message: Updated sim proxy
diff: #include <stdio.h>
  #include <stdint.h>
  -#include "../../Source/SocketModule/sockets/TwoWayUdp.hpp"
  -#include "../../Source/SocketModule/sockets/TcpClientSocket.hpp"
  +#include "../../Source/SocketModule/sockets/UdpClientSocket.hpp"
  +#include "../../Source/SocketModule/sockets/UdpServerSocket.hpp"
  +//#include "../../Source/SocketModule/sockets/TcpClientSocket.hpp"
  #include "../../Source/MainModule/dynamics/fixedpitch/QuadXAP.hpp"
  static const char * HOST = "127.0.0.1"; // localhost
  static uint16_t MOTOR_PORT = 5000;
  static uint16_t TELEM_PORT = 5001;
  -static uint16_t IMAGE_PORT = 5002;
  +//static uint16_t IMAGE_PORT = 5002;
  // Image size
  static uint16_t IMAGE_ROWS = 480;
  @@ -71,11 +72,14 @@ int main(int argc, char ** argv)
  // Loop forever, waiting for clients
  while (true) {
  - // Create two-way comms for telemetry out, motors in
  - TwoWayUdp twoWayUdp = TwoWayUdp(HOST, TELEM_PORT, MOTOR_PORT);
  + // Create sockets for telemetry out, motors in
  + UdpClientSocket telemClient =
  + UdpClientSocket(HOST, TELEM_PORT);
  + UdpServerSocket motorServer =
  + UdpServerSocket(MOTOR_PORT);
  // Create one-way server for images out
  - TcpClientSocket imageSocket = TcpClientSocket(HOST, IMAGE_PORT);
  + //TcpClientSocket imageSocket = TcpClientSocket(HOST, IMAGE_PORT);
  // Create quadcopter dynamics model
  QuadXAPDynamics dynamics = QuadXAPDynamics(vparams, fparams);
  @@ -86,7 +90,7 @@ int main(int argc, char ** argv)
  dynamics.init(rotation);
  // Open image socket's connection to host
  - imageSocket.openConnection();
  + //imageSocket.openConnection();
  // Loop forever, communicating with client
  while (true) {
  @@ -101,17 +105,22 @@ int main(int argc, char ** argv)
  }
  // Send telemetry data
  - twoWayUdp.send(telemetry, sizeof(telemetry));
  + telemClient.sendData(telemetry, sizeof(telemetry));
  // Send image data
  - imageSocket.sendData(image, sizeof(image));
  + //imageSocket.sendData(image, sizeof(image));
  // Get incoming motor values
  double motorvals[4] = {};
  - twoWayUdp.receive(motorvals, sizeof(motorvals));
  + motorServer.receiveData(motorvals, sizeof(motorvals));
  printf("t=%05f m=%f %f %f %f z=%+3.3f\n",
  - time, motorvals[0], motorvals[1], motorvals[2], motorvals[3], dynamics.x(Dynamics::STATE_Z));
  + time,
  + motorvals[0],
  + motorvals[1],
  + motorvals[2],
  + motorvals[3],
  + dynamics.x(Dynamics::STATE_Z));
  // Update dynamics with motor values
  dynamics.update(motorvals, DELTA_T);
  