#include <stdio.h>

#include <sys/types.h>

#include <sys/socket.h>

#include <netinet/in.h>

#include <netdb.h>

#include <stdlib.h>

#include <strings.h>

#include <string.h>

#include <mraa/i2c.h>

#include "LSM9DS0.h"

void error(char *msg)

{

perror(msg);

exit(0);

}

//concatenate two strings

char* concat(char *s1, char *s2)

{

//malloc enough space for combination of strings

char *result = malloc(strlen(s1)+strlen(s2)+1);//+1 for the null byte

//combine strings: copy s1 into result, then concatenate s2

strcpy(result, s1);

strcat(result, s2);

return result;

}

typedef enum {

ACCEL_X,

ACCEL_Y,

ACCEL_Z,

GYRO_X,

GYRO_Y,

GYRO_Z,

MAG_X,

MAG_Y,

MAG_Z,

} datatype_t;

typedef enum {

X_DIR,

Y_DIR,

Z_DIR,

} dir_t;

char* construct_accel_message(dir_t dir, data_t accel_data) {

char x_accel_value[30];

char y_accel_value[30];

char z_accel_value[30];

char *full_message_x;

char *full_message_y;

char *full_message_z;

char message1[] = "{\"n\": \"";

char message2[] = "\", \"v\": \"";

char message3[] = "\"}";

char *message4;

char *message5;

char *message6;

if (dir == X_DIR) {

snprintf(x_accel_value, 6, "%f", accel_data.x);

message4 = concat(message1, "accel_x");

message5 = concat(message4, message2);

message6 = concat(message5, x_accel_value);

full_message_x = concat(message6, message3);

return full_message_x;

}

else if (dir == Y_DIR) {

snprintf(y_accel_value, 6, "%f", accel_data.y);

message4 = concat(message1, "accel_y");

message5 = concat(message4, message2);

message6 = concat(message5, y_accel_value);

full_message_y = concat(message6, message3);

return full_message_y;

}

else if (dir == Z_DIR) {

snprintf(z_accel_value, 6, "%f", accel_data.z);

message4 = concat(message1, "accel_z");

message5 = concat(message4, message2);

message6 = concat(message5, z_accel_value);

full_message_z = concat(message6, message3);

return full_message_z;

}

else error("ERROR: invalid call to construct_accel_message\n");

}

int main(int argc, char *argv[]) {

/////VARIABLE DECLARATIONS/////

//SENSORS

mraa_i2c_context accel, gyro, mag;

float a_res, g_res, m_res;

data_t accel_data, gyro_data, mag_data;

int16_t temperature;

char *x_accel_message;

char *y_accel_message;

char *z_accel_message;

//SOCKETS AND MESSAGES

int sockfd; //Socket descriptor

int portno, n;

char component[256];

char endpoint[] = "127.0.0.1";

struct sockaddr_in serv_addr;

struct hostent *server; //struct containing a bunch of info

char message[256];

int count;

/////SENSOR INITIALIZATION AND SETUP

accel = accel_init();

set_accel_scale(accel, A_SCALE_2G);

set_accel_ODR(accel, A_ODR_100);

a_res = calc_accel_res(A_SCALE_2G);

gyro = gyro_init();

set_gyro_scale(gyro, G_SCALE_245DPS);

set_gyro_ODR(accel, G_ODR_190_BW_70);

g_res = calc_gyro_res(G_SCALE_245DPS);

mag = mag_init();

set_mag_scale(mag, M_SCALE_2GS);

set_mag_ODR(mag, M_ODR_125);

m_res = calc_mag_res(M_SCALE_2GS);

/////SOCKET SETUP/////

//resolve arguments from command line

//if (argc < 2) {

// fprintf(stderr,"Error: need argument (component)\n");

// exit(0);

//}

//store arguments into variables

//strcpy(component, argv[1]);

//this is the port number that the edison reserves for the cloud?

portno = 41234;

//create socket

sockfd = socket(AF_INET, SOCK_DGRAM, 0); //create a new socket

if (sockfd < 0)

error("ERROR opening socket");

server = gethostbyname("127.0.0.1"); //takes a string like "www.yahoo.com", and returns a struct hostent which contains information, as IP address, address type, the length of the addresses...

if (server == NULL) {

fprintf(stderr,"ERROR, no such host\n");

exit(0);

}

//setup the server struct

memset((char *) &serv_addr, 0, sizeof(serv_addr));

serv_addr.sin_family = AF_INET; //initialize server's address

bcopy((char *)server->h_addr, (char *)&serv_addr.sin_addr.s_addr, server->h_length);

serv_addr.sin_port = htons(portno);

//connect to server

if (connect(sockfd,(struct sockaddr *)&serv_addr,sizeof(serv_addr)) < 0) //establish a connection to the server

error("ERROR connecting");

//lets only read acceleration form now

count = 0;

while(1) {

accel_data = read_accel(accel, a_res);

//gyro_data = read_gyro(gyro, g_res);

//mag_data = read_mag(mag, m_res);

//temperature = read_temp(accel);

if (count == 3) {

//store accel data in string

x_accel_message = construct_accel_message(X_DIR, accel_data);

//printf("%s\n", full_message_x);

//send UDP message

n = write(sockfd,x_accel_message,strlen(x_accel_message)); //write to the socket

if (n < 0)

error("ERROR writing to socket");

y_accel_message = construct_accel_message(Y_DIR, accel_data);

//printf("%s\n", full_message_y);

n = write(sockfd,y_accel_message,strlen(y_accel_message)); //write to the socket

if (n < 0)

error("ERROR writing to socket");

z_accel_message = construct_accel_message(Z_DIR, accel_data);

//printf("%s\n", full_message_z);

n = write(sockfd,z_accel_message,strlen(z_accel_message)); //write to the socket

if (n < 0)

error("ERROR writing to socket");

count = 0;

}

printf("X: %f\t Y: %f\t Z: %f\n", accel_data.x, accel_data.y, accel_data.z);

//printf("\tX: %f\t Y: %f\t Z: %f\t||", gyro_data.x, gyro_data.y, gyro_data.z);

//printf("\tX: %f\t Y: %f\t Z: %f\t||", mag_data.x, mag_data.y, mag_data.z);

//printf("\t%ld\n", temperature);

count++;

usleep(100000);

}

return 0;

}