// Mario Behn, behn@mirsl.ecs.umass.edu
// 0.1 runs with four sonics on /dev/ttyUSB0 to /dev/ttyUSB3
// 0.2 include temperature logger on /dev/ttyS1
// 0.3 include barometer on /dev/ttyUSB4

// Header files
#include <string.h>
#include <time.h>
#include <unistd.h>
#include <stdio.h>
#include <stdlib.h>
#include <termios.h>
#include <sys/types.h>
#include <sys/time.h>
#include <sys/stat.h>
#include <fcntl.h>
#include <sys/ioctl.h>
#include <signal.h>
#include <sys/io.h>

// Symbols
#define _GNU_SOURCE
#define _POSIX_SOURCE 1
#define BAUDRATE1 B38400
#define BAUDRATE2 B2400
#define BAUDRATE3 B9600
#define MODEMDEVICE  "/dev/ttyUSB0"	// Sensor 1 (Sonic)
#define MODEMDEVICE1 "/dev/ttyUSB1"	// Sensor 2 (Sonic)
#define MODEMDEVICE2 "/dev/ttyUSB2"	// Sensor 3 (Sonic)
#define MODEMDEVICE3 "/dev/ttyUSB3"	// Sensor 4 (Sonic)
#define MODEMDEVICE4 "/dev/ttyUSB4"	// Sensor 5 (Barometer)

#define MODEMDEVICE8 "/dev/ttyS1"       // Temperatursensors


// Global Variables
FILE *myfile;
FILE *myfile1;
FILE *myfile2;
FILE *myfile3;
FILE *myfile4;

FILE *myfile8;

int fd;
int fd1;
int fd2;
int fd3;
int fd4;

int fd8;

int select_result;
struct termios oldtio, newtio;
struct termios oldtio1, newtio1;
struct termios oldtio2, newtio2;
struct termios oldtio3, newtio3;
struct termios oldtio4, newtio4;

struct termios oldtio8, newtio8;

// ***************************************************************** 
// Signal Handler on CTRL-C
void
catch_int (int sig_num)
{
  pid_t my_pid = getpid ();

  fclose (myfile);
  close (fd);
  tcsetattr (fd, TCSANOW, &oldtio);

  fclose (myfile1);
  close (fd1);
  tcsetattr (fd1, TCSANOW, &oldtio1);

  fclose (myfile2);
  close (fd2);
  tcsetattr (fd2, TCSANOW, &oldtio2);

  fclose (myfile3);
  close (fd3);
  tcsetattr (fd3, TCSANOW, &oldtio3);

  fclose (myfile4);
  close (fd4);
  tcsetattr (fd4, TCSANOW, &oldtio4);

  fclose (myfile8);
  close (fd8);
  tcsetattr (fd8, TCSANOW, &oldtio8);

  printf ("Ending data retrieval program \n");
  kill (my_pid, SIGTERM);
}
// ***************************************************************** 

// ***************************************************************** 
//  Creates Timestamp as Filename
struct tm *
init_filename (char fileName[])
{
  time_t t;
  struct tm *date;

  t = time ((time_t *) NULL);
  //  date = gmtime (&t);
  date = localtime (&t);

  sprintf (fileName, "%04d%02d%02d%02d%02d%02d.dat", date->tm_year + 1900,
	   date->tm_mon + 1, date->tm_mday, date->tm_hour, date->tm_min,
	   date->tm_sec);
  return date;
}
// ***************************************************************** 

// ***************************************************************** 
main (int argc, char *argv[], char *envp[])
{
  int c, res;
  fd_set set;

  char buf[255];
  int i = 0;
  int ch;
  int flags;
  int old_tm_mday;
  char buffer[30];
  char test[30];
  char path[60] = "../raw_data/";
  char timestamp[60];

  char filename[60];
  char filename1[60];
  char filename2[60];
  char filename3[60];
  char filename4[60];

  char filename8[60];

  struct tm my_time;
  
  struct timeval tv;
  time_t curtime;
  // Timestamp>>Filename
  init_filename (timestamp);	// Timestamp>>Filename
  // Register the Signal Handler
  signal (SIGINT, catch_int);	// Register the Signal Handler

