/*
  DEMO37.C ---- demo. program for demoBOX4

  StopWatch 0-->  for Led ON/OFF
  StopWatch 1-->  for change 7000 device
  StopWatch 2-->  for measure 7000's response time

  Addr #1:7013D
  Addr #2:7021
  Addr #3:7012D
  Addr #4:7044D

  use:
    demo37 [/t] [/bxxxx]
    use /t to show debug information
    use /bxxx to set COM2 baudrate, default is 115200.
        (the baudrate must be set the the same as on 7000 modules)
*/
#include<stdio.h>
#include<conio.h>
#include "..\lib\7188.h"

#define    NoError  0
#define    Error    1
#define    NoCard   2

#define    TimeoutFor7000   800L
unsigned char Data7013[10];
unsigned char Data7012d[10];

char szCmd1[80];

int ascii_to_hex(char c);
int Set7044(unsigned data);
/* ------------------------------------------------------------------- */

int fDebug=0;

int fSet7044=0;
int fSet7021=0;
int Data7044=0;
int Data7012=0;
int Mode485=0;
int LastMode485;
int Wait485=0;
unsigned char Buf485[120];
int Buf485Idx;
int f7021On=1;
int f7044On=1;
int f7012On=1;
int f7013On=0;

//unsigned char Step[8]={'1','3','2','6','4','C','8','9'};
unsigned char Step[8]={'3','6','C','9','3','6','C','9'};
unsigned char Led[4]={'1','2','4','8'};
int LedIdx=0;
int StepIdx=0;
int StepDir=1;
unsigned StepCount=0;
int DataStep=0;

void MonitorCom2For485(void)
{
  if(Wait485){
     int data;
     while(IsCom(2)){
	data=ReadCom(2);
	if(data=='\r'){
	   Buf485[Buf485Idx]=0;
	   Wait485=0;
	   return;
	}
	else Buf485[Buf485Idx++]=data;
     }
  }
}

static unsigned Serror7013=0,Rerror7013=0;
static unsigned Serror7017=0,Rerror7017=0;
static unsigned Serror7044=0,Rerror7044=0;
static unsigned Serror7021=0,Rerror7021=0;
static unsigned Serror7012=0,Rerror7012=0;
int Wait7044=0,Wait7044Out=0;
int Wait7013=0;
int Wait7017=0;
int Wait7021=0;
int Wait7012Out=0;
int Wait7012In=0;
int mode7012=0;
unsigned long TimeOutPeriod=500; /* 0.5sec */

void Run7000(void)
{ unsigned long WaitTime;
  int NoCmd=0;
  int ret;

     StopWatchReadValue(4,&WaitTime);
     switch(Mode485){
      case 0: /* for 7044 */
	   if(!Wait7044){
	      ret=SendCmdTo7000(2,"@04",0);
	      if(fDebug) printf("\n@04 --> 7044");
	      if(ret) {
		 Mode485=1;
		 Serror7044++;
		 printf("[S60Err]=%u ret=%d",Serror7044,ret);
		 NoCmd=1;
		 fSet7044=1;
		 if(fDebug) printf("[Mode485=%d]",Mode485);
	      }
	      else {
		 Wait7044=Wait485=1;
		 Buf485Idx=0;
		 StopWatchStart(4);
	      }
	   }
	   else {
	      if(!Wait485){
		 int value;

		 Wait7044=0;
		 /* process 7044 data */
		 /* Inverse the input data,
		    for switch on [I] will get 1 , on [O] will get 0 */
		 value=0xF^ascii_to_hex(Buf485[4]);

		 if(fDebug) printf("\n7044-->%s",Buf485);
		 if(value != Data7044){
		    /* when DI1 0-->1 , change step direction */
		    if(!(Data7044&1) && (value&1)) {
		       if(Data7044 & 2)
			  StepDir=!StepDir;
		       else StepCount=0;
		    }
		    Data7044=value;
		 }
		 Mode485=1;
		 NoCmd=1;
		 fSet7044=1;
		 if(fDebug) printf("[Mode485=%d]",Mode485);
	      }
	      else {
		 if(WaitTime>TimeOutPeriod){
		    Wait7044=0;
		    Mode485=1;
		    if(fDebug) printf("[Mode485=%d]",Mode485);
		    printf("\n7044 timeout\n");
		    NoCmd=1;
		    fSet7044=1;
		    if(fDebug) printf("[Mode485=%d]",Mode485);
		 }
	      }
	   }
	   break;
      case 1: /* for 7013 */
	   if(!Wait7013){
	      ret=SendCmdTo7000(2,"#01",0);
	      if(fDebug) printf("\n#01 --> 7013");
	      if(ret) {
		 Mode485=3;
		 Serror7013++;
		 if(fDebug) printf("[S13Err]=%u ret=%d",Serror7013,ret);
		 NoCmd=1;
		 fSet7044=1;
		    if(fDebug) printf("[Mode485=%d]",Mode485);
	      }
	      else {
		 Wait7013=Wait485=1;
		 Buf485Idx=0;
		 StopWatchStart(4);
	      }
	   }
	   else {
	      if(!Wait485){
		 int value;

