//*********************************************//
//   i-87123 for LinPAC series test program    //
//      Controll DI/DO with SDO message        //
//                                             //
//*********************************************//

#include <stdio.h>
#include <stdlib.h>
#include "msw.h"
#include <sys/ioctl.h>
#include "..\lib\I87123.h"

char Kbhit(void){
  int n=0;
  
  ioctl(0,FIONREAD,&n);
  if(n) return kbhit();
  
  return n;
}

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

  ret = Open_Slot(0);
  if(ret){
    printf("Open_Slot error, Error Code = %d\r\n",ret);
    printf("Press any key to exit program");
    getch();
    return 0;
  }
  ChangeToSlot(slot); // change slot to i-87123
  
  ret = I87123_Configure((unsigned char)baud);  // Configure i-87123 Baudrate
  if(ret){
    printf("Configure error, Error Code = %d\r\n",ret);
    printf("Press any key to exit program");
    Close_Slot(0); 
    getch();
    return 0;
  }
  else{
    printf("Configure OK\r\n");
  }
  
  printf("a. Add Node:\r\n");
  printf("b. Remove Node:\r\n");
  printf("c. Read DI:\r\n");
  printf("d. Write DO:\r\n");
  printf("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
          printf("\rPDO: ");
          printf("[%X] ",cobid);
          for(i=0;i<len;i++){
            printf("%X ",rdata[i]);
          }
          printf("\r\n:");
        }
        else if(ret == I87123_EMCY){  // Receive EMCY response message
          printf("\rEMCY: ");
          printf("[%X] ",cobid);
          for(i=0;i<len;i++){
            printf("%X ",rdata[i]);
          }
          printf("\r\n:");
        }
        else{                         // Receive other error
          printf("Node[%d] Other Err: Error Code: %d\r\n",node,ret);
        }
      }
    }
    
    command = Kbhit();
    if(command){
      switch(command){
      case 'a':  // Add CANopen slave
      {
        int node=0;
        
        printf("\rAdd node: Press node number(1~127):");
        scanf("%d",&node);
        getch();
        ret = I87123_AddNode((unsigned char)node);
        if(ret){
          printf("AddNode Error Code = %d\r\n:",ret);
        }
        else{
          printf("Add Node OK\r\n:");
        }
      }
      break;
      case 'b':  // Remove CANopen slave
      {
        int node=0;
        
        printf("\rRemove node: Press node number(1~127):");
        scanf("%d",&node);
        getch();
        ret = I87123_RemoveNode((unsigned char)node);
        if(ret){
          printf("RemoveNode Error Code = %d\r\n:",ret);
        }
        else{
          printf("RemoveNode OK\r\n:");
        }
      }
      break;
      case 'c':   // Read DI
      {
        int node=0,dichannel=0;
        unsigned char value=0;
        
        printf("\rRead DI: Press node number(1~127):");
        scanf("%d",&node);
        printf("Read DI: Press nth byte of DI:");
        scanf("%x",&dichannel);
        getch();
        ret = I87123_ReadDI((unsigned char)node, (unsigned char)dichannel, &value);
        if(ret){
          printf("Read Error Code = %d\r\n:",ret);
        }
        else{
          printf("Read DI: %d[%02X]\r\n:",value,value);
        }
      }
      break;
      case 'd':   // Write DO
      {
        int node=0,dochannel=0,value=0;
        
        printf("\rWrite DO: Press node number(1~127):");
        scanf("%d",&node);
        printf("Write DO: Press nth byte of DO:");
        scanf("%x",&dochannel);
        printf("Write DO: Output data(hex):");
        scanf("%x",&value);
        getch();
        ret = I87123_WriteDO((unsigned char)node, (unsigned char)dochannel, (unsigned char)value);
        if(ret){
          printf("Write DO: Error Code = %d\r\n:",ret);
        }
        else{
          printf("Write DO: Write data OK.\r\n:");
        }
      }
      break;  
      case 'q':   // Reset master (i-87123) and exit this program
      {
        ret = I87123_ShutdownMaster();
        if(ret){
          printf("\rShutdownMaster Error Code = %d\r\n",ret);
        }
        else{
          printf("\rShutdownMaster OK\r\n");
          printf("Press any key to exit program...");
          Close_Slot(0); 
          getch();
          return 0;
        }
      }
      break;
      default:
        printf("Unknow command\r\n");
      break;
      }
    }
  }
}