//---------------------------------------------------------------------------

#include <vcl.h>
#pragma hdrstop

#include "main.h"
#include "pisocpm100.h"
//---------------------------------------------------------------------------
#pragma package(smart_init)
#pragma resource "*.dfm"
TSDO_Demo *SDO_Demo;
Byte Board,NodeId,Baudrate;
unsigned int MsgCnt;
AnsiString tempstr;
//---------------------------------------------------------------------------
__fastcall TSDO_Demo::TSDO_Demo(TComponent* Owner)
        : TForm(Owner)
{
        Board = 0;
        NodeId = 1;
        Baudrate = 0;

        Cmb_Board->Enabled = true;
	Cmb_Baudrate->Enabled = true;

	Btn_Configure->Enabled = true;

	Cmb_NodeId->Enabled = false;

	Btn_Shutdown->Enabled = false;
	Btn_AddNode->Enabled = false;
	Btn_Remove->Enabled = false;
	Btn_Read->Enabled = false;
	Btn_Write->Enabled = false;
	Btn_Clear->Enabled = false;

	Edit_Index->Enabled = false;
	Edit_SubIndex->Enabled = false;
	Edit_WData->Enabled = false;
}
//---------------------------------------------------------------------------
//-------------- If Board Combo box has been click ------------//
void __fastcall TSDO_Demo::OnBoardClick(TObject *Sender)
{
        Board = Cmb_Board->ItemIndex;
}
//---------------------------------------------------------------------------
//-------------- If Board Combo box lose focus ------------//
void __fastcall TSDO_Demo::OnBoardExit(TObject *Sender)
{
        int TempBoard;

        TempBoard = StrToInt(Cmb_Board->Text);
        if(TempBoard > 15){     // The range of Board number is 0 ~ 15
                TempBoard = 15;
        }

        Board = TempBoard;

        Cmb_Board->ItemIndex = Board;
}
//---------------------------------------------------------------------------
//-------------- If Baudrate Combo box has been click ------------//
void __fastcall TSDO_Demo::OnBaudrateClick(TObject *Sender)
{
        Baudrate = Cmb_Baudrate->ItemIndex;
}
//---------------------------------------------------------------------------
//-------------- If Baudrate Combo box lose focus ------------//
void __fastcall TSDO_Demo::OnBaudrateExit(TObject *Sender)
{
        Cmb_Baudrate->ItemIndex = Baudrate;
}
//---------------------------------------------------------------------------
//-------------- If Node Id Combo box has been click ------------//
void __fastcall TSDO_Demo::OnNodeidClick(TObject *Sender)
{
        NodeId = Cmb_NodeId->ItemIndex;

        if(NodeId == 0) NodeId = 1;
}
//---------------------------------------------------------------------------
//-------------- If Node Id Combo box lose focus ------------//
void __fastcall TSDO_Demo::OnNodeidExit(TObject *Sender)
{
        int TempNodeId;

        TempNodeId = StrToInt(Cmb_NodeId->Text);
        if(TempNodeId > 127){ // The range of Node Id is 1 ~ 127
                TempNodeId = 127;
        }
        else if(TempNodeId == 0){
                TempNodeId = 1;
        }

        NodeId = TempNodeId;
        Cmb_NodeId->ItemIndex = NodeId;
}
//---------------------------------------------------------------------------

void __fastcall TSDO_Demo::Btn_ConfigureClick(TObject *Sender)
{
	int ret;

	ret = CPM100_ActiveBoard(Board);
	if(ret){
		tempstr = "Active Board failure, error = " + IntToStr(ret);
                MessageBox(NULL,tempstr.c_str(),"Error",0);
		return;
	}

	ret = CPM100_InitMaster(Board,Baudrate);
	if(ret){
		tempstr = "Initialize Master failure, error = " + IntToStr(ret);
		MessageBox(NULL,tempstr.c_str(),"Error",0);
		return;
	}

	Cmb_Board->Enabled = false;
	Cmb_Baudrate->Enabled = false;