  // Open 1st sensor device for read and write
  fd = open (MODEMDEVICE, O_RDWR | O_NOCTTY);	// file descriptor for select
  if (fd < 0) { perror (MODEMDEVICE); exit (-1); }

  // Open 2nd sensor device for read and write
  fd1 = open (MODEMDEVICE1, O_RDWR | O_NOCTTY);	// file descriptor for select
  if (fd1 < 0){ perror (MODEMDEVICE1); exit (-1); }

 // Open 3rd sensor device for read and write
  fd2 = open (MODEMDEVICE2, O_RDWR | O_NOCTTY);	// file descriptor for select
  if (fd2 < 0){ perror (MODEMDEVICE2); exit (-1); }

  // Open 4th sensor device for read and write
  fd3 = open (MODEMDEVICE3, O_RDWR | O_NOCTTY);	// file descriptor for select
  if (fd3 < 0){ perror (MODEMDEVICE3); exit (-1); }

// Open 5th sensor device for read and write
  fd4 = open (MODEMDEVICE4, O_RDWR | O_NOCTTY);	// file descriptor for select
  if (fd4 < 0){ perror (MODEMDEVICE4); exit (-1); }

  // Open temp logger for read and write
  fd8 = open (MODEMDEVICE8, O_RDWR | O_NOCTTY); // file descriptor for select
  if (fd8 < 0) { perror (MODEMDEVICE8); exit (-1); }

  // Clear FD
  //  FD_ZERO (&set);
  // Add 1st Sonic FD
  //  FD_SET (fd, &set);
  // Buffer serial port settings from before program start

  // Serial Port 1
  tcgetattr (fd, &oldtio);	/* save current serial port settings */
  bzero (&newtio, sizeof (newtio));/* clear struct for new port settings */ 
  // Serial Port 2
  tcgetattr (fd1, &oldtio1);	/* save current serial port settings */
  bzero (&newtio1, sizeof (newtio1));/* clear struct for new port settings */
  // Serial Port 3
  tcgetattr (fd2, &oldtio2);	/* save current serial port settings */
  bzero (&newtio2, sizeof (newtio2));/* clear struct for new port settings */
  // Serial Port 4
  tcgetattr (fd3, &oldtio3);	/* save current serial port settings */
  bzero (&newtio3, sizeof (newtio3));/* clear struct for new port settings */

  // Serial Port 4
  tcgetattr (fd4, &oldtio4);	/* save current serial port settings */
  bzero (&newtio4, sizeof (newtio4));/* clear struct for new port settings */

  // Serial Port 9 (onboard serial port 2)
  tcgetattr (fd8, &oldtio8);	/* save current serial port settings */
  bzero (&newtio8, sizeof (newtio8));/* clear struct for new port settings */

  // Setup terminal line control parameter
  newtio.c_cflag = BAUDRATE1 | CRTSCTS | CS8 | CLOCAL | CREAD;
  newtio1.c_cflag = BAUDRATE1 | CRTSCTS | CS8 | CLOCAL | CREAD;
  newtio2.c_cflag = BAUDRATE1 | CRTSCTS | CS8 | CLOCAL | CREAD;
  newtio3.c_cflag = BAUDRATE1 | CRTSCTS | CS8 | CLOCAL | CREAD;
  newtio4.c_cflag = BAUDRATE3 | CRTSCTS | CS8 | CLOCAL | CREAD;

  newtio8.c_cflag = BAUDRATE2 | CRTSCTS | CS8 | CLOCAL | CREAD;
  newtio8.c_iflag = IGNPAR | IGNCR;
  newtio8.c_oflag = 0;

