 //  Update a single agent with data received from that agent's IP address 
 // 
-void update_agent(in_addr addr, char * data, int length)
+void update_agent(char * address, unsigned short port, char * data, int length)
 {
-    std::cout << "Looking for agent: " << inet_ntoa(addr) << "\n";
+    //printf("%s:%d\n", address, port);
     for (int i = 0; i < num_agents; i++) {
-        if (agents[i].sin_addr.s_addr == addr.s_addr) {
+        if ((strcmp(address, agents[i].address) == 0) && (agents[i].port == port)) {
             //  Update the agent 
             agents[i].head.recvBroadcastData(data, length);
         }
@@ -69,19 +80,19 @@ void update_agent(in_addr addr, char * data, int length)
 //
 //  Look for an agent by it's IP number, add if it does not exist in local list 
 //
-int add_agent(std::string * IP) {
+int add_agent(char * address, unsigned short port) {
-    in_addr_t addr = inet_addr(IP->c_str());
     //std::cout << "Checking for " << IP->c_str() << "  ";
     for (int i = 0; i < num_agents; i++) {
-        if (agents[i].sin_addr.s_addr == addr) {
+        if ((strcmp(address, agents[i].address) == 0) && (agents[i].port == port)) {
-            //std::cout << "Found!\n";
+            std::cout << "Found agent!\n";
             return 0;
         }
     }
     if (num_agents < MAX_AGENTS) {
-        agents[num_agents].sin_addr.s_addr = addr;
+        strcpy(agents[num_agents].address, address);
-        std::cout << "Added Agent # " << num_agents << " with IP " << 
+        agents[num_agents].port = port;
-        inet_ntoa(agents[num_agents].sin_addr) << "\n";
+        std::cout << "Added Agent # " << num_agents << " with Address " <<
+         agents[num_agents].address << ":" << agents[num_agents].port << "\n";
         num_agents++;
         return 1;
     } else {
@@ -91,18 +102,22 @@ int add_agent(std::string * IP) {
 }
 
 //
-//  Broadcast data to all the other agents you are aware of, returns 1 for success 
+//  Broadcast data to all the other agents you are aware of, returns 1 if success 
 //
-int broadcast_to_agents(int handle, char * data, int length) {
+int broadcast_to_agents(UDPSocket *handle, char * data, int length) {
-    sockaddr_in dest_address;
-    dest_address.sin_family = AF_INET;
-    dest_address.sin_port = htons( (unsigned short) AGENT_UDP_PORT );
-
     int sent_bytes;
+    //printf("broadcasting to %d agents\n", num_agents);
     for (int i = 0; i < num_agents; i++) {
-        dest_address.sin_addr.s_addr = agents[i].sin_addr.s_addr;
+        //printf("bcast to %s\n", agents[i].address);
-        sent_bytes = sendto( handle, (const char*)data, length,
+        //
-                                0, (sockaddr*)&dest_address, sizeof(sockaddr_in) );
+        //  STUPID HACK:  For some reason on OSX with NAT translation packets sent to localhost are
+        //  received as from the NAT translated port but have to be sent to the local port number.
+        //  
+        //if (1)  //(strcmp("192.168.1.53",agents[i].address) == 0)
+        //    sent_bytes = handle->send(agents[i].address, 40103, data, length);
+        //else
+        sent_bytes = handle->send(agents[i].address, agents[i].port, data, length);
+        
         if (sent_bytes != length) {
             std::cout << "Broadcast packet fail!\n";
             return 0;

interface/src/Agent.h

@@ -15,12 +15,13 @@
 #include <arpa/inet.h>
 #include <fcntl.h>
 #include <string.h>
-#include "Network.h"
+#include "UDPSocket.h"
 
-void update_agents(char * data, int length);
+
-int add_agent(std::string * IP);
+int update_agents(char * data, int length);
-int broadcast_to_agents(int handle, char * data, int length);
+int add_agent(char * address, unsigned short port);
-void update_agent(in_addr addr, char * data, int length);
+int broadcast_to_agents(UDPSocket * handle, char * data, int length);
+void update_agent(char * address, unsigned short port, char * data, int length);
 void render_agents();
 