	Btn_Configure->Enabled = false;

	Cmb_NodeId->Enabled = true;
    
	Btn_Shutdown->Enabled = true;
	Btn_AddNode->Enabled = true;
}
//---------------------------------------------------------------------------

void __fastcall TSDO_Demo::Btn_ShutdownClick(TObject *Sender)
{
	int ret;

	ret = CPM100_ShutdownMaster(Board);
	if(ret){
                tempstr = "Master shutdown failure, error = " + IntToStr(ret);
                MessageBox(NULL,tempstr.c_str(),"Error",0);
		return;
	}

	ret = CPM100_CloseBoard(Board);
	if(ret){
                tempstr = "Close board failure, error = " + IntToStr(ret);
                MessageBox(NULL,tempstr.c_str(),"Error",0);
		return;
	}

	Cmb_Board->Enabled = true;
	Cmb_Baudrate->Enabled = true;

	Btn_Configure->Enabled = true;
    
	Cmb_NodeId->Enabled = false;
    
	Btn_Shutdown->Enabled = false;
	Btn_AddNode->Enabled = false;
	Btn_Remove->Enabled = false;
	Btn_Read->Enabled = false;
	Btn_Write->Enabled = false;
	Btn_Clear->Enabled = false;

	Edit_Index->Enabled = false;
	Edit_SubIndex->Enabled = false;
	Edit_WData->Enabled = false;
}
//---------------------------------------------------------------------------

void __fastcall TSDO_Demo::Btn_AddNodeClick(TObject *Sender)
{
	int ret;

	ret = CPM100_AddNode(Board,NodeId);
	if(ret){
                tempstr = "Node add failure, error = " + IntToStr(ret);
                MessageBox(NULL,tempstr.c_str(),"Error",0);
		return;
	}

	MsgCnt = 0; //  Clear the TMemo object "Mem_Receive"
	Mem_Receive->Clear();

	Cmb_NodeId->Enabled = false;

	Btn_AddNode->Enabled = false;

	Btn_Remove->Enabled = true;
	Btn_Read->Enabled = true;
	Btn_Write->Enabled = true;
	Btn_Clear->Enabled = true;

	Edit_Index->Enabled = true;
	Edit_SubIndex->Enabled = true;
	Edit_WData->Enabled = true;
}
//---------------------------------------------------------------------------

void __fastcall TSDO_Demo::Btn_RemoveClick(TObject *Sender)
{
	int ret;

	ret = CPM100_RemoveNode(Board,NodeId);
	if(ret){
                tempstr = "Node remove failure, error = " + IntToStr(ret);
                MessageBox(NULL,tempstr.c_str(),"Error",0);
		return;
	}

	Cmb_NodeId->Enabled = true;

	Btn_AddNode->Enabled = true;

	Btn_Remove->Enabled = false;
	Btn_Read->Enabled = false;
	Btn_Write->Enabled = false;
	Btn_Clear->Enabled = false;

	Edit_Index->Enabled = false;
	Edit_SubIndex->Enabled = false;
	Edit_WData->Enabled = false;
}
//---------------------------------------------------------------------------

void __fastcall TSDO_Demo::Btn_ReadClick(TObject *Sender)
{
	int ret,i;
	Byte SubIndex,RData[100];
	Word Index,RDatalen;
        AnsiString SDOString;

	Index =  (Word)StrToInt("0x" + Edit_Index->Text.Trim());  // Convert string to Hex

	SubIndex = (Byte)StrToInt("0x" + Edit_SubIndex->Text.Trim()); // Convert string to Hex

	ret = CPM100_SDOReadData(Board,NodeId,Index,SubIndex,&RDatalen,RData);
	if(ret){
                tempstr = "Read SDO failure, error = " + IntToStr(ret);
                MessageBox(NULL,tempstr.c_str(),"Error",0);
		return;
	}

	MsgCnt = MsgCnt + 1;

