Refactoring to use function pointers for devices updates

src/monocoque/devices/serial/arduino.h

@@ -1,6 +1,7 @@
 #ifndef _ARDUINO_H
 #define _ARDUINO_H
 
+#include "../simdevice.h"
 #include "../serialdevice.h"
 
 int arduino_update(SerialDevice* serialdevice, SimData* simdata);

src/monocoque/devices/serialdevice.c

@@ -3,21 +3,28 @@
 #include <string.h>
 #include <unistd.h>
 
+#include "simdevice.h"
 #include "serialdevice.h"
 #include "serial/arduino.h"
 #include "../helper/parameters.h"
 #include "../simulatorapi/simdata.h"
 #include "../slog/slog.h"
 
-int serialdev_update(SerialDevice* serialdevice, SimData* simdata)
+int serialdev_update(SimDevice* this, SimData* simdata)
 {
+    SerialDevice* serialdevice = (void *) this->derived;
+
     arduino_update(serialdevice, simdata);
     return 0;
 }
 
-int serialdev_free(SerialDevice* serialdevice)
+int serialdev_free(SimDevice* this)
 {
+    SerialDevice* serialdevice = (void *) this->derived;
+
     arduino_free(serialdevice);
+
+    free(serialdevice);
     return 0;
 }
 
@@ -33,3 +40,25 @@ int serialdev_init(SerialDevice* serialdevice)
 
     return error;
 }
+
+static const vtable serial_simdevice_vtable = { &serialdev_update, &serialdev_free };
+
+SerialDevice* new_serial_device(DeviceSettings* ds) {
+
+    SerialDevice* this = (SerialDevice*) malloc(sizeof(SerialDevice));
+
+    this->m.update = &update;
+    this->m.free = &simdevfree;
+    this->m.derived = this;
+    this->m.vtable = &serial_simdevice_vtable;
+
+    int error = serialdev_init(this);
+
+    if (error != 0)
+    {
+        free(this);
+        return NULL;
+    }
+
+    return this;
+}

src/monocoque/devices/serialdevice.h

@@ -2,26 +2,6 @@
 #define _SERIALDEVICE_H
 
 #include <libserialport.h>
-#include "../helper/parameters.h"
-#include "../simulatorapi/simdata.h"
 
-typedef enum
-{
-    SERIALDEV_UNKNOWN       = 0,
-    SERIALDEV_ARDUINO       = 1
-}
-SerialType;
-
-typedef struct
-{
-    int id;
-    SerialType type;
-    struct sp_port* port;
-}
-SerialDevice;
-
-int serialdev_update(SerialDevice* serialdevice, SimData* simdata);
-int serialdev_init(SerialDevice* serialdevice);
-int serialdev_free(SerialDevice* serialdevice);
 
 #endif

src/monocoque/devices/simdevice.c

@@ -1,4 +1,5 @@
 #include <stdio.h>
+#include <stdlib.h>
 
 #include "simdevice.h"
 #include "../helper/parameters.h"
@@ -6,80 +7,99 @@
 #include "../simulatorapi/simdata.h"
 #include "../slog/slog.h"
 
-int devupdate(SimDevice* simdevice, SimData* simdata)
+
+int update(SimDevice* this, SimData* simdata)
 {
-    if (simdevice->initialized==false)
+    ((vtable*)this->vtable)->update(this, simdata);
-    {
-        return 0;
 }
-    switch ( simdevice->type )
+
+int simdevfree(SimDevice* this)
 {
-        case SIMDEV_USB :
+    ((vtable*)this->vtable)->free(this);
-            usbdev_update(&simdevice->d.usbdevice, simdata);
-            break;
-        case SIMDEV_SOUND :
-            sounddev_update(&simdevice->d.sounddevice, simdata);
-            break;
-        case SIMDEV_SERIAL :
-            serialdev_update(&simdevice->d.serialdevice, simdata);
-            break;
 }
+
+int devupdate(SimDevice* this, SimData* simdata)
+{
+
     return 0;
 }
 
-int devfree(SimDevice* simdevice)
+int devfree(SimDevice* simdevices, int numdevices)
 {
 