 #endif

interface/src/Audio.cpp

@@ -87,6 +87,16 @@ int audioCallback (const void *inputBuffer,
     
     if (inputLeft != NULL) {
         data->audioSocket->send((char *) EC2_WEST_AUDIO_SERVER, 55443, (void *)inputLeft, BUFFER_LENGTH_BYTES);
+        //
+        //  Measure the loudness of the signal from the microphone and store in audio object
+        //
+        float loudness = 0;
+        for (int i = 0; i < BUFFER_LENGTH_SAMPLES; i++) {
+            loudness += abs(inputLeft[i]);
+        }
+        loudness /= BUFFER_LENGTH_SAMPLES;
+        data->lastInputLoudness = loudness;
+        data->averagedInputLoudness = 0.66*data->averagedInputLoudness + 0.33*loudness;
     }
     
     int16_t *outputLeft = ((int16_t **) outputBuffer)[0];
@@ -366,6 +376,11 @@ void Audio::render()
     }
 }
 
+void Audio::getInputLoudness(float * lastLoudness, float * averageLoudness) {
+    *lastLoudness = data->lastInputLoudness;
+    *averageLoudness = data->averagedInputLoudness;
+}
+
 void Audio::render(int screenWidth, int screenHeight)
 {
     if (initialized && ECHO_SERVER_TEST) {

interface/src/Audio.h

@@ -23,6 +23,8 @@ public:
     static void render();
     static void render(int screenWidth, int screenHeight);
     
+    static void getInputLoudness(float * lastLoudness, float * averageLoudness);
+    
     // terminates audio I/O
     static bool terminate(); 
 private:    

interface/src/AudioData.h

@@ -32,6 +32,9 @@ class AudioData {
         float measuredJitter;
         float jitterBuffer;
         int wasStarved;
+        
+        float lastInputLoudness;
+        float averagedInputLoudness;
     
         AudioData(int bufferLength);
         AudioData(int numberOfSources, int bufferLength);

interface/src/Head.cpp

@@ -12,6 +12,7 @@
 #include "Head.h"
 #include "Util.h"
 #include "SerialInterface.h"
+#include "Audio.h"
 
 float skinColor[] = {1.0, 0.84, 0.66};
 float browColor[] = {210.0/255.0, 105.0/255.0, 30.0/255.0};
@@ -275,12 +276,13 @@ void Head::render(int faceToFace)
     
     
     // Mouth
+    
     glPushMatrix();
         glTranslatef(0,-0.3,0.75);
-        glColor3fv(mouthColor);
+        glColor3f(loudness/1000.0,0,0);
         glRotatef(MouthPitch, 1, 0, 0);
         glRotatef(MouthYaw, 0, 0, 1);
-        glScalef(MouthWidth, MouthHeight, 1);
+        glScalef(MouthWidth*(.5 + averageLoudness/3000.0), MouthHeight*(1.0 + averageLoudness/6000.0), 1);
         glutSolidCube(0.5);
     glPopMatrix();
     
@@ -338,14 +340,19 @@ void Head::render(int faceToFace)
 int Head::getBroadcastData(char* data)
 {
     // Copy data for transmission to the buffer, return length of data
-    sprintf(data, "H%f,%f,%f,%f,%f,%f", Pitch + getRenderPitch(), Yaw + getRenderYaw(), Roll, position.x, position.y, position.z);
+    sprintf(data, "H%f,%f,%f,%f,%f,%f,%f,%f", Pitch + getRenderPitch(), Yaw + getRenderYaw(), Roll,
+            position.x, position.y, position.z,
+            loudness, averageLoudness);
     //printf("x: %3.1f\n", position.x);
     return strlen(data);
 }
 
 void Head::recvBroadcastData(char * data, int size)
 {
-    sscanf(data, "H%f,%f,%f,%f,%f,%f", &Pitch, &Yaw, &Roll, &position.x, &position.y, &position.z);
+    sscanf(data, "%f,%f,%f,%f,%f,%f,%f,%f", &Pitch, &Yaw, &Roll,
+           &position.x, &position.y, &position.z,
+           &loudness, &averageLoudness);
+    //printf("%f,%f,%f,%f,%f,%f\n", Pitch, Yaw, Roll, position.x, position.y, position.z);
 }
 
 void Head::SetNewHeadTarget(float pitch, float yaw)