//		 f7013On=0;
		 Wait7013=0;
		 Mode485=3;
		 /* save 7013D data */
		 Data7013[0]=Buf485[2];
		 Data7013[1]=Buf485[3];
		 Data7013[2]=Buf485[4];
		 Data7013[3]=Buf485[6];
		 Data7013[4]=Buf485[7];
		 if(fDebug) printf("\n7013-->%s",Buf485);
		 NoCmd=1;
		 if(fDebug) printf("[Mode485=%d]",Mode485);
		 fSet7044=1;
	      }
	      else {
		 if(WaitTime>TimeOutPeriod){
		    Wait7013=0;
		    Mode485=3;
		    printf("\n7013 timeout\n");
		    NoCmd=1;
		 fSet7044=1;
		    if(fDebug) printf("[Mode485=%d]",Mode485);
		 }
	      }
	   }
	   break;
      case 2: /* for 7021 */
	   if(!Wait7021){
	      static int cnt7021=0;
	      static int mode7021=1;
	      char cmd[12]="#0200.000";
	      char buf[10];

	      if(!f7021On){
		 Mode485=LastMode485;
//		    Mode485=3;
		 if(fDebug) printf("[Mode485=%d]",Mode485);
		 break;
	      }
	      if(Data7044 & 4){ /* DI3 for 7021 sweep ON/OFF */
		 if(mode7021){
		    cnt7021++;
		    if(cnt7021>=20) mode7021=0;
		 }
		 else {
		    cnt7021--;
		    if(cnt7021<=0) mode7021=1;
		 }
	      }
	      cmd[3]='0'+cnt7021/10;
	      cmd[4]='0'+cnt7021%10;
	      ret=SendCmdTo7000(2,cmd,0);
	      if(fDebug) printf("\n%s -->> 7021",cmd);
	      if(ret) {
		 Mode485=LastMode485;
//		    Mode485=3;
		 Serror7021++;
		 printf("[S21Err]=%u ret=%d",Serror7021,ret);
		 NoCmd=1;
		 fSet7044=1;
		    if(fDebug) printf("[Mode485=%d]",Mode485);
	      }
	      else {
		 Wait7021=Wait485=1;
		 Buf485Idx=0;
		 StopWatchStart(4);
	      }
	   }
	   else {
	      if(!Wait485){
		 int value,i,j;
		 char *ptr;
		 Wait7021=0;
		 Mode485=LastMode485;
//		    Mode485=3;
		 if(fDebug) printf("\n7021-->%s",Buf485);
		 NoCmd=1;
		 if(fDebug) printf("[Mode485=%d]",Mode485);
		 fSet7044=1;
	      }
	      else {
		 if(WaitTime>TimeOutPeriod){
		    Wait7021=0;
		    Mode485=LastMode485;
//		    Mode485=3;
		    printf("\n7021 timeout\n");
		    NoCmd=1;
		 fSet7044=1;
		    if(fDebug) printf("[Mode485=%d]",Mode485);
		 }
	      }
	   }
	   break;
      case 3: /* read 7012D input */
	   if(!Wait7012Out){
	      char cmd[8]="#03";
	      if(!f7012On){
		 Mode485=4;
		 if(fDebug) printf("[Mode485=%d]",Mode485);
		 break;
	      }
	      ret=SendCmdTo7000(2,cmd,0);
	      if(fDebug) printf("\n#03 --> 7012D");
	      if(ret) {
		 Mode485=4;
		 mode7012=0;
		 Serror7012++;
		 printf("[S80Err]=%u ret=%d",Serror7012,ret);
	      }
	      else {
		 Wait7012Out=Wait485=1;
		 Buf485Idx=0;
		 StopWatchStart(4);
	      }
	   }
	   else {
	      if(!Wait485){
		 Wait7012Out=0;
		 if(fDebug) printf("\n7012-->%s",Buf485);
		 Data7012d[0]=Buf485[2];
		 Data7012d[1]=Buf485[3];
		 Data7012d[2]=Buf485[5];
		 Data7012d[3]=Buf485[6];
		 Data7012d[4]=Buf485[7];
		 if(mode7012==0){
		    Mode485=4;
		    if(fDebug) printf("[Mode485=%d]",Mode485);
		 }
	      }
	      else {
		 if(WaitTime>TimeOutPeriod){
		    Wait7012Out=0;
		    Mode485=4;
		    mode7012=0;
		    printf("\n7012 Out timeout\n");
		    if(fDebug) printf("[Mode485=%d]",Mode485);
		 }
	      }
	   }
	   break;
      case 4:
	   if(!Wait7012In){
	      ret=SendCmdTo7000(2,"@03DI",0);
	      if(fDebug) printf("\n@03DI --> 7012");
	      if(ret) {
		 Mode485=0;
		 Serror7044++;
		 printf("[S60Err]=%u ret=%d",Serror7044,ret);
		 NoCmd=1;
		 fSet7044=1;
		 if(fDebug) printf("[Mode485=%d]",Mode485);
	      }
	      else {
		 Wait7012In=Wait485=1;
		 Buf485Idx=0;
		 StopWatchStart(4);
	      }
	   }
	   else {
	      if(!Wait485){
		 int value;