-    if (simdevice->initialized==false)
+    slogi("freeing %i simdevices...", numdevices);
+    int devices = 0;
+
+    for (int j = 0; j < numdevices; j++)
     {
-        slogw("Attempt to free an uninitialized device");
+        SimDevice simdev = simdevices[j]; 
-        return MONOCOQUE_ERROR_INVALID_DEV;
+        if (simdev.initialized == true)
-    }
-    switch ( simdevice->type )
         {
-        case SIMDEV_USB :
+            simdev.free(&simdev);
-            usbdev_free(&simdevice->d.usbdevice);
-            break;
-        case SIMDEV_SOUND :
-            sounddev_free(&simdevice->d.sounddevice);
-            break;
-        case SIMDEV_SERIAL :
-            serialdev_free(&simdevice->d.serialdevice);
-            break;
         }
+    }
+
+    free(simdevices);
+
     return 0;
 }
 
-int devinit(SimDevice* simdevice, DeviceSettings* ds)
+int devinit(SimDevice* simdevices, int numdevices, DeviceSettings* ds)
 {
-    slogi("initializing simdevice...");
+    slogi("initializing simdevices...");
-    simdevice->initialized = false;
+    int devices = 0;
-    int err = 0;
 
-    switch ( ds->dev_type )
+    for (int j = 0; j < numdevices; j++)
     {
-        case SIMDEV_USB :
+        simdevices[j].initialized = false;
-            simdevice->type = SIMDEV_USB;
+
-            simdevice->d.usbdevice.type = USBDEV_UNKNOWN;
+        if (ds[j].dev_type == SIMDEV_USB) {
-            err = usbdev_init(&simdevice->d.usbdevice, ds);
+            USBDevice* sim = new_usb_device(&ds[j]);
-            break;
+            if (sim != NULL)
-        case SIMDEV_SOUND :
+            {
-            simdevice->type = SIMDEV_SOUND;
+                simdevices[j].initialized = true;
-            err = sounddev_init(&simdevice->d.sounddevice);
+                simdevices[j] = sim->m;
-            break;
+                devices++;
-        case SIMDEV_SERIAL :
+            }
-            simdevice->type = SIMDEV_SERIAL;
+            else
-            err = serialdev_init(&simdevice->d.serialdevice);
+            {
-            break;
+                slogw("Could not initialize USB Device");
-        default :
+            }
-            sloge("Unknown device type");
-            err = MONOCOQUE_ERROR_UNKNOWN_DEV;
-            break;
         }
 
-    if (err==0)
+        if (ds[j].dev_type == SIMDEV_SOUND) {
+
+            SoundDevice* sim = new_sound_device(&ds[j]);
+            if (sim != NULL)
             {
-        simdevice->initialized = true;
+
+                simdevices[j].initialized = true;
+                simdevices[j] = sim->m;
+                devices++;
             }
-    return err;
+            else
+            {
+                slogw("Could not initialize Sound Device");
+            }
+        }
+
+        if (ds[j].dev_type == SIMDEV_SERIAL) {
+
+            SerialDevice* sim = new_serial_device(&ds[j]);
+            if (sim != NULL)
+            {
+
+                simdevices[j].initialized = true;
+                simdevices[j] = sim->m;
+                devices++;
+
+            }
+            else
+            {
+                slogw("Could not initialize Serial Device");
+            }
+        }
+    }
+
+    return devices;
 }

src/monocoque/devices/simdevice.h

@@ -9,26 +9,100 @@
 #include "../helper/confighelper.h"
 #include "../simulatorapi/simdata.h"
 
+typedef struct SimDevice SimDevice;
 
-typedef struct
+struct SimDevice
 {
+    const void* vtable;
+    int (*update)(SimDevice*, SimData*);
+    int (*free)(SimDevice*);
+    void* derived;
     int id;
     bool initialized;
     DeviceType type;
 