  /* set input mode (non-canonical, no echo,...) */
  newtio8.c_lflag = 0;

  newtio8.c_cc[VTIME]    = 0;   /* inter-character timer unused */
  newtio8.c_cc[VMIN]     = 9;   /* blocking read until 9 chars received */

  newtio.c_iflag = IGNPAR | ICRNL;
  newtio1.c_iflag = IGNPAR | ICRNL;
  newtio2.c_iflag = IGNPAR | ICRNL;
  newtio3.c_iflag = IGNPAR | ICRNL;
  newtio4.c_iflag = IGNPAR | ICRNL;

  newtio.c_oflag = 0;
  newtio1.c_oflag = 0;
  newtio2.c_oflag = 0;
  newtio3.c_oflag = 0;
  newtio4.c_oflag = 0;

  newtio.c_lflag = ICANON;
  newtio1.c_lflag = ICANON;
  newtio2.c_lflag = ICANON;
  newtio3.c_lflag = ICANON;
  newtio4.c_lflag = ICANON;

  // Initialize all control characters 
  // Serial Port 1
  newtio.c_cc[VINTR] = 0;	/* Ctrl-c */
  newtio.c_cc[VQUIT] = 0;	/* Ctrl-\ */
  newtio.c_cc[VERASE] = 0;	/* del */
  newtio.c_cc[VKILL] = 0;	/* @ */
  newtio.c_cc[VEOF] = 4;	/* Ctrl-d */
  newtio.c_cc[VTIME] = 0;	/* inter-character timer unused */
  newtio.c_cc[VMIN] = 1;	/* blocking read until 1 character arrives */
  newtio.c_cc[VSWTC] = 0;	/* '\0' */
  newtio.c_cc[VSTART] = 0;	/* Ctrl-q */
  newtio.c_cc[VSTOP] = 0;	/* Ctrl-s */
  newtio.c_cc[VSUSP] = 0;	/* Ctrl-z */
  newtio.c_cc[VEOL] = 0;	/* '\0' */
  newtio.c_cc[VREPRINT] = 0;	/* Ctrl-r */
  newtio.c_cc[VDISCARD] = 0;	/* Ctrl-u */
  newtio.c_cc[VWERASE] = 0;	/* Ctrl-w */
  newtio.c_cc[VLNEXT] = 0;	/* Ctrl-v */
  newtio.c_cc[VEOL2] = 0;	/* '\0' */

  // Serial Port 2
  newtio1.c_cc[VINTR] = 0;	/* Ctrl-c */
  newtio1.c_cc[VQUIT] = 0;	/* Ctrl-\ */
  newtio1.c_cc[VERASE] = 0;	/* del */
  newtio1.c_cc[VKILL] = 0;	/* @ */
  newtio1.c_cc[VEOF] = 4;	/* Ctrl-d */
  newtio1.c_cc[VTIME] = 0;	/* inter-character timer unused */
  newtio1.c_cc[VMIN] = 1;	/* blocking read until 1 character arrives */
  newtio1.c_cc[VSWTC] = 0;	/* '\0' */
  newtio1.c_cc[VSTART] = 0;	/* Ctrl-q */
  newtio1.c_cc[VSTOP] = 0;	/* Ctrl-s */
  newtio1.c_cc[VSUSP] = 0;	/* Ctrl-z */
  newtio1.c_cc[VEOL] = 0;	/* '\0' */
  newtio1.c_cc[VREPRINT] = 0;	/* Ctrl-r */
  newtio1.c_cc[VDISCARD] = 0;	/* Ctrl-u */
  newtio1.c_cc[VWERASE] = 0;	/* Ctrl-w */
  newtio1.c_cc[VLNEXT] = 0;	/* Ctrl-v */
  newtio1.c_cc[VEOL2] = 0;	/* '\0' */

