//********************************************//
//   i-87123 for i-8000 series test program   //
//       Controll I/O with PDO message        //
//                                            //
//********************************************//

#include <stdio.h>
#include <conio.h>
#include <stdlib.h>
#include "..\lib\8000e.h"
#include "..\lib\I87123.h"

void main(void)
{
  int ret;
  int slot,baud;
  char command;
  
  Print("\r\n");
  Print("/************************/\r\n");
  Print("/*Library Version = %.02f*/\r\n",I87123_GetVersion());
  Print("/************************/\r\n");
  
  Print("i-87123 slot(0~7):");
  Scanf("%d\r\n",&slot);
  Print("0:10Kbps       4:250Kbps\r\n");
  Print("1:20Kbps       5:500Kbps\r\n");
  Print("2:50Kbps       6:800Kbps\r\n");
  Print("3:125Kbps      7:1000Kbps\r\n");
  Print("i-87123 baud(0~7):");
  Scanf("%d\r\n",&baud);

  ChangeToSlot(slot); // change slot to i-87123
  ret = I87123_Configure((unsigned char)baud);  // Configure i-87123 Baudrate
  if(ret){
    Print("Configure error, Error Code = %d\r\n",ret);
    Print("Press any key to exit program");
    Getch();
    return;
  }
  else{
    Print("Configure OK\r\n");
  }
  
  Print("a. Add Node:\r\n");
  Print("b. Remove Node:\r\n");
  Print("c. Remote Data:\r\n");
  Print("d. Output Data:\r\n");
  Print("q. Shutdown and exit:\r\n:");
    
  while(1){
    {
      int i;
      unsigned char node;
      unsigned short cobid;
      unsigned char len;
      unsigned char rdata[40];
      ret = I87123_MsgResponse(&node, &cobid, &len, rdata);   // Receive response message
      if(ret != I87123_EMPTY){
        if(ret == I87123_OK){   // Receive PDO response message
          Print("\rPDO: ");
          Print("[%X] ",cobid);
          for(i=0;i<len;i++){
            Print("%X ",rdata[i]);
          }
          Print("\r\n:");
        }
        else if(ret == I87123_EMCY){  // Receive EMCY response message
          Print("\rEMCY: ");
          Print("[%X] ",cobid);
          for(i=0;i<len;i++){
            Print("%X ",rdata[i]);
          }
          Print("\r\n:");
        }
        else{                         // Receive other error
          Print("Node[%d] Other Err: Error Code: %d\r\n",node,ret);
        }
      }
    }
    
    command = Kbhit();
    if(command){
      Getch();

      switch(command){
      case 'a':  // Add CANopen slave
      {
        int node=0;
        
        Print("\rAdd node: Press node number(1~127):");
        Scanf("%d\r\n",&node);
        ret = I87123_AddNode((unsigned char)node);
        if(ret){
          Print("AddNode Error Code = %d\r\n:",ret);
        }
        else{
          Print("Add Node OK\r\n:");
        }
      }
      break;
      case 'b':  // Remove CANopen slave
      {
        int node=0;
        
        Print("\rRemove node: Press node number(1~127):");
        Scanf("%d\r\n",&node);
        
        ret = I87123_RemoveNode((unsigned char)node);
        if(ret){
          Print("RemoveNode Error Code = %d\r\n:",ret);
        }
        else{
          Print("RemoveNode OK\r\n:");
        }
      }
      break;
      case 'c':   // Remote Data
      {
        int i;
        unsigned char rdata[40],len;
        unsigned short cob_id;
        
        Print("\rRemote Data: Press the PDO Cob-ID(hex):");
        Scanf("%x\r\n",&cob_id);
        
        ret = I87123_RemotePDO(cob_id,&len,rdata);
        if(ret){
          Print("Remote Error Code = %d\r\n:",ret);
        }
        else{
          Print("Remote Data: ");
          for(i=0;i<len;i++){
            Print("%02X ",rdata[i]);
          }
          Print("\r\n:");
        }
        break;
      }
      case 'd':   // Output Data
      {
        unsigned char tdata[40],len;
        unsigned short cob_id;
        
        Print("\rOutput Data: Press the PDO Cob-ID(hex):");
        Scanf("%x\r\n",&cob_id);
        Print("\rOutput Data: Press output data length:");
        Scanf("%d\r\n",&len);
        Print("Output Data: Output data(hex)(d0,d1,d2...):");
        Scanf("%x,%x,%x,%x,%x,%x,%x,%x\r\n",&tdata[0],&tdata[1],&tdata[2],&tdata[3],&tdata[4],&tdata[5],&tdata[6],&tdata[7]);
        
        ret = I87123_WritePDO(cob_id,0,len,tdata);
        if(ret){
          Print("Output Error Code = %d\r\n:",ret);
        }
        else{
          Print("Output Data: Write data OK.\r\n:");
        }
      }
      break;  
      case 'q':   // Reset master (i-87123) and exit this program
      {
        ret = I87123_ShutdownMaster();
        if(ret){
          Print("\rShutdownMaster Error Code = %d\r\n",ret);
        }
        else{
          Print("\rShutdownMaster OK\r\n");
          Print("Press any key to exit program...");
          Getch();
          return;
        }
      }
      break;
      default:
        Print("Unknow command\r\n");
      break;
      }
    }
  }
}