+};
+
+typedef struct {
+    int (*update)(SimDevice*, SimData*);
+    int (*free)(SimDevice*);
+} vtable;
+
+/********* Serial Devices *****/
+typedef enum
+{
+    SERIALDEV_UNKNOWN       = 0,
+    SERIALDEV_ARDUINO       = 1
+}
+SerialType;
+
+typedef struct
+{
+    SimDevice m;
+    int id;
+    SerialType type;
+    struct sp_port* port;
+}
+SerialDevice;
+
+int serialdev_update(SimDevice* this, SimData* simdata);
+int serialdev_free(SimDevice* this);
+
+SerialDevice* new_serial_device(DeviceSettings* ds);
+
+/********* USB HID Devices *****/
+typedef enum
+{
+    USBDEV_UNKNOWN       = 0,
+    USBDEV_TACHOMETER    = 1
+}
+USBType;
+
+typedef struct
+{
+    SimDevice m;
+    int id;
+    USBType type;
     union
     {
-        USBDevice usbdevice;
+        TachDevice tachdevice;
-        SoundDevice sounddevice;
+    } u;
-        SerialDevice serialdevice;
-    } d;
 }
-SimDevice;
+USBDevice;
+
+int usbdev_update(SimDevice* this, SimData* simdata);
+int usbdev_free(SimDevice* this);
+
+USBDevice* new_usb_device(DeviceSettings* ds);
+
+
+/********* Sound Devices *****/
+typedef struct
+{
+    SimDevice m;
+    int id;
+    SoundType type;
+    PATestData sounddata;
+    PaStreamParameters outputParameters;
+    PaStream* stream;
+}
+SoundDevice;
+
+int sounddev_update(SimDevice* this, SimData* simdata);
+int sounddev_free(SimDevice* this);
+
+SoundDevice* new_sound_device(DeviceSettings* ds);
+
+/***** Generic Methods *********/
+
+int update(SimDevice* simdevice, SimData* simdata);
 
 int devupdate(SimDevice* simdevice, SimData* simdata);
 
-int devinit(SimDevice* simdevice, DeviceSettings* ds);
+int devinit(SimDevice* simdevices, int numdevices, DeviceSettings* ds);
 
-int devfree(SimDevice* simdevice);
+int devfree(SimDevice* simdevices, int numdevices);
+
+int simdevfree(SimDevice* this);
 
 #endif

src/monocoque/devices/sound/usb_generic_shaker.h

@@ -1,7 +1,8 @@
 #ifndef _USB_GENERIC_SHAKER_H
 #define _USB_GENERIC_SHAKER_H
 
-#include "../sounddevice.h"
+//#include "../sounddevice.h"
+#include "../simdevice.h"
 
 int usb_generic_shaker_init(SoundDevice* sounddevice);
 int usb_generic_shaker_free(SoundDevice* sounddevice);

src/monocoque/devices/sounddevice.c

@@ -1,13 +1,17 @@
 #include <stdio.h>
+#include <stdlib.h>
 
+#include "simdevice.h"
 #include "sounddevice.h"
 #include "sound/usb_generic_shaker.h"
 #include "../simulatorapi/simdata.h"
 #include "../helper/parameters.h"
 #include "../slog/slog.h"
 
-int sounddev_update(SoundDevice* sounddevice, SimData* simdata)
+int sounddev_update(SimDevice* this, SimData* simdata)
 {
+    SoundDevice* sounddevice = (void *) this->derived;
+
     sounddevice->sounddata.table_size = 44100/(simdata->rpms/60);
 
     sounddevice->sounddata.gear_sound_data = 0;
@@ -18,9 +22,15 @@ int sounddev_update(SoundDevice* sounddevice, SimData* simdata)
     sounddevice->sounddata.last_gear = simdata->gear;
 }
 
-int sounddev_free(SoundDevice* sounddevice)
+int sounddev_free(SimDevice* this)
 {
-    return usb_generic_shaker_free(sounddevice);
+    SoundDevice* sounddevice = (void *) this->derived;
+
+    usb_generic_shaker_free(sounddevice);
+
+    free(sounddevice);
+
+    return 0;
 }
 
 int sounddev_init(SoundDevice* sounddevice)
@@ -36,3 +46,19 @@ int sounddev_init(SoundDevice* sounddevice)
 
     usb_generic_shaker_init(sounddevice);
 }
+
+static const vtable sound_simdevice_vtable = { &sounddev_update, &sounddev_free };
+
+SoundDevice* new_sound_device(DeviceSettings* ds) {
+
+    SoundDevice* this = (SoundDevice*) malloc(sizeof(SoundDevice));
+
+    this->m.update = &update;
+    this->m.free = &simdevfree;
+    this->m.derived = this;
+    this->m.vtable = &sound_simdevice_vtable;
+
+    sounddev_init(this);
+
+    return this;
+}

src/monocoque/devices/sounddevice.h

@@ -3,9 +3,6 @@
 
 #include "portaudio.h"
 
