#include <unistd.h>
#include <stdio.h>
#include <string.h>
#include <stdlib.h>

//setup GPIO Direction folder
const char *gpio0_dir= "/sys/class/gpio/gpio154/direction"; 
const char *gpio1_dir= "/sys/class/gpio/gpio155/direction"; 


//setup GPIO Value folder
const char *gpio1_val= "/sys/class/gpio/gpio155/value";  /* Power On - Power- off*/
const char *gpio0_val= "/sys/class/gpio/gpio154/value";  /* Forward On -  Reverse-Off*/

 
//create a variable to store whether we are sending a '1' or a '0'
char set_value[4]; 
FILE *fp; 


void gripper_Close(){ 
		char set_value[4]; 	
		/*set direction */
		if ((fp = fopen(gpio0_val, "rb+")) == NULL)
		{
			printf("Cannot open value file \n");
			exit(1);
		}
			//Set pointer to beginning of the file
			rewind(fp);
			//Write our value of "0" to the file 
			strcpy(set_value,"0");
			fwrite(&set_value, sizeof(char), 1, fp);
			fclose(fp);

		/*start motion pins*/ 
		if ((fp = fopen(gpio1_val, "rb+")) == NULL)
		{
			printf("Cannot open value file \n");
			exit(1);
		}
			//Set pointer to beginning of the file
			rewind(fp);
			//Write our value of "1" to the file 
			strcpy(set_value,"1");
			fwrite(&set_value, sizeof(char), 1, fp);
			fclose(fp);

}


void set_direction(const char *dir, int size){ 
	char set_value[4]; 

	//SET DIRECTION
	//Open the LED's sysfs file in binary for reading and writing, store file pointer in fp
	if ((fp = fopen(dir, "rb+")) == NULL)
	{
		printf("Cannot open direction file \n");
		exit(1);
	}
	//Set pointer to beginning of the file
	rewind(fp);
	//Write our value of "out" to the file
	strcpy(set_value,"out");
	fwrite(&set_value, sizeof(char), size, fp);
	fclose(fp);

}
void pin_value(const char *dir, char vset_value[]){ 


	//Open the LED's sysfs file in binary for reading and writing, store file pointer in fp
	if ((fp = fopen(dir, "rb+")) == NULL)
		{
			printf("Cannot open value file \n");
			exit(1);
		}
	//Set pointer to beginning of the file
	rewind(fp);
	fwrite(&vset_value, sizeof(char), 1, fp);
	fclose(fp);

}
int gripper()
{
	printf("\n");
	//create a variable to store whether we are sending a '1' or a '0'
	char set_value[4]; 


	//Using sysfs we need to write "37" to /sys/class/gpio/export
	//This will create the folder /sys/class/gpio/gpio37
	if ((fp = fopen("/sys/class/gpio/export", "ab")) == NULL)
		{
			printf("Cannot open export file \n");
			exit(1);
		}
	//Set pointer to beginning of the file
		rewind(fp);
		//export GPIO 0 
		strcpy(set_value,"154");
		fwrite(&set_value, sizeof(char), 3, fp);
		fclose(fp);

	if ((fp = fopen("/sys/class/gpio/export", "ab")) == NULL)
		{
			printf("Cannot open export file \n");
			exit(1);
		}
		rewind(fp);
		//export GPIO 1 
		strcpy(set_value,"155");
		fwrite(&set_value, sizeof(char), 3, fp);
		fclose(fp);

	
	//setup GPIO 0
	set_direction(gpio0_dir, 3);
	strcpy(set_value,"0");
	pin_value(gpio0_val,set_value);

	//setup GPIO 1
	set_direction(gpio1_dir, 3);
	pin_value(gpio1_val,set_value);


	gripper_Close();
	
return 0;
}

int main() {


	printf("Status: 204 No Content \n");
	gripper();


	return 0;
}