bool gDone;

bool gDispEnabled;

bool gLogFileEnabled;

unsigned int iLoopPause;

{

//

// I2C ONE

bmp180 baroSen(I2C_HW1_BUS_NUM);

//

// I2C TWO

PCA9544Mux i2cMuxNum1(I2C_HW2_BUS_NUM, PCA9544_000_ADDR);

i2cMuxNum1.selectChan(PCA9544Mux :: CH_3);

ADXL345Accelerometer accelNum1(I2C_HW2_BUS_NUM, ADXL345_SDO_L_ADDR);

ADXL345Accelerometer accelNum2(I2C_HW2_BUS_NUM, ADXL345_SDO_H_ADDR);

BME280 humPress1(I2C_HW2_BUS_NUM, BME280_SDO_L_ADDR);

// MPU6050AccelGyro accGyrNum3(I2C_HW2_BUS_NUM, MPU6050_AD0_L_ADDR);

/*

HscPress pressNum1(I2C_HW2_BUS_NUM, HSC_PN2_ADDR);

ADXL345Accelerometer accelNum2(I2C_HW2_BUS_NUM, ADXL345_SDO_L_ADDR);

i2cMuxNum1.selectChan(PCA9544Mux :: CH_2);

ADXL345Accelerometer accelNum4(I2C_HW2_BUS_NUM, ADXL345_SDO_H_ADDR);

i2cMuxNum1.selectChan(PCA9544Mux :: CH_3);

ADXL345Accelerometer accelNum5(I2C_HW2_BUS_NUM, ADXL345_SDO_H_ADDR);

ADXL345Accelerometer accelNum6(I2C_HW2_BUS_NUM, ADXL345_SDO_L_ADDR);

*/

std::ofstream logFileStream;

//----------------------------

//

// Set up shared memory space

//

sv = (shared_vars_t *) mmap(NULL, sizeof(shared_vars_t), PROT_READ | PROT_WRITE,

MAP_SHARED | MAP_ANONYMOUS, -1, 0);

sv->gDone = false;

sv->gDispEnabled = true;

sv->gLogFileEnabled = true;

sv->iLoopPause = ITTER_LOOP_PAUSE;

//

// Open Log File

//

if (sv->gLogFileEnabled)

{

#define LOG_NAME_SZ 120

time_t now;

char log_name[LOG_NAME_SZ] = {0};

// -------------

now = time(NULL);

if (now == -1)

{

// ERROR HANDLING: you can check to see what went wrong

perror("Failed to acquire date string for file in main");

exit(1);

}

//-----

strftime(log_name, LOG_NAME_SZ, "./logs/easRV12_%d_%b_%Y_%H_%M_%S.log",

gmtime(&now));

logFileStream.open(log_name, std::ofstream::out | std::ofstream::app);

if (!logFileStream.good())

{

// ERROR HANDLING

perror("Failed to open the logfile in main");

std::cout << "Log File Name = " << log_name << std::endl;

std::cout << "Errno = " << logFileStream << std::endl;

std::cout << "Typical Cause - Log file directory does not exist" << std::endl;

exit(1);

}

std::cout << std::endl << "Log File " << log_name << " opened." << std::endl;

} // if enabled

//

// Setup TinyCon in Parallel Thread

//

int tc_pid = fork();

if (tc_pid == 0)

{

tcon tc(std::string(""));

tc.run();

std::cout << std::endl << "TinyCom thread ShutDown."<< std::endl;

return 0;

}

//

// TODO:

// Read Cal Data from all Sensors & Write to Log-File

//

// located HERE!

//

// Begin Repeated Loop

//

while (!sv->gDone)

{

clock_t t;

EasDAQpack curPack[20];

int pack_i = 0;

static unsigned int frc;

//------------------------

//

// Timestamp

t = clock();

curPack[pack_i].blank();

curPack[pack_i++].setClockT(t);

if (frc % 5 == 0)

{

//

// Pressure & Temperature

//

baroSen.updateRawPressTemp();

baroSen.fillEASpack(curPack[pack_i++]);

}

//

// Select Channel

i2cMuxNum1.selectChan(PCA9544Mux :: CH_3);

//

// HSC Pressure Sensor

//

/*

pressNum1.updatePressTemp();

pressNum1.fillEASpack(curPack[pack_i++]);

*/

//

// Read from ADXL345 Num 1

//

accelNum1.updateAccelData();

accelNum1.fillEASpack(curPack[pack_i++]);

//

// Read from ADXL345 Num 1

//

accelNum2.updateAccelData();

accelNum2.fillEASpack(curPack[pack_i++]);

humPress1.updateHumidPressTemp();

humPress1.fillEASpack(curPack[pack_i++]);

//

// Read from MPU6050 Num 3

//

/*accGyrNum3.updateAccelGyroTempData();

accGyrNum3.fillEASpack(curPack[pack_i++]);

*/

/*

//

// Read from ADXL345 Num 2

//

accelNum2.updateAccelData();

curPack[pack_i].blank();

accelNum2.fillEASpack(curPack[pack_i++]);

//

// Read from MPU6050 Num 3

//

accGyrNum3.updateAccelGyroTempData();

curPack[pack_i].blank();

accGyrNum3.fillEASpack(curPack[pack_i++]);

//

// Select 02

i2cMuxNum1.selectChan(PCA9544Mux :: CH_2);

//

// Read from ADXL345 Num 4

//

accelNum4.updateAccelData();

curPack[pack_i].blank();

accelNum4.fillEASpack(curPack[pack_i++]);

//

// Select 03

i2cMuxNum1.selectChan(PCA9544Mux :: CH_3);

//

// Read from ADXL345 Num 5

//

accelNum5.updateAccelData();

curPack[pack_i].blank();

accelNum5.fillEASpack(curPack[pack_i++]);

//

// Read from ADXL345 Num 6

//

accelNum6.updateAccelData();

curPack[pack_i].blank();

accelNum6.fillEASpack(curPack[pack_i++]);

*/

//

// Log Data

if (logFileStream.good())

{

for (int i = 0; i < pack_i ; i++)

curPack[i].outToFile(logFileStream);

}

//

// Display Data once every DISP_INTERVAL

//

if ((sv->gDispEnabled) && ((frc % DISP_INTERVAL) == 0))

{

for (int i = 0; i < pack_i ; i++)

{

std::cout << curPack[i] << std::endl;

}

}

// Pause

if (sv->iLoopPause != MIN_ILOOP)

usleep(sv->iLoopPause);

//

// Clear Used Data Packs

for (int i = 0; i < pack_i ; i++)

curPack[pack_i].blank();

//

// Increment FRC

frc++;

} // while

//

// For clean shutdown, make sure child processes close first.

//

// http://stackoverflow.com/questions/5057137/c-loop-while-child-is-alive

int Stat;

// Blocking while()

while (waitpid(tc_pid, &Stat, WNOHANG) != tc_pid);

if (WIFEXITED(Stat)) {

std::cout << " parent: Child exited with exit code " << WEXITSTATUS(Stat) << std::endl;

} else if (WIFSIGNALED(Stat)) {

std::cout << " parent: Child killed with signal " << WTERMSIG(Stat) << std::endl;

} else {

std::cout << " parent: Something else happened to child, e.g. STOPPED" << std::endl;

}

//

// Close Log File

if (logFileStream.good())

{

std::cout << " Closing Log File" << std::endl;

logFileStream.close();

}

//

// Free shared memory space

munmap((void *)sv, sizeof(shared_vars_t));

std::cout << " Exiting Primary Thread Normally..." << std::endl;

return 0;