// Serial Port 3
  newtio2.c_cc[VINTR] = 0;	/* Ctrl-c */
  newtio2.c_cc[VQUIT] = 0;	/* Ctrl-\ */
  newtio2.c_cc[VERASE] = 0;	/* del */
  newtio2.c_cc[VKILL] = 0;	/* @ */
  newtio2.c_cc[VEOF] = 4;	/* Ctrl-d */
  newtio2.c_cc[VTIME] = 0;	/* inter-character timer unused */
  newtio2.c_cc[VMIN] = 1;	/* blocking read until 1 character arrives */
  newtio2.c_cc[VSWTC] = 0;	/* '\0' */
  newtio2.c_cc[VSTART] = 0;	/* Ctrl-q */
  newtio2.c_cc[VSTOP] = 0;	/* Ctrl-s */
  newtio2.c_cc[VSUSP] = 0;	/* Ctrl-z */
  newtio2.c_cc[VEOL] = 0;	/* '\0' */
  newtio2.c_cc[VREPRINT] = 0;	/* Ctrl-r */
  newtio2.c_cc[VDISCARD] = 0;	/* Ctrl-u */
  newtio2.c_cc[VWERASE] = 0;	/* Ctrl-w */
  newtio2.c_cc[VLNEXT] = 0;	/* Ctrl-v */
  newtio2.c_cc[VEOL2] = 0;	/* '\0' */

  // Serial Port 4
  newtio3.c_cc[VINTR] = 0;	/* Ctrl-c */
  newtio3.c_cc[VQUIT] = 0;	/* Ctrl-\ */
  newtio3.c_cc[VERASE] = 0;	/* del */
  newtio3.c_cc[VKILL] = 0;	/* @ */
  newtio3.c_cc[VEOF] = 4;	/* Ctrl-d */
  newtio3.c_cc[VTIME] = 0;	/* inter-character timer unused */
  newtio3.c_cc[VMIN] = 1;	/* blocking read until 1 character arrives */
  newtio3.c_cc[VSWTC] = 0;	/* '\0' */
  newtio3.c_cc[VSTART] = 0;	/* Ctrl-q */
  newtio3.c_cc[VSTOP] = 0;	/* Ctrl-s */
  newtio3.c_cc[VSUSP] = 0;	/* Ctrl-z */
  newtio3.c_cc[VEOL] = 0;	/* '\0' */
  newtio3.c_cc[VREPRINT] = 0;	/* Ctrl-r */
  newtio3.c_cc[VDISCARD] = 0;	/* Ctrl-u */
  newtio3.c_cc[VWERASE] = 0;	/* Ctrl-w */
  newtio3.c_cc[VLNEXT] = 0;	/* Ctrl-v */
  newtio3.c_cc[VEOL2] = 0;	/* '\0' */

// Serial Port 4
  newtio4.c_cc[VINTR] = 0;	/* Ctrl-c */
  newtio4.c_cc[VQUIT] = 0;	/* Ctrl-\ */
  newtio4.c_cc[VERASE] = 0;	/* del */
  newtio4.c_cc[VKILL] = 0;	/* @ */
  newtio4.c_cc[VEOF] = 4;	/* Ctrl-d */
  newtio4.c_cc[VTIME] = 0;	/* inter-character timer unused */
  newtio4.c_cc[VMIN] = 1;	/* blocking read until 1 character arrives */
  newtio4.c_cc[VSWTC] = 0;	/* '\0' */
  newtio4.c_cc[VSTART] = 0;	/* Ctrl-q */
  newtio4.c_cc[VSTOP] = 0;	/* Ctrl-s */
  newtio4.c_cc[VSUSP] = 0;	/* Ctrl-z */
  newtio4.c_cc[VEOL] = 0;	/* '\0' */
  newtio4.c_cc[VREPRINT] = 0;	/* Ctrl-r */
  newtio4.c_cc[VDISCARD] = 0;	/* Ctrl-u */
  newtio4.c_cc[VWERASE] = 0;	/* Ctrl-w */
  newtio4.c_cc[VLNEXT] = 0;	/* Ctrl-v */
  newtio4.c_cc[VEOL2] = 0;	/* '\0' */