-#include "../simulatorapi/simdata.h"
-#include "../helper/parameters.h"
-
 typedef enum
 {
     SOUNDDEV_UNKNOWN       = 0,
@@ -28,18 +25,4 @@ typedef struct
 }
 PATestData;
 
-typedef struct
-{
-    int id;
-    SoundType type;
-    PATestData sounddata;
-    PaStreamParameters outputParameters;
-    PaStream* stream;
-}
-SoundDevice;
-
-int sounddev_update(SoundDevice* sounddevice, SimData* simdata);
-int sounddev_init(SoundDevice* sounddevice);
-int sounddev_free(SoundDevice* sounddevice);
-
 #endif

src/monocoque/devices/usbdevice.c

@@ -1,14 +1,18 @@
 #include <stdio.h>
 #include <stdlib.h>
 #include <string.h>
+#include <stdlib.h>
 
 #include "usbdevice.h"
+#include "simdevice.h"
 #include "../helper/parameters.h"
 #include "../simulatorapi/simdata.h"
 #include "../slog/slog.h"
 
-int usbdev_update(USBDevice* usbdevice, SimData* simdata)
+int usbdev_update(SimDevice* this, SimData* simdata)
 {
+    USBDevice* usbdevice = (void *) this->derived;
+
     switch ( usbdevice->type )
     {
         case USBDEV_UNKNOWN :
@@ -20,8 +24,10 @@ int usbdev_update(USBDevice* usbdevice, SimData* simdata)
     return 0;
 }
 
-int usbdev_free(USBDevice* usbdevice)
+int usbdev_free(SimDevice* this)
 {
+    USBDevice* usbdevice = (void *) this->derived;
+
     switch ( usbdevice->type )
     {
         case USBDEV_UNKNOWN :
@@ -30,6 +36,8 @@ int usbdev_free(USBDevice* usbdevice)
             break;
     }
 
+    free(usbdevice);
+
     return 0;
 }
 
@@ -47,3 +55,24 @@ int usbdev_init(USBDevice* usbdevice, DeviceSettings* ds)
 
     return error;
 }
+
+static const vtable usb_simdevice_vtable = { &usbdev_update, &usbdev_free };
+
+USBDevice* new_usb_device(DeviceSettings* ds) {
+
+    USBDevice* this = (USBDevice*) malloc(sizeof(USBDevice));
+
+    this->m.update = &update;
+    this->m.free = &simdevfree;
+    this->m.derived = this;
+    this->m.vtable = &usb_simdevice_vtable;
+
+    int error = usbdev_init(this, ds);
+
+    if (error != 0)
+    {
+        free(this);
+        return NULL;
+    }
+    return this;
+}

src/monocoque/devices/usbdevice.h

@@ -2,29 +2,5 @@
 #define _USBDEVICE_H
 
 #include "tachdevice.h"
-#include "../helper/confighelper.h"
-#include "../simulatorapi/simdata.h"
-
-typedef enum
-{
-    USBDEV_UNKNOWN       = 0,
-    USBDEV_TACHOMETER    = 1
-}
-USBType;
-
-typedef struct
-{
-    int id;
-    USBType type;
-    union
-    {
-        TachDevice tachdevice;
-    } u;
-}
-USBDevice;
-
-int usbdev_update(USBDevice* usbdevice, SimData* simdata);
-int usbdev_init(USBDevice* usbdevice, DeviceSettings* ds);
-int usbdev_free(USBDevice* usbdevice);
 
 #endif

src/monocoque/gameloop/gameloop.c

@@ -165,7 +165,7 @@ int showstats(SimData* simdata)
     fflush(stdout);
 }
 
-int looper(SimDevice* devices[], int numdevices, Simulator simulator)
+int looper(SimDevice* devices, int numdevices, Simulator simulator)
 {
 
     slogi("preparing game loop with %i devices...", numdevices);
@@ -203,16 +203,16 @@ int looper(SimDevice* devices[], int numdevices, Simulator simulator)
         }
         for (int x = 0; x < numdevices; x++)
         {
-            if (devices[x]->type == SIMDEV_SERIAL)
+            if (devices[x].type == SIMDEV_SERIAL)
             {
                 if(t>=update_rate)
                 {
-                    devupdate(devices[x], simdata);
+                    devices[x].update(&devices[x], simdata);
                 }
             }
             else
             {
-                devupdate(devices[x], simdata);
+                devices[x].update(&devices[x], simdata);
             }
 
