These commits contain the changes I made in the last few days at the May commissioning. I had gone through and made changes to hashpipe and the clean up structure for the threads. Before, hashpipe would temrinate the child process immediately, now the children terminate themselves and clean up then report to parent process. Also, hashpipe now clears shared memory and reclaims everything at the end and checks at the beginning. This commit also contains the fix to the PFB mode. The traspose thread to reduce data trasfered was indexing out of bounds.