  // Clean FD and Write Settings into port 1  /* 
  tcflush (fd, TCIFLUSH);
  tcsetattr (fd, TCSANOW, &newtio);

  // Clean FD and Write Settings into port 2  /* 
  tcflush (fd1, TCIFLUSH);
  tcsetattr (fd1, TCSANOW, &newtio1);

  // Clean FD and Write Settings into port 3  /* 
  tcflush (fd2, TCIFLUSH);
  tcsetattr (fd2, TCSANOW, &newtio2);

  // Clean FD and Write Settings into port 4  /* 
  tcflush (fd3, TCIFLUSH);
  tcsetattr (fd3, TCSANOW, &newtio3);

  // Clean FD and Write Settings into port 4  /* 
  tcflush (fd4, TCIFLUSH);
  tcsetattr (fd4, TCSANOW, &newtio4);

  // Clean FD and Write Settings into port 9  /* 
  tcflush (fd8, TCIFLUSH);
  tcsetattr (fd8, TCSANOW, &newtio8);


  // Open file for 1st sonic
  sprintf (filename, "%sSONIC_1_%s", path, timestamp);
  myfile = fopen (filename, "w+");

  // Open file for 2nd sonic
  sprintf (filename1, "%sSONIC_2_%s", path, timestamp);
  myfile1 = fopen (filename1, "w+");

  // Open file for 3rd sonic
  sprintf (filename2, "%sSONIC_3_%s", path, timestamp);
  myfile2 = fopen (filename2, "w+");

  // Open file for 4th sonic
  sprintf (filename3, "%sSONIC_4_%s", path, timestamp);
  myfile3 = fopen (filename3, "w+");

  // Open file for 4th sonic
  sprintf (filename4, "%sBAROMETER_1_%s", path, timestamp);
  myfile4 = fopen (filename4, "w+");
  
  // Open file for Temperature
  sprintf (filename8, "%sTEMPERATURE_%s", path, timestamp);
  myfile8 = fopen (filename8, "w+");

  // Clear FD
  FD_ZERO (&set);

  // Add 1st Sonic FD
  FD_SET (fd, &set);
  // Add 2nd Sonic FD
  FD_SET (fd1, &set);
  // Add 3rd Sonic FD
  FD_SET (fd2, &set);
  // Add 4th Sonic FD
  FD_SET (fd3, &set);
  // Add Barometer FD 
  FD_SET (fd4, &set);
  // Add Temperature FD
  FD_SET (fd8, &set);

  // Read a dummy read, to avoid upstarting incomplete data
  for (i=0;i<=19;i++)
    {
      // Wait for the FD which has data
      select_result = select (FD_SETSIZE, &set, NULL, NULL, NULL);
      
      //      printf("active %i /n",select_result);

      // Data available from 1st sonic
      if (FD_ISSET (fd, &set))
	{
	  //  printf("SONIC 1 \n");
	  res = read (fd, buf, 255);

	  // Add 1st Sonic FD
	  FD_SET (fd, &set);
	  // Add 2nd Sonic FD
	  FD_SET (fd1, &set);
	  // Add 3rd Sonic FD
	  FD_SET (fd2, &set);
	  // Add 4th Sonic FD
	  FD_SET (fd3, &set);
	  // Add Barometer FD 
	  FD_SET (fd4, &set);
	  // Add Temperature FD
	  FD_SET (fd8, &set);
	}
      else if (FD_ISSET (fd1, &set)) 
	{
	  //	  printf("SONIC 2 \n");
	  res = read (fd1, buf, 255);

	  // Add 1st Sonic FD
	  FD_SET (fd, &set);
	  // Add 2nd Sonic FD
	  FD_SET (fd1, &set);
	  // Add 3rd Sonic FD
	  FD_SET (fd2, &set);
	  // Add 4th Sonic FD
	  FD_SET (fd3, &set);
	  // Add Barometer FD 
	  FD_SET (fd4, &set);
	  // Add Temperature FD
	  FD_SET (fd8, &set);
	}
      else if (FD_ISSET (fd2, &set)) 
	{
	  //	  printf("SONIC 3 \n");
	  res = read (fd2, buf, 255);