		 Wait7012In=0;
		 value=ascii_to_hex(Buf485[7]);

		 if(fDebug) printf("\n7012-->%s",Buf485);
		 if(value) DataStep=3;
		 else {
		    if(DataStep) {
		       DataStep--;
		       if(!DataStep){
			  if(StepDir) {
			     StepCount++;
			     if(StepCount>999) StepCount=0;
			  }
			  else {
			    if(StepCount) StepCount--;
			    else StepCount=999;
			  }
		       }
		    }
		 }
		 Mode485=0;
		 NoCmd=1;
		 fSet7044=1;
		 if(fDebug) printf("[Mode485=%d]",Mode485);
	      }
	      else {
		 if(WaitTime>TimeOutPeriod){
		    Wait7012In=0;
		    Mode485=0;
		    if(fDebug) printf("[Mode485=%d]",Mode485);
		    printf("\n7012 timeout\n");
		    NoCmd=1;
		    fSet7044=1;
		    if(fDebug) printf("[Mode485=%d]",Mode485);
		 }
	      }
	   }
	   break;
      case 5: /* set 7044 output */
	   if(!Wait7044Out){
	      char cmd[6]="@0400";
	      if(!f7044On){
		 Mode485=LastMode485;
		 NoCmd=1;
		 if(fDebug) printf("[Mode485=%d f7044On=%d]",Mode485,f7044On);
		 break;
	      }
	      cmd[3]=Step[StepIdx];
	      cmd[4]=Led[LedIdx];
	      ret=SendCmdTo7000(2,cmd,0);
	      if(fDebug) printf("\n%s --> 7044D",cmd);
	      if(Data7044&2){ /* DI2 for Step motor ON/OFF */
		 if(StepDir) StepIdx++;
		 else        StepIdx--;
		 StepIdx&=7;
	      }
	      if(ret) {
		 Mode485=LastMode485;
		 Serror7044++;
		 printf("[S44Err]=%u ret=%d",Serror7044,ret);
		 NoCmd=1;
		 if(fDebug) printf("[Mode485=%d]",Mode485);
	      }
	      else {
/*		 Show5DigitLed(1,Data7044); */
		 Wait7044Out=Wait485=1;
		 Buf485Idx=0;
		 StopWatchStart(4);
//		 Data7044<<=1;
//		 if(Data7044>=0x10) Data7044=1;
	      }
	   }
	   else {
	      if(!Wait485){
		 Wait7044Out=0;
		 Mode485=LastMode485;
		 if(fDebug) printf("\n7044D-->%s",Buf485);
		 NoCmd=1;
		 if(fDebug) printf("[Mode485=%d]",Mode485);
	      }
	      else {
		 if(WaitTime>TimeOutPeriod){
		    Wait7044Out=0;
		    Mode485=LastMode485;
		    printf("\n7044 Out timeout\n");
		    NoCmd=1;
		    if(fDebug) printf("[Mode485=%d]",Mode485);
		 }
	      }
	   }
	   break;
     }

     if(NoCmd){
	if(fSet7044){
	   fSet7044=0;
	   Wait7044Out=0;
	   LastMode485=Mode485;
	   Mode485=5;
	   if(fDebug) printf("[Mode485=%d]",Mode485);
	}
	else if(fSet7021){
		fSet7021=0;
		LastMode485=Mode485;
		Mode485=2;  /* 7021 */
	       if(fDebug) printf("[Mode485=%d]",Mode485);
	}