         }
@@ -238,3 +238,67 @@ int looper(SimDevice* devices[], int numdevices, Simulator simulator)
 
     return 0;
 }
+
+int tester(SimDevice* devices, int numdevices)
+{
+
+    slogi("preparing game loop with %i devices...", numdevices);
+    SimData* simdata = malloc(sizeof(SimData));
+
+    struct termios newsettings, canonicalmode;
+    tcgetattr(0, &canonicalmode);
+    newsettings = canonicalmode;
+    newsettings.c_lflag &= (~ICANON & ~ECHO);
+    newsettings.c_cc[VMIN] = 1;
+    newsettings.c_cc[VTIME] = 0;
+    tcsetattr(0, TCSANOW, &newsettings);
+
+    fprintf(stdout, "\n");
+    simdata->maxrpm = 8000;
+
+    fprintf(stdout, "Setting rpms to 1000\n");
+    simdata->rpms = 1000;
+    for (int x = 0; x < numdevices; x++)
+    {
+        devices[x].update(&devices[x], simdata);
+    }
+    sleep(3);
+
+    fprintf(stdout, "Setting rpms to 2000\n");
+    simdata->rpms = 2000;
+    for (int x = 0; x < numdevices; x++)
+    {
+        devices[x].update(&devices[x], simdata);
+    }
+    sleep(3);
+
+    fprintf(stdout, "Setting rpms to 4000\n");
+    simdata->rpms = 4000;
+    for (int x = 0; x < numdevices; x++)
+    {
+        devices[x].update(&devices[x], simdata);
+    }
+    sleep(3);
+
+    fprintf(stdout, "Setting rpms to 8000\n");
+    simdata->rpms = 8000;
+    for (int x = 0; x < numdevices; x++)
+    {
+        devices[x].update(&devices[x], simdata);
+    }
+    sleep(3);
+
+    simdata->rpms = 100;
+    for (int x = 0; x < numdevices; x++)
+    {
+        devices[x].update(&devices[x], simdata);
+    }
+    sleep(1);
+
+    fflush(stdout);
+    tcsetattr(0, TCSANOW, &canonicalmode);
+
+    free(simdata);
+
+    return 0;
+}

src/monocoque/gameloop/gameloop.h

@@ -1,4 +1,5 @@
 #include "../devices/simdevice.h"
 #include "../helper/parameters.h"
 
-int looper (SimDevice* devices[], int numdevices, Simulator simulator);
+int tester(SimDevice* devices, int numdevices);
+int looper (SimDevice* devices, int numdevices, Simulator simulator);

src/monocoque/gameloop/tachconfig.c

@@ -183,7 +183,7 @@ int config_tachometer(int max_revs, int granularity, const char* save_file, SimD
     WriteXmlFromArrays(nodes, rpm_array, values_array, max_revs, save_file);
     sleep(2);
     simdata->pulses = 0;
-    devupdate(simdevice, simdata);
+    simdevice->update(simdevice, simdata);
     fflush(stdout);
 
     return 0;

src/monocoque/helper/parameters.c

@@ -23,6 +23,7 @@ ConfigError getParameters(int argc, char** argv, Parameters* p)
 
     struct arg_lit* arg_verbosity1   = arg_litn("v","verbose", 0, 2, "increase logging verbosity");
     struct arg_lit* arg_verbosity2   = arg_litn("v","verbose", 0, 2, "increase logging verbosity");
+    struct arg_lit* arg_verbosity3   = arg_litn("v","verbose", 0, 2, "increase logging verbosity");
 
     struct arg_rex* cmd1             = arg_rex1(NULL, NULL, "play", NULL, REG_ICASE, NULL);
     struct arg_str* arg_sim          = arg_strn("s", "sim", "<gamename>", 0, 1, NULL);
@@ -43,6 +44,13 @@ ConfigError getParameters(int argc, char** argv, Parameters* p)
     void* argtable2[]                = {cmd2a,cmd2b,arg_max_revs,arg_granularity,arg_save,arg_verbosity2,help2,vers2,end2};
     int nerrors2;
 
