Модель для симуляции светофора и конечного автомата

Question

Я пытаюсь создать симулятор светофора и конечный автомат из 10.4 по ссылке ниже.Ниже находится сокет, и сокет прослушивает пользовательский ввод от клиента, мне нужно смоделировать светофор и вывести текущее состояние индикаторов

http://users.ece.utexas.edu/~valvano/Volume1/E-Book/C10_FiniteStateMachines.htm

  /*
    C socket server example, handles multiple clients using threads
*/

#include<stdio.h>
#include<string.h>    //strlen
#include <sys/ioctl.h>
#include<stdlib.h>    //strlen
#include<sys/socket.h>
#include<arpa/inet.h> //inet_addr
#include<unistd.h>    //write
#include<pthread.h> //for threading , link with lpthread



//the thread function
void *connection_handler(void *);


//my code
#define SENSORS       
#define LIGHTS    
// Linked data structure
struct State {
  int Out; 
  int Time;  
  int Next[4];}; 

typedef const struct State STyp;
#define goS   0
#define waitS 1
#define goW   2
#define waitW 3
STyp FSM[4]={
 {0x21,3000,{goS,waitS,goS,waitS}},       //State 0 (goS)   go South.
 {0x22, 500,{goW,goW,goW,goW}},       //State 1 (waitS) wait South.
 {0x0C,3000,{goW,goW,waitW,waitW}},    //State 2 (goW)   go West.
 {0x14, 500,{goS,goS,goS,goS}}};        //State 3 (waitW) wait West.
int State;  // index to the current state 
int Input; 
///////////



int main(int argc , char *argv[])
{
    int socket_desc , client_sock ,rc, c , *new_sock;
    struct sockaddr_in server , client;
    int on=1;
    //Create socket
    socket_desc = socket(AF_INET , SOCK_STREAM , 0);
    if (socket_desc == -1)
    {
        printf("Could not create socket");
    }
    puts("Socket created");
    /*************************************************************/
   /* Allow socket descriptor to be reuseable                   */
   /*************************************************************/
   rc = setsockopt( socket_desc, SOL_SOCKET,  SO_REUSEADDR,
                   (char *)&on, sizeof(on));
   if (rc < 0)
   {
      perror("setsockopt() failed");
      close(socket_desc);
      exit(-1);
   }

   /*************************************************************/
   /* Set socket to be nonblocking. All of the sockets for    */
   /* the incoming connections will also be nonblocking since  */
   /* they will inherit that state from the listening socket.   */
   /*************************************************************/
   rc = ioctl( socket_desc, FIONBIO, (char *)&on);
   if (rc < 0)
   {
      perror("ioctl() failed");
      close(socket_desc);
      exit(-1);
   }
    //Prepare the sockaddr_in structure
    server.sin_family = AF_INET;
    server.sin_addr.s_addr = INADDR_ANY;
    server.sin_port = htons( 8888 );

    //Bind
    if( bind(socket_desc,(struct sockaddr *)&server , sizeof(server)) < 0)
    {
        //print the error message
        perror("bind failed. Error");
        return 1;
    }
    puts("bind done");

    //Listen
    listen(socket_desc , 3);

    //Accept and incoming connection
    puts("Waiting for incoming connections...");
    c = sizeof(struct sockaddr_in);


    //Accept and incoming connection
    puts("Waiting for incoming connections...");
    c = sizeof(struct sockaddr_in);


    while(1 ){


   if ((client_sock = accept(socket_desc, (struct sockaddr *)&client, (socklen_t*)&c))>=0) 
    {
        puts("Connection accepted");

        pthread_t sniffer_thread;
        new_sock = malloc(sizeof(int));
        *new_sock = client_sock;

        if( pthread_create( &sniffer_thread , NULL ,  connection_handler , (void*) new_sock) < 0)
        {
            perror("could not create thread");
            return 1;
        }

        //Now join the thread , so that we dont terminate before the thread
        //pthread_join( sniffer_thread , NULL);
        puts("Handler assigned");
    }

}
    if (client_sock < 0)
    {
        perror("accept failed");
        return 1;
    }

    return 0;
}

/*
 * This will handle connection for each client
 * */
char client_message[2000];
void *connection_handler(void *socket_desc)
{
    //Get the socket descriptor
    int sock = *(int*)socket_desc;
    int read_size;
    char *message;

    //Send some messages to the client
    message = "Greetings! I am your connection handler\n";

    write(sock , message , strlen(message));

    message = "Now type something and i shall repeat what you type \n";

    write(sock , message , strlen(message));

    //Receive a message from client
    while( (read_size = recv(sock , client_message , 2000 , 0)) > 0 )
    {
int x = FSM[state].out;    // set lights
   // delay(FSM[tate].Time);
    Input = 1;     // read sensors
    State = FSM[State].Next[Input];  
printf("received %s\n",client_message);

        //Send the message back to client
        write(sock , client_message , strlen(client_message));
    }

    if(read_size == 0)
    {
        puts("Client disconnected");
        fflush(stdout);
    }
    else if(read_size == -1)
    {
        perror("recv failed");
    }

    //Free the socket pointer
    free(socket_desc);

    return 0;
}