	  // Add 1st Sonic FD
	  FD_SET (fd, &set);
	  // Add 2nd Sonic FD
	  FD_SET (fd1, &set);
	  // Add 3rd Sonic FD
	  FD_SET (fd2, &set);
	  // Add 4th Sonic FD
	  FD_SET (fd3, &set);
	  // Add Barometer FD 
	  FD_SET (fd4, &set);
	   // Add Temperature FD
	  FD_SET (fd8, &set);
	}
      else if (FD_ISSET (fd3, &set)) 
	{
	  //	  printf("SONIC 4 \n");
	  res = read (fd3, buf, 255);

	  // Add 1st Sonic FD
	  FD_SET (fd, &set);
	  // Add 2nd Sonic FD
	  FD_SET (fd1, &set);
	  // Add 3rd Sonic FD
	  FD_SET (fd2, &set);
	  // Add 4th Sonic FD
	  FD_SET (fd3, &set);
	  // Add Barometer FD 
	  FD_SET (fd4, &set);
	  // Add Temperature FD
	  FD_SET (fd8, &set);
	}
      else if (FD_ISSET (fd3, &set)) 
	{
	  //	  printf("BAROMETER 1 \n");
	  res = read (fd4, buf, 255);

	  // Add 1st Sonic FD
	  FD_SET (fd, &set);
	  // Add 2nd Sonic FD
	  FD_SET (fd1, &set);
	  // Add 3rd Sonic FD
	  FD_SET (fd2, &set);
	  // Add 4th Sonic FD
	  FD_SET (fd3, &set);
	  // Add Barometer FD 
	  FD_SET (fd4, &set);
	  // Add Temperature FD
	  FD_SET (fd8, &set);
	}
      else if (FD_ISSET (fd8, &set)) 
	{
	  //	  printf("TEMPERATURE \n");
	  res = read (fd8, buf, 255);

	  // Add 1st Sonic FD
	  FD_SET (fd, &set);
	  // Add 2nd Sonic FD
	  FD_SET (fd1, &set);
	  // Add 3rd Sonic FD
	  FD_SET (fd2, &set);
	  // Add 4th Sonic FD
	  FD_SET (fd3, &set);
	  // Add Barometer FD 
	  FD_SET (fd4, &set);
	  // Add Temperature FD
	  FD_SET (fd8, &set);
	}
    }

  // Infinite data recording loop
  //  for(i=0;i<=20;i++)
      for (;;)
    {
	  // Wait for the FD which has data
	  select_result = select (FD_SETSIZE, &set, NULL, NULL, NULL);

	  // Create timestamp right away
	  gettimeofday (&tv, NULL);
	  curtime = tv.tv_sec;

	  if (localtime (&curtime)->tm_mday!=old_tm_mday){
	    // insert File closing, new file name generation and opening new file here
	    fclose (myfile);
	    fclose (myfile1);
	    fclose (myfile2);
	    fclose (myfile3);
	    fclose (myfile4);

	    fclose (myfile8);
	
	    init_filename (timestamp);	// Timestamp>>Filename
	    
	    sprintf (filename, "%sSONIC_1_%s", path, timestamp), myfile = fopen (filename, "w+"); // Open file for 1st sonic
	    sprintf (filename1, "%sSONIC_2_%s", path, timestamp), myfile1 = fopen (filename1, "w+"); // Open file for 2nd sonic
	    sprintf (filename2, "%sSONIC_3_%s", path, timestamp), myfile2 = fopen (filename2, "w+"); // Open file for 3rd sonic
	    sprintf (filename3, "%sSONIC_4_%s", path, timestamp), myfile3 = fopen (filename3, "w+"); // Open file for 4th sonic
	    sprintf (filename4, "%sBAROMETER_1_%s", path, timestamp), myfile4 = fopen (filename4, "w+"); // Open file for 1st Barometer

	    sprintf (filename8, "%sTEMPERATURE_%s", path, timestamp), myfile8 = fopen (filename8, "w+"); // Open file for the temperature logger
	  }

	  old_tm_mday = localtime(&curtime)->tm_mday;
	  strftime (buffer, 30, "20%g %m %d %H %M %S.", localtime (&curtime));
	  sprintf (test, "%s%06ld ", buffer, tv.tv_usec);
	  
