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#include <fcntl.h>
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#include <fcntl.h>
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using namespace std;
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using namespace std;
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#define CMPS03_SOFTWARE_REVISION 0x0
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#define SRF02_SOFTWARE_REVISION 0x0
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#define I2C_SLAVE	0x0703	/* Change slave address			*/
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#define I2C_RDWR	0x0707	/* Combined R/W transfer (one stop only)*/
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#define I2C_SLAVE_FORCE	0x0706	/* Change slave address			*/
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				/* Attn.: Slave address is 7 or 10 bits */
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				/* This changes the address, even if it */
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				/* is already taken!	*/
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#define BC_Addr	    0x0B
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#define BC_Addr	    0x0B
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#define US_Addr	    0x70 // 0xE0 in fact
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#define US_Addr	    0x70 // 0xE0 in fact
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#define PIC_Addr	0x50 // 0xA0 in fact
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#define PIC_Addr	0x50 // 0xA0 in fact
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char vystup[30];
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char vystup[30];
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	if (file < 0)
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	if (file < 0)
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	{
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	{
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		cerr << "Could not open /dev/i2c-0." << endl;
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		cerr << "Could not open /dev/i2c-0." << endl;
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		return -1;
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		return -1;
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	}
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	}
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/*
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	if (ioctl(file, I2C_SLAVE, BC_Addr) == -1)
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	if (ioctl(file, I2C_SLAVE, BC_Addr) == -1)
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	{
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	{
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		fprintf(stderr, "Failed to set address to 0x%02x.\n", BC_Addr);
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		fprintf(stderr, "Failed to set address to 0x%02x.\n", BC_Addr);
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		DoExit(-2);
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		DoExit(-2);
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	}
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	}
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    }
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    }
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    Buf[Len] = 0x00;
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    Buf[Len] = 0x00;
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    fprintf(stdout, "Board ID is %s.\n", Buf);
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    fprintf(stdout, "Board ID is %s.\n", Buf);
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*/
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//!------ US ---------------------------------------------------------------------------
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//!------ US ---------------------------------------------------------------------------
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    pthread_create(&thread_id, NULL, print_tele, NULL);
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    pthread_create(&thread_id, NULL, print_tele, NULL);
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    while(true)
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    while(true)
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        }
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        }
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        Buf[0]=command;
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        Buf[0]=command;
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        write(file, Buf, 1);
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        write(file, Buf, 1);
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        read(file, Buf, 1);
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        read(file, Buf, 1);
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        ble=Buf[0];
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        ble=Buf[0];
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//!--------
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printf("Vzdalenost: %u cm Command: %x\n",vzdalenost,ble);
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    };
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    };
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	close(file);
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	close(file);
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    pthread_join(thread_id, NULL);
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    pthread_join(thread_id, NULL);
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    fclose(pRouraO);
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    fclose(pRouraO);
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