        SDOString = IntToStr(MsgCnt) + " -- ";
        for(i=0;i<RDatalen;i++){
                SDOString = SDOString + " " + IntToHex(RData[i],2);
        }
        SDOString = SDOString + "\n\r";

        Mem_Receive->Lines->Append(SDOString);  // Add new line to the Mem_Recive
}
//---------------------------------------------------------------------------

void __fastcall TSDO_Demo::Btn_WriteClick(TObject *Sender)
{
	int ret,i;
        char TempChar[2];
	Byte SubIndex,RData[100],WData[100];
	Word Index,RDatalen,WDatalen;
        AnsiString SDOString;

        // Convert string to Hex
	Index =  (Word)StrToInt("0x" + Edit_Index->Text.Trim());

        // Convert string to Hex
	SubIndex = (Byte)StrToInt("0x" + Edit_SubIndex->Text.Trim());

        // The format of Edit_WData is dd dd dd...
        Edit_WData->Text.Trim(); 

	WDatalen=0;
        // To check the data if useful
	for(i=1;i<=Edit_WData->Text.Length();i++){

		if((Edit_WData->Text[i] >= 0x30)&&(Edit_WData->Text[i] <= 0x39) || // 0x30 ~ 0x39 = '0' ~ '9'
		   (Edit_WData->Text[i] >= 0x41)&&(Edit_WData->Text[i] <= 0x46) || // 0x41 ~ 0x46 = 'A' ~ 'F'
		   (Edit_WData->Text[i] >= 0x61)&&(Edit_WData->Text[i] <= 0x66)){  // 0x61 ~ 0x66 = 'a' ~ 'f'
                        if(i+1 <= Edit_WData->Text.Length()){
			        if((Edit_WData->Text[i+1] >= 0x30)&&(Edit_WData->Text[i+1] <= 0x39) ||
			           (Edit_WData->Text[i+1] >= 0x41)&&(Edit_WData->Text[i+1] <= 0x46) ||
			           (Edit_WData->Text[i+1] >= 0x61)&&(Edit_WData->Text[i+1] <= 0x66)){

				        WData[WDatalen++] = StrToInt("0x" + Edit_WData->Text.SubString(i,2));
                                        i++;
			        }
			        else{
				        WData[WDatalen++] = StrToInt("0x" + Edit_WData->Text.SubString(i,1));
			        }
                        }
                        else{
                                WData[WDatalen++] = StrToInt("0x" + Edit_WData->Text.SubString(i,1));
                        }
		}
	}
	// If Edit_WData = "AA BB CC DD" or "AABBCCDD" or "AA,BB.CC-DD"
        //   the WData(0) = 0xAA, WData(1) = 0xBB, WData(2) = 0xCC, WData(3) = 0xDD
        // If Edit_WData = " A BB C DD"
        //   the WData(0) = 0x0A, WData(1) = 0xBB, WData(2) = 0x0C, WData(3) = 0xDD

	ret = CPM100_SDOWriteData(Board,NodeId,Index,SubIndex,WDatalen,WData,&RDatalen,RData);
	if(ret){
                tempstr = "Write SDO failure, error = " + IntToStr(ret);
                MessageBox(NULL,tempstr.c_str(),"Error",0);
                return;
	}

	MsgCnt = MsgCnt + 1;

        SDOString = IntToStr(MsgCnt) + " -- ";
        for(i=0;i<RDatalen;i++){
                SDOString = SDOString + " " + IntToHex(RData[i],2);
        }
        SDOString = SDOString + "\n\r";

        Mem_Receive->Lines->Append(SDOString);  // Add new line to the Mem_Recive
}
//---------------------------------------------------------------------------

void __fastcall TSDO_Demo::Btn_ClearClick(TObject *Sender)
{
        Mem_Receive->Clear();
        MsgCnt = 0;
}
//---------------------------------------------------------------------------

void __fastcall TSDO_Demo::OnProgramClose(TObject *Sender,
      TCloseAction &Action)
{
	CPM100_ShutdownMaster(Board);

	CPM100_CloseBoard(Board);
}
//---------------------------------------------------------------------------