interface/src/Head.h

@@ -45,6 +45,11 @@ class Head {
     float NoiseEnvelope;
     float PupilConverge;
     float scale;
+    
+    //  Sound loudness information
+    float loudness;
+    float averageLoudness;
+    
     glm::vec3 position;
     int eyeContact;
     eyeContactTargets eyeContactTarget;
@@ -80,6 +85,12 @@ public:
     //  Send and receive network data 
     int getBroadcastData(char* data);
     void recvBroadcastData(char * data, int size);
+    
+    float getLoudness() {return loudness;};
+    float getAverageLoudness() {return averageLoudness;};
+    float setAverageLoudness(float al) {averageLoudness = al;};
+    float setLoudness(float l) {loudness = l;};
+    
     void SetNewHeadTarget(float, float);
     glm::vec3 getPos() { return position; };
     void setPos(glm::vec3 newpos) { position = newpos; };

interface/src/Network.cpp

@@ -1,156 +0,0 @@
-//
-//  Network.cpp
-//  interface
-//
-//  Created by Philip Rosedale on 8/27/12.
-//  Copyright (c) 2012 High Fidelity, Inc. All rights reserved.
-//
-
-#include <iostream>
-#include <stdio.h>
-#include <cstring>
-
-#include "Network.h"
- 
-
-//  Implementation of optional delay behavior using a ring buffer
-const int MAX_DELAY_PACKETS = 300;
-char delay_buffer[MAX_PACKET_SIZE*MAX_DELAY_PACKETS];
-timeval delay_time_received[MAX_DELAY_PACKETS];
-int delay_size_received[MAX_DELAY_PACKETS];
-int next_to_receive = 0;
-int next_to_send = 0;
-
-sockaddr_in address, dest_address, domainserver_address, from;
-socklen_t fromLength = sizeof( from );
-
-int network_init()
-{
-    //  Create socket 
-    int handle = socket( AF_INET, SOCK_DGRAM, IPPROTO_UDP );
-    
-    if ( handle <= 0 )
-    {
-        printf( "failed to create socket\n" );
-        return false;
-    }
-    
-    //  Bind socket to port 
-    address.sin_family = AF_INET;
-    address.sin_addr.s_addr = INADDR_ANY;
-    address.sin_port = htons( (unsigned short) SENDING_UDP_PORT );
-    
-    if ( bind( handle, (const sockaddr*) &address, sizeof(sockaddr_in) ) < 0 )
-    {
-        printf( "failed to bind socket\n" );
-        return false;
-    }
-
-    //  Set socket as non-blocking
-    int nonBlocking = 1;
-    if ( fcntl( handle, F_SETFL, O_NONBLOCK, nonBlocking ) == -1 )
-    {
-        printf( "failed to set non-blocking socket\n" );
-        return false;
-    }
-    
-    // Setup desination address 
-    
-    /*unsigned int ip_address;
-    if (!inet_pton(AF_INET, DESTINATION_IP, &ip_address))
-    {
-        printf("failed to translate destination IP address\n");
-        return false;
-    }*/
-                           
-    dest_address.sin_family = AF_INET;
-    dest_address.sin_addr.s_addr = inet_addr(DESTINATION_IP);
-    //dest_address.sin_port = htons( (unsigned short) UDP_PORT );
-
-    domainserver_address.sin_family = AF_INET;
-    domainserver_address.sin_addr.s_addr = inet_addr(DOMAINSERVER_IP);
-    domainserver_address.sin_port = htons( (unsigned short) DOMAINSERVER_PORT );
-
-    from.sin_family = AF_INET;
-    //from.sin_addr.s_addr = htonl(ip_address);
-    //from.sin_port = htons( (unsigned short) UDP_PORT );
-    
-    return handle;
-}
-
-//  Send a ping packet and mark the time sent
-timeval network_send_ping(int handle) {
-    timeval check;
-    char packet_data[] = "P";
-    sendto(handle, (const char*)packet_data, 1,
-           0, (sockaddr*)&dest_address, sizeof(sockaddr_in) );
-    gettimeofday(&check, NULL);
-    return check; 
-}
-
-int notify_domainserver(int handle, float x, float y, float z) {
-    char data[100];
-    sprintf(data, "%f,%f,%f", x, y, z);
-    int packet_size = strlen(data);
-    //std::cout << "sending: " << data << " of size: " << packet_size << "\n";
-    int sent_bytes = sendto( handle, (const char*)data, packet_size,
-                            0, (sockaddr*)&domainserver_address, sizeof(sockaddr_in) );
-    if ( sent_bytes != packet_size )
-    {
-        printf( "failed to send to domainserver: return value = %d\n", sent_bytes );
-        return false;
-    }
-    return sent_bytes;
-}
-
-
-int network_send(int handle, char * packet_data, int packet_size)
-{   
-    int sent_bytes = 0;
-    sent_bytes = sendto( handle, (const char*)packet_data, packet_size,
-                            0, (sockaddr*)&dest_address, sizeof(sockaddr_in) );
-
-    if ( sent_bytes != packet_size )
-    {
-        printf( "failed to send packet to address, port: %s, %d, returned = %d\n", inet_ntoa(dest_address.sin_addr), dest_address.sin_port, sent_bytes );
-        return false;
-    }
-    return sent_bytes;
-}
-
-int network_receive(int handle, in_addr * from_addr, char * packet_data, int delay /*msecs*/)
-{
-    int received_bytes = recvfrom(handle, (char*)packet_data, MAX_PACKET_SIZE,
-                                  0, (sockaddr*)&dest_address, &fromLength );
-    from_addr->s_addr = dest_address.sin_addr.s_addr;
-    
-    if (!delay) {
-        // No delay set, so just return packets immediately!
-        return received_bytes;
-    } else {
-        timeval check;
-        gettimeofday(&check, NULL);
-        if (received_bytes > 0) {
-            // First write received data into ring buffer
-            delay_time_received[next_to_receive] = check;
-            delay_size_received[next_to_receive] = received_bytes;
-            memcpy(&delay_buffer[next_to_receive*MAX_PACKET_SIZE], packet_data, received_bytes);
-            next_to_receive++;
-            if (next_to_receive == MAX_DELAY_PACKETS) next_to_receive = 0;
-        }
-        // Then check if next to be sent is past due, send if so 
-        if ((next_to_receive != next_to_send) && 
-            (diffclock(&delay_time_received[next_to_send], &check) > delay)) {
-            int returned_bytes = delay_size_received[next_to_send];
-            memcpy(packet_data, 
-                   &delay_buffer[next_to_send*MAX_PACKET_SIZE], 
-                   returned_bytes); 
-            next_to_send++;
-            if (next_to_send == MAX_DELAY_PACKETS) next_to_send = 0;
-            return returned_bytes;
-        } else {
-            return 0;
-        }
-    }
-        
-}