     }

}

void main(int argc,char *argv[])
{ int quit=0;
  unsigned tmpdata;
  int now_i1,now_i2,now_i3,now_i4;
  int old_i1,old_i2,old_i3,old_i4;
  int i,k,LedMode=1,ShowMode=0;
  char c,rep;
  unsigned long LedTime,Time7021;
  unsigned long baud=115200L,b;


  for(i=1;i<argc;i++){
   if(argv[i][0]=='/'){
     switch(argv[i][1]){
       case 't':
	    fDebug=1;
	    break;
       case 'b': case 'B':
	    b=atol(&argv[i][2]);
	    if(b==9600L || b==19200L || b== 38400L || b==57600L || b==115200L)
	       baud=b;
	    break;
     }
   }
  }
  InstallCom(2,baud,8,0,1);
  Init5DigitLed();		   /* initial & blank the 5-digit LED */
  LedOn();			   /* red-LED on	*/
  TimerOpen();
  InstallUserTimer(MonitorCom2For485);
  EnableWDT();
  StopWatchStart(0);
  StopWatchStart(1);
  StopWatchStart(2);   /* for 7021 */
  while(!quit) {
    RefreshWDT();
    StopWatchReadValue(2,&Time7021);
    if(Time7021>=1000){
       fSet7021=1;
       StopWatchStart(2);
    }
    StopWatchReadValue(0,&LedTime);
    if(LedTime>=1000){
       LedMode=!LedMode;
       f7013On=1;
       if(LedMode){
	  LedOn();
       }
       else LedOff();
       if(Data7044 & 8) {
	  LedIdx++;
	  LedIdx&=3;
       }
       StopWatchStart(0);
       /* show status of 7000's */
       switch(ShowMode){
	 case 0: /* show 7013D */
	      Show5DigitLed(1,16 /*Data7013[0]-'0'*/);
	      Show5DigitLed(2,Data7013[1]-'0');
	      Show5DigitLedWithDot(3,Data7013[2]-'0');
	      Show5DigitLed(4,Data7013[3]-'0');
	      Show5DigitLed(5,Data7013[4]-'0');
	      Data7013[5]=0;
	      ShowMode=1;
	      if(fDebug) {
		 printf("[Data7013=%s]",Data7013);
	      }
	      break;
	 case 1: /* show 7012D */
	      Show5DigitLed(1,Data7012d[0]-'0');
	      Show5DigitLedWithDot(2,Data7012d[1]-'0');
	      Show5DigitLed(3,Data7012d[2]-'0');
	      Show5DigitLed(4,Data7012d[3]-'0');
	      Show5DigitLed(5,Data7012d[4]-'0');
	      Data7012d[5]=0;
	      ShowMode=2;
	      if(fDebug) {
		 printf("[Data7012d=%s]",Data7012d);
	      }
	      break;
	 case 2: /* Show step moter count */
	      tmpdata=StepCount;
	      Show5DigitLed(1,ShowMode);
	      Show5DigitLed(2,17);
	      Show5DigitLed(5,tmpdata%10);
	      tmpdata/=10;
	      Show5DigitLed(4,tmpdata%10);
	      tmpdata/=10;
	      Show5DigitLed(3,tmpdata%10);
	      ShowMode=0;
	      break;
       }
    }
    Run7000();
    if (kbhit4()) {		/* is user press PC's keyboard from COM4       */
       c=getch4();		/* if this key is Q or Q --> exit this program */
       switch(c){
	case 'q': case  'Q':
	     quit=1;
	     break;
       }
    }
  }
  TimerClose();
  DisableWDT();
  RestoreCom(2);
  printf("\n7013 Error s=%u r=%u",Serror7013,Rerror7013);
  printf("\n7012 Error s=%u r=%u",Serror7012,Rerror7012);
  printf("\n7044 Error s=%u r=%u",Serror7044,Rerror7044);
  printf("\n7021 Error s=%u r=%u",Serror7021,Rerror7021);
}