//---------------------------------------------------------------------------
#include <vcl.h>
#pragma hdrstop

#include "main.h"
#include "pisocpm100.h"
//---------------------------------------------------------------------------
#pragma package(smart_init)
#pragma resource "*.dfm"
TCPM_TestProg *CPM_TestProg;
AnsiString tempstr;
Byte BOARD = 0;
Byte NODE = 1;
Byte BAUDRATE = 0;
Byte NodeIsExist[128];	// If node has been added, the data is 1 else 0
Word GuardingTime[128]; // If node has been guarded, the data is guarding time else 0
Word RecenItem = 0;	// EMCY/PDO message item

//---------------------------------------------------------------------------
//*****************  HMI Interface ***************
void __fastcall TCPM_TestProg::WhenCloseBoard(void)
{
	Btn_ActiveBoard->Caption = "Active Board";

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

	//--- Disable All Button & ComboBox
	Cmb_NodeId->Enabled = false;
	Cmb_NodeState->Enabled = false;
	Cmb_PDOCh->Enabled = false;
	Cmb_IOType->Enabled = false;
	Cmb_RxTxType->Enabled = false;
	Cmb_PDOEntry->Enabled = false;
        Cmb_Offset->Enabled = false;

	Edit_GuardTime->Enabled = false;
	Edit_Index->Enabled = false;
	Edit_SubIndex->Enabled = false;
	Edit_WSDOData->Enabled = false;
	Edit_PDOData->Enabled = false;
	Edit_PDOId->Enabled = false;
	Edit_SYNCId->Enabled = false;
	Edit_Cyclic->Enabled = false;
	Edit_SetupPDO->Enabled = false;
	Edit_PDOIndex->Enabled = false;
	Edit_IOCh1->Enabled = false;
        Edit_IOCh2->Enabled = false;
	Edit_NewCobId->Enabled = false;
	Edit_EventTimer->Enabled = false;
	Edit_TxType->Enabled = false;
	Edit_NewPDO->Enabled = false;
	Edit_IOValue->Enabled = false;

	Btn_AddNode->Caption = "Add Node";
	Btn_AddNode->Enabled = false;

	Btn_SetState->Enabled = false;
	Btn_GetState->Enabled = false;
	Btn_Guarding->Enabled = false;
	Btn_ReadSDO->Enabled = false;
	Btn_WriteSDO->Enabled = false;
	Btn_AbortSDO->Enabled = false;
	Btn_PDORtr->Enabled = false;
	Btn_PDOOutput->Enabled = false;
	Btn_DynamicPDO->Enabled = false;
	Btn_InstallPDO->Enabled = false;
	Btn