interface/src/Network.h

@@ -1,41 +0,0 @@
-//
-//  Network.h
-//  interface
-//
-//  Created by Philip Rosedale on 8/27/12.
-//  Copyright (c) 2012 High Fidelity, Inc. All rights reserved.
-//
-
-#ifndef __interface__Network__
-#define __interface__Network__
-
-#include <sys/socket.h>
-#include <netinet/in.h>
-#include <arpa/inet.h>
-#include <fcntl.h>
-#include <sys/time.h>
-#include "Util.h"
-
-//  Port to use for communicating UDP with other nearby agents 
-const int MAX_PACKET_SIZE = 1500;
-const int SENDING_UDP_PORT = 40100;
-
-const int AGENT_UDP_PORT = 40103;
-
-const char DESTINATION_IP[] = "127.0.0.1";
-
-//  Address and port of domainserver process to advertise other agents 
-const char DOMAINSERVER_IP[] = "127.0.0.1";
-
-const int DOMAINSERVER_PORT = 40102;
-
-//  Randomly send a ping packet every N packets sent
-const int PING_PACKET_COUNT = 20;      
-
-int network_init();
-int network_send(int handle, char * packet_data, int packet_size);
-int network_receive(int handle, in_addr * from_addr, char * packet_data, int delay /*msecs*/);
-timeval network_send_ping(int handle);
-int notify_domainserver(int handle, float x, float y, float z);
-
-#endif

interface/src/UDPSocket.cpp

@@ -55,6 +55,7 @@ UDPSocket::~UDPSocket() {
     close(handle);
 }
 
+//  Receive data on this socket with retrieving address of sender
 bool UDPSocket::receive(void *receivedData, int *receivedBytes) {
     
     *receivedBytes = recvfrom(handle, receivedData, MAX_BUFFER_LENGTH_BYTES,
@@ -63,6 +64,15 @@ bool UDPSocket::receive(void *receivedData, int *receivedBytes) {
     return (*receivedBytes > 0);
 }
 
