#include <stdio.h>
#include <stdint.h>
#include <string.h>
#include <fcntl.h>
#include <termios.h>
#include <sys/neutrino.h>
#include <sys/syspage.h>
#include <hw/inout.h>
#include <sys/mman.h>
#include <unistd.h>
#include <time.h>
#include <sys/types.h>
//#include <sys/socket.h>
//#include <netinet/in.h>
//#include <netdb.h>
#include <unistd.h>
#include <stdlib.h>
#include <pico_commands.h>
#include <serial_commands.h>
#include <stdarg.h>

#define IRQ 4
#define SIZE_BUFFER 167

int read_port(int fdin_proto, int imu_socket_proto,  char *buffer);


int main(int argc, char *argv[]) { /*argc and argv are command line operators*/
    int fdin;
    int imu_socket;
     char buffer[SIZE_BUFFER]; //buffer where data from IMU stored
 buffer[166]= '\r';
   buffer[167]= '\n' ;
   //buffer[168]= '\0' ;

  //imu_socket = open_pico(); /*opens ethernet port to send and receive data to/from pico station */
    fdin = open_port();
    read_port(fdin,imu_socket, buffer);
  /*  while(1)
      {
    read_port(fdin,imu_socket, buffer);

      }*/
    close_port(fdin);

    return 0;

}

int read_port(int fd,int hsocket,  char *buffer)
{
      int numRead=0;    //numRead will tell us how many bytes have been read
      int outfd;   //file descriptor for the file that is created
      int privity_err;
      int intr_id;
      struct sigevent event; //event will cause an interrupt


/* Give this thread root permissions to access the hardware */
 privity_err = ThreadCtl( _NTO_TCTL_IO, NULL );
if ( privity_err == -1 ) { printf( "Can't get root permissions\n" );
 return -1;
 }

/* Tell the kernel to attach an interrupt signal event to this thread */
event.sigev_notify = SIGEV_INTR;
/* Attaches IRQ line 4 to the event */
intr_id = InterruptAttachEvent(IRQ, &event, _NTO_INTR_FLAGS_TRK_MSK );
if ( intr_id == -1 ) {
 printf( "Couldn't attach event to IRQ %d\n", IRQ );
 return EXIT_FAILURE; }

//create a file called new.txt under the folder where the qnx partition is mounted
outfd = creat("/usr/hdd/new1.txt",O_WRONLY |O_NOCTTY | O_NDELAY | O_NONBLOCK);


 while(1){

         InterruptWait( 0, NULL );
        while (tcischars(fd)<(SIZE_BUFFER))
          {
             InterruptUnmask( IRQ, intr_id );
             InterruptWait(0,NULL);
          }
      numRead = read(fd, buffer, SIZE_BUFFER);
      printf("\n numREAD %d\n",numRead);
      /*WRITE*/
      printf("%s",buffer);
     //write(hsocket, buffer, SIZE_BUFFER); //writing to ethernet port
    //pico_send("SENT BUFFER AND 1","si",buffer,1);
     // send_pico("SENT BUFFER AND 1","si",buffer,numRead);
     // sleep(0.5);
      write(outfd,buffer,SIZE_BUFFER);     //writing to file on PC/104

      /* Reenable this interrupt since writing is finished */
     InterruptUnmask( IRQ, intr_id );
    //  sleep(1);
      }

/* Remove the attachment from this thread */
/*WILL NEVER REACH THIS*/
InterruptDetach( intr_id );
/*WILL NEVER REACH THIS*/

return EXIT_SUCCESS;
 }