--Have control message-passing socket working between vader-rover and seykhl.  Vader-rover (emperor.cpp) 'calls home' to seyhkl on port 1999 to establish the socket, then vader listens.  On seyhkl, the port is created in toollib-gamepad.c (gamepad_update())--seyhkl spins waiting for vader-rover to connect, then once connected uses the port to send commands.  Have start and stop cameras working--next up is pan and tilt using right thumb stick.