	  // **********************************************************************************
	  // Data available from 1st sonic
	  if (FD_ISSET (fd, &set)){
	    // Read the data from the serial port
	    res = read (fd, buf, 255);
	    // Set end of string
	    buf[res] = 0;
	    // Write timestamp to file
	    fputs (test, myfile);
	    // Write data to file
	    fputs (buf, myfile);
	}
	  // Data available from 2nd sonic
	  else if (FD_ISSET (fd1, &set)){
	    // Read the data from the serial port
	    res = read (fd1, buf, 255);
	    // Set end of string
	    buf[res] = 0;
	    // Write timestamp to file
	    fputs (test, myfile1);
	    // Write data to file
	    fputs (buf, myfile1);
	  }
	  // Data available from 3rd sonic
	  else if (FD_ISSET (fd2, &set)){
	    // Read the data from the serial port
	    res = read (fd2, buf, 255);
	    // Set end of string
	    buf[res] = 0;
	    // Write timestamp to file
	    fputs (test, myfile2);
	    // Write data to file
	    fputs (buf, myfile2);
	  }
	  // Data available from 4th sonic
	  else if (FD_ISSET (fd3, &set)){
	    // Read the data from the serial port
	    res = read (fd3, buf, 255);
	    // Set end of string
	    buf[res] = 0;
	    // Write timestamp to file
	    fputs (test, myfile3);
	    // Write data to file
	    fputs (buf, myfile3);
	  }
	  // Data available from 1st barometer
	  else if (FD_ISSET (fd4, &set)){
	    // Read the data from the serial port
	    res = read (fd4, buf, 255);
	    // Set end of string
	    buf[res] = 0;
	    // Write timestamp to file
	    fputs (test, myfile4);
	    // Write data to file
	    fputs (buf, myfile4);
	  }
	  // Data available from temperature sensor
	  else if (FD_ISSET (fd8, &set)){
	    // Read the data from the serial port
	    res = read (fd8, buf, 255);
	    // Set end of string
	    buf[res] = 0;
	    // Write timestamp to file
	    //fputs (test, myfile8);
	    // Write data to file
	    //fputs (buf, myfile8);
	    fprintf(myfile8," %s %s",buf, test);
	  }
	  // **********************************************************************************

	  // Add 1st Sonic FD
	  FD_SET (fd, &set);
	  // Add 2nd Sonic FD
	  FD_SET (fd1, &set);
	  // Add 3rd Sonic FD
	  FD_SET (fd2, &set);
	  // Add 4th Sonic FD
	  FD_SET (fd3, &set);
	  // Add Barometer FD 
	  FD_SET (fd4, &set);
	  // Add Temperature FD
	  FD_SET (fd8, &set);
    }


  // Restore the old serial port settings
  fclose (myfile);
  close (fd);
  tcsetattr (fd, TCSANOW, &oldtio);

  fclose (myfile1);
  close (fd1);
  tcsetattr (fd, TCSANOW, &oldtio1);

  fclose (myfile2);
  close (fd2);
  tcsetattr (fd2, TCSANOW, &oldtio2);

  fclose (myfile3);
  close (fd3);
  tcsetattr (fd3, TCSANOW, &oldtio3);

  fclose (myfile4);
  close (fd4);
  tcsetattr (fd4, TCSANOW, &oldtio4);

  fclose (myfile8);
  close (fd8);
  tcsetattr (fd8, TCSANOW, &oldtio8);
}