+//  Receive data on this socket with the address of the sender 
+bool UDPSocket::receive(sockaddr_in *senderAddress, void *receivedData, int *receivedBytes) {
+    
+    *receivedBytes = recvfrom(handle, receivedData, MAX_BUFFER_LENGTH_BYTES,
+                              0, (sockaddr *)senderAddress, &addLength);
+    
+    return (*receivedBytes > 0);
+}
+
 int UDPSocket::send(char * destAddress, int destPort, const void *data, int byteLength) {
     
     // change address and port on reusable global to passed variables

interface/src/UDPSocket.h

@@ -20,7 +20,8 @@ class UDPSocket {
         ~UDPSocket();
         int send(char *destAddress, int destPort, const void *data, int byteLength);
         bool receive(void *receivedData, int *receivedBytes);
-    private:    
+        bool receive(sockaddr_in *senderAddress, void *receivedData, int *receivedBytes);
+    private:
         int handle;
     
         UDPSocket(); // private default constructor

interface/src/main.cpp

@@ -34,7 +34,6 @@
 #include "Field.h"
 #include "world.h"
 #include "Util.h"
-#include "Network.h"
 #include "Audio.h"
 #include "Head.h"
 #include "Hand.h"
@@ -51,14 +50,19 @@ using namespace std;
 int audio_on = 1;                   //  Whether to turn on the audio support
 int simulate_on = 1; 
 
-//  Network Socket Stuff
+//
+//  Network Socket and network constants
+//
+
+const int MAX_PACKET_SIZE = 1500;
+const int AGENT_UDP_PORT = 40103;
+char DOMAINSERVER_IP[] = "192.168.1.53";
+const int DOMAINSERVER_PORT = 40102;
+UDPSocket agentSocket(AGENT_UDP_PORT);
+
 //  For testing, add milliseconds of delay for received UDP packets
-int UDP_socket;
-int delay = 0;         
 char* incoming_packet;
-timeval ping_start;
+
-int ping_count = 0;
-float ping_msecs = 0.0;  
 int packetcount = 0;
 int packets_per_second = 0; 
 int bytes_per_second = 0;
@@ -68,7 +72,7 @@ int bytescount = 0;
 int target_x, target_y; 
 int target_display = 0;
 
-int head_mirror = 1;                     //  Whether to mirror the head when viewing it
+int head_mirror = 1;                 //  Whether to mirror own head when viewing it
 
 int WIDTH = 1200; 
 int HEIGHT = 800; 
@@ -76,8 +80,8 @@ int fullscreen = 0;
 
 #define HAND_RADIUS 0.25            //  Radius of in-world 'hand' of you
 Head myHead;                        //  The rendered head of oneself or others
-Head dummyHead;                      //  Test Head to render
+Head dummyHead;                     //  Test Head to render
-int showDummyHead = 1;
+int showDummyHead = 0;
 
 Hand myHand(HAND_RADIUS, 
             glm::vec3(0,1,1));      //  My hand (used to manipulate things in world)
@@ -91,10 +95,9 @@ ParticleSystem balls(0,
                      0.0                        //  Gravity 
                      );
 
-
 Cloud cloud(0,                             //  Particles
-            box,                                //  Bounding Box
+            box,                           //  Bounding Box
-            false                              //  Wrap
+            false                          //  Wrap
             );
 
 VoxelSystem voxels(0, box);
@@ -146,6 +149,7 @@ int head_lean_x, head_lean_y;
 int mouse_x, mouse_y;				//  Where is the mouse 
 int mouse_pressed = 0;				//  true if mouse has been pressed (clear when finished)
 
+int nearbyAgents = 0;               //  How many other people near you is the domain server reporting?
 
 int speed;
 
@@ -220,9 +224,15 @@ void Timer(int extra)
 	glutTimerFunc(1000,Timer,0);
     gettimeofday(&timer_start, NULL);
     
-    //  Send a message to the domainserver telling it we are ALIVE 
+    //  Send a message to the domainserver telling it we are ALIVE
-    notify_domainserver(UDP_socket, location[0], location[1], location[2]);
+    char output[100];
-
+    sprintf(output, "%f,%f,%f", location[0], location[1], location[2]);
+    int packet_size = strlen(output);
+    agentSocket.send(DOMAINSERVER_IP, DOMAINSERVER_PORT, output, packet_size);
+    
+    //  Send a message to ourselves
+    //char test[]="T";
+    //agentSocket.send("127.0.0.1", AGENT_UDP_PORT, test, 1);
 }
 
 void display_stats(void)
@@ -232,13 +242,13 @@ void display_stats(void)
     drawtext(10, 15, 0.10, 0, 1.0, 0, legend);
     