+    struct arg_rex* cmd3             = arg_rex1(NULL, NULL, "test", NULL, REG_ICASE, NULL);
+    struct arg_lit* help3            = arg_litn(NULL,"help", 0, 1, "print this help and exit");
+    struct arg_lit* vers3            = arg_litn(NULL,"version", 0, 1, "print version information and exit");
+    struct arg_end* end3             = arg_end(20);
+    void* argtable3[]                = {cmd3,arg_verbosity3,help3,vers3,end3};
+    int nerrors3;
+
     struct arg_lit*  help0           = arg_lit0(NULL,"help",     "print this help and exit");
     struct arg_lit*  version0        = arg_lit0(NULL,"version",  "print version information and exit");
     struct arg_end*  end0            = arg_end(20);
@@ -70,6 +78,7 @@ ConfigError getParameters(int argc, char** argv, Parameters* p)
     nerrors0 = arg_parse(argc,argv,argtable0);
     nerrors1 = arg_parse(argc,argv,argtable1);
     nerrors2 = arg_parse(argc,argv,argtable2);
+    nerrors3 = arg_parse(argc,argv,argtable3);
 
     if (nerrors1==0)
     {
@@ -92,6 +101,11 @@ ConfigError getParameters(int argc, char** argv, Parameters* p)
             p->verbosity_count = arg_verbosity2->count;
             exitcode = E_SUCCESS_AND_DO;
         }
+        else if (nerrors3==0)
+        {
+            p->program_action = A_TEST;
+            exitcode = E_SUCCESS_AND_DO;
+        }
         else
         {
             if (cmd1->count > 0)
@@ -111,12 +125,13 @@ ConfigError getParameters(int argc, char** argv, Parameters* p)
                 {
                     if (help->count==0 && vers->count==0)
                     {
-                        printf("%s: missing <play|config> command.\n",progname);
+                        printf("%s: missing <play|config|test> command.\n",progname);
                         printf("Usage 1: %s ", progname);
                         arg_print_syntax(stdout,argtable1,"\n");
                         printf("Usage 2: %s ", progname);
                         arg_print_syntax(stdout,argtable2,"\n");
-
+                        printf("Usage 3: %s ", progname);
+                        arg_print_syntax(stdout,argtable3,"\n");
                     }
                 }
             exitcode = E_SUCCESS_AND_EXIT;
@@ -131,6 +146,8 @@ ConfigError getParameters(int argc, char** argv, Parameters* p)
         arg_print_syntax(stdout,argtable1,"\n");
         printf("Usage 2: %s ", progname);
         arg_print_syntax(stdout,argtable2,"\n");
+        printf("Usage 3: %s ", progname);
+        arg_print_syntax(stdout,argtable3,"\n");
         printf("\nReport bugs on the github github.com/spacefreak18/monocoque.\n");
         exitcode = E_SUCCESS_AND_EXIT;
         goto cleanup;
@@ -148,6 +165,7 @@ cleanup:
     arg_freetable(argtable0,sizeof(argtable0)/sizeof(argtable0[0]));
     arg_freetable(argtable1,sizeof(argtable1)/sizeof(argtable1[0]));
     arg_freetable(argtable2,sizeof(argtable2)/sizeof(argtable2[0]));
+    arg_freetable(argtable3,sizeof(argtable3)/sizeof(argtable3[0]));
     return exitcode;
 
 }

src/monocoque/helper/parameters.h

@@ -15,8 +15,9 @@ Parameters;
 typedef enum
 {
     A_PLAY          = 0,
-    A_CONFIG_TACH   = 1,
+    A_TEST          = 1,
-    A_CONFIG_SHAKER = 2
+    A_CONFIG_TACH   = 2,
+    A_CONFIG_SHAKER = 3
 }
 ProgramAction;
 

src/monocoque/monocoque.c

@@ -113,9 +113,8 @@ int main(int argc, char** argv)
         SimDevice* tachdev = malloc(sizeof(SimDevice));
         SimData* sdata = malloc(sizeof(SimData));
         DeviceSettings* ds = malloc(sizeof(DeviceSettings));
+
         error = devsetup("USB", "Tachometer", "None", ms, ds, NULL);
-        error = devinit(tachdev, ds);
-        slogi("configuring tachometer with max revs: %i, granularity: %i, saving to %s", p->max_revs, p->granularity, p->save_file);
 
