Improved router test system a bit
Added more comments to router's main.c

commenting seemed a little sparse, so I beefed them up a little bit
Redifined heartbeat sleep inteval in seconds

the current sleep interval is 4 minutes. I was previously using
sleep_nano to sleep, but I was overflowing the variable that stored the
interval. So I changed the sleep interval to be in terms of seconds,
and I used sleep() instead. Later, if I have the time, I'll rework to
use sleep_nano again
Fixed heartbeat being sent with no devices

The heartbeat would be sent even if there weren't any devices
authenticated, so I fixed that
Continued making router test stubs more modular

Next I'm going to try making them easier to use, especially the unix
pipe stubs. I want to move the read/write file descriptors into the
actual read/write functions to remove initialization stuff outside of
the reading functions.
Refactored router test stubs for cohesiveness

File descriptor stuff is contained inside the talkStub system
Merge branch 'testing'

This merge brings a lot of router testing system tweaks, mostly to the
stubbing system.