     char stats[200];
-    sprintf(stats, "FPS = %3.0f, Ping = %4.1f Pkts/s = %d, Bytes/s = %d", 
+    sprintf(stats, "FPS = %3.0f,  Pkts/s = %d, Bytes/s = %d", 
-            FPS, ping_msecs, packets_per_second,  bytes_per_second);
+            FPS, packets_per_second,  bytes_per_second);
     drawtext(10, 30, 0.10, 0, 1.0, 0, stats); 
     if (serial_on) {
         sprintf(stats, "ADC samples = %d, LED = %d", 
                 serialPort.getNumSamples(), serialPort.getLED());
-        drawtext(500, 30, 0.10, 0, 1.0, 0, stats); 
+        drawtext(500, 30, 0.10, 0, 1.0, 0, stats);
     }
     
     char adc[200];
@@ -247,8 +257,7 @@ void display_stats(void)
             angle_to(myHead.getPos()*-1.f, glm::vec3(0,0,0), myHead.getRenderYaw(), myHead.getYaw()),
             myHead.getYaw(), myHead.getRenderYaw());
     drawtext(10, 50, 0.10, 0, 1.0, 0, adc);
-     
+    
-	
 }
 
 void initDisplay(void)
@@ -262,7 +271,7 @@ void initDisplay(void)
     glEnable(GL_LIGHT0);
     glEnable(GL_DEPTH_TEST);
     
-    load_png_as_texture(texture_filename);
+    //load_png_as_texture(texture_filename);
 
     if (fullscreen) glutFullScreen();
 }
@@ -499,16 +508,24 @@ void update_pos(float frametime)
     myHead.setRenderYaw(myHead.getRenderYaw() + render_yaw_rate);
     myHead.setRenderPitch(render_pitch);
     myHead.setPos(glm::vec3(location[0], location[1], location[2]));
+    
+    //  Get audio loudness data from audio input device
+    float loudness, averageLoudness;
+    Audio::getInputLoudness(&loudness, &averageLoudness);
+    myHead.setLoudness(loudness);
+    myHead.setAverageLoudness(averageLoudness);
 
-    //  Update all this stuff to any agents that are nearby and need to see it!
+    //  Send my streaming head data to agents that are nearby and need to see it!
     
     const int MAX_BROADCAST_STRING = 200;
     char broadcast_string[MAX_BROADCAST_STRING];
     int broadcast_bytes = myHead.getBroadcastData(broadcast_string);
-    dummyHead.recvBroadcastData(broadcast_string, broadcast_bytes);
+    broadcast_to_agents(&agentSocket, broadcast_string, broadcast_bytes);
+
+    //printf("-> %s\n", broadcast_string);
+    //dummyHead.recvBroadcastData(broadcast_string, broadcast_bytes);
     //printf("head bytes:  %d\n", broadcast_bytes);
-    broadcast_to_agents(UDP_socket, broadcast_string, broadcast_bytes);
+    
-     
 }
 
 int render_test_spot = WIDTH/2;
@@ -641,6 +658,12 @@ void display(void)
     
     //  Display miscellaneous text stats onscreen
     if (stats_on) display_stats();
+    
+    //  Draw number of nearby people always
+    char agents[100];
+    sprintf(agents, "Agents nearby: %d\n", nearbyAgents);
+    drawtext(WIDTH-200,20, 0.10, 0, 1.0, 0, agents, 1, 1, 0);
+
 
 #ifdef MARKER_CAPTURE
         /* Render marker acquisition stuff */
@@ -743,14 +766,15 @@ void key(unsigned char k, int x, int y)
     }
 }
 
-// 
+//
-//  Check for and process incoming network packets 
+//  Receive packets from other agents/servers and decide what to do with them!
-// 
+//
 void read_network()
 {
-    //  Receive packets 
+    sockaddr_in senderAddress;
-    in_addr from_addr;
+    int bytes_recvd;
-    int bytes_recvd = network_receive(UDP_socket, &from_addr, incoming_packet, delay);
+    agentSocket.receive(&senderAddress, (void *)incoming_packet, &bytes_recvd);
+    
     if (bytes_recvd > 0)
     {
         packetcount++;
@@ -763,23 +787,19 @@ void read_network()
             sscanf(incoming_packet, "M %d %d", &target_x, &target_y);
             target_display = 1;
             //printf("X = %d Y = %d\n", target_x, target_y);
-        } else if (incoming_packet[0] == 'P') {
+        } else if (incoming_packet[0] == 'D') {
-            // 
-            //  Ping packet - check time and record
             //
-            timeval check; 
+            //  Message from domainserver
-            gettimeofday(&check, NULL);
-            ping_msecs = (float)diffclock(&ping_start, &check);
-        } else if (incoming_packet[0] == 'S') {
             //
-            //  Message from domainserver 
+            //printf("agent list received!\n");
-            //
+            nearbyAgents = update_agents(&incoming_packet[1], bytes_recvd - 1);
-            update_agents(&incoming_packet[1], bytes_recvd - 1);
         } else if (incoming_packet[0] == 'H') {
             //
             //  Broadcast packet from another agent 
             //
-            update_agent(from_addr, &incoming_packet[1], bytes_recvd - 1);            
+            update_agent(inet_ntoa(senderAddress.sin_addr), ntohs(senderAddress.sin_port),  &incoming_packet[1], bytes_recvd - 1);
+        } else if (incoming_packet[0] == 'T') {
+            printf("Got test!  From port %d\n", senderAddress.sin_port);
         }
     }
 }
@@ -808,12 +828,6 @@ void idle(void)
         if (!step_on) glutPostRedisplay();
         last_frame = check;
         
-        //  Every 30 frames or so, check ping time 
-        ping_count++;
-        if (ping_count >= 30) {
-            ping_start = network_send_ping(UDP_socket);
-            ping_count = 0;
-        }
     }
     
     //  Read network packets
@@ -872,7 +886,7 @@ void motionFunc( int x, int y)
         //  Send network packet containing mouse location
         char mouse_string[20];
         sprintf(mouse_string, "M %d %d\n", mouse_x, mouse_y);
-        network_send(UDP_socket, mouse_string, strlen(mouse_string));
+        //network_send(UDP_socket, mouse_string, strlen(mouse_string));
     }
     
     lattice.mouseClick((float)x/(float)WIDTH,(float)y/(float)HEIGHT);
@@ -902,20 +916,10 @@ void *poll_marker_capture(void *threadarg){
 int main(int argc, char** argv)
 {
     //  Create network socket and buffer
-    UDP_socket = network_init(); 
-    if (UDP_socket) printf( "Created UDP socket.\n" ); 
     incoming_packet = new char[MAX_PACKET_SIZE];
-
-    //  Test network loopback
-    in_addr from_addr;
-    char test_data[] = "Test!";
-    int bytes_sent = network_send(UDP_socket, test_data, 5);
-    if (bytes_sent) printf("%d bytes sent.", bytes_sent);
-    int test_recv = network_receive(UDP_socket, &from_addr, incoming_packet, delay);
-    printf("Received %i bytes\n", test_recv);
     
     //
-    printf("Testing math... standard deviation.\n");
+    printf("Testing stats math... ");
     StDev stdevtest;
     stdevtest.reset();
     stdevtest.addValue(1345);
@@ -929,20 +933,15 @@ int main(int argc, char** argv)
     stdevtest.addValue(1303);
     stdevtest.addValue(1299);
     
-    if (stdevtest.getSamples() == 10) 
+    if (stdevtest.getSamples() != 10)
-        printf("Samples=PASS ");
-    else
         printf("Samples=FAIL ");
         
-    if (floor(stdevtest.getAverage()*100.0) == 132859.0)
+    if (floor(stdevtest.getAverage()*100.0) != 132859.0)
-        printf("Average=PASS ");
+        printf("Average=FAIL ");
-    else
-        printf("Average=FAIL, avg reported = %5.3f ", floor(stdevtest.getAverage()*100.0));
 
-    if (floor(stdevtest.getStDev()*100.0) == 2746.0)
+    if (floor(stdevtest.getStDev()*100.0) != 2746.0)
-        printf("Stdev=PASS \n");
+        printf("Stdev=FAIL ");
-    else
+    printf("\n");
-        printf("Stdev=FAIL \n");
 
     //
     //  Try to connect the serial port I/O
@@ -957,7 +956,6 @@ int main(int argc, char** argv)
         serial_on = 1; 
     }
 
-
     glutInit(&argc, argv);
     glutInitDisplayMode(GLUT_RGBA | GLUT_DOUBLE | GLUT_DEPTH);
     glutInitWindowSize(WIDTH, HEIGHT);