         if (error != MONOCOQUE_ERROR_NONE)
         {
@@ -123,33 +122,37 @@ int main(int argc, char** argv)
         }
         else
         {
+            error = devinit(tachdev, 1, ds);
+        }
+
+        if (error != MONOCOQUE_ERROR_NONE)
+        {
+            sloge("Could not proceed with tachometer configuration due to error: %i", error);
+        }
+        else
+        {
+            slogi("configuring tachometer with max revs: %i, granularity: %i, saving to %s", p->max_revs, p->granularity, p->save_file);
             config_tachometer(p->max_revs, p->granularity, p->save_file, tachdev, sdata);
         }
-        devfree(tachdev);
+        devfree(tachdev, 1);
-        free(tachdev);
+        //free(tachdev);
         free(sdata);
         free(ds);
     }
     else
     {
-        slogi("running monocoque in gameloop mode..");
-        int error = 0;
 
-        error = strtogame(p->sim_string, ms);
+        int error = 0;
-        if (error != MONOCOQUE_ERROR_NONE)
-        {
-            goto cleanup_final;
-        }
 
         int configureddevices = config_setting_length(config_devices);
         int numdevices = 0;
-        DeviceSettings* ds[configureddevices];
+        DeviceSettings ds[configureddevices];
         slogi("found %i devices in configuration", configureddevices);
         int i = 0;
         while (i<configureddevices)
         {
             error = MONOCOQUE_ERROR_NONE;
-            DeviceSettings* settings = malloc(sizeof(DeviceSettings));
+            DeviceSettings settings;
             ds[i] = settings;
             config_setting_t* config_device = config_setting_get_elem(config_devices, i);
             const char* device_type;
@@ -161,7 +164,7 @@ int main(int argc, char** argv)
 
             if (error == MONOCOQUE_ERROR_NONE)
             {
-                error = devsetup(device_type, device_subtype, device_config_file, ms, ds[i], config_device);
+                error = devsetup(device_type, device_subtype, device_config_file, ms, &ds[i], config_device);
             }
             if (error == MONOCOQUE_ERROR_NONE)
             {
@@ -175,20 +178,20 @@ int main(int argc, char** argv)
         i = 0;
         int j = 0;
         error = MONOCOQUE_ERROR_NONE;
-        SimDevice* devices[numdevices];
+        SimDevice* devices = malloc(numdevices * sizeof(SimDevice));
-        while (i<configureddevices)
+        int initdevices = devinit(devices, configureddevices, ds);
+
+        if (p->program_action == A_PLAY)
         {
-            if (ds[i]->is_valid == true)
+            slogi("running monocoque in gameloop mode..");
+            error = strtogame(p->sim_string, ms);
+            if (error != MONOCOQUE_ERROR_NONE)
             {
-                SimDevice* device = malloc(sizeof(SimDevice));
+                goto cleanup_final;
-                devinit(device, ds[i]);
-                devices[j] = device;
-                j++;
-            }
-            i++;
             }
 
-        error = looper(devices, numdevices, ms->sim_name);
+
+            error = looper(devices, initdevices, ms->sim_name);
             if (error == MONOCOQUE_ERROR_NONE)
             {
                 slogi("Game loop exited succesfully with error code: %i", error);
@@ -197,26 +200,22 @@ int main(int argc, char** argv)
             {
                 sloge("Game loop exited with error code: %i", error);
             }
-
-        i = 0;
-        while (i<configureddevices)
-        {
-            if(ds[i]->dev_subtype == SIMDEV_USB)
-            {
-                free(ds[i]->tachsettings.pulses_array);
-                free(ds[i]->tachsettings.rpms_array);
         }
-            free(ds[i]);
+        else
-            i++;
+        {
+            slogi("running monocoque in test mode...");
+            error = tester(devices, initdevices);
+            if (error == MONOCOQUE_ERROR_NONE)
+            {
+                slogi("Test exited succesfully with error code: %i", error);
+            }
+            else
+            {
+                sloge("Test exited with error code: %i", error);
+            }
         }
 
-        i = 0;
+        devfree(devices, initdevices);
-        while (i<numdevices)
-        {
-            devfree(devices[i]);
-            free(devices[i]);
-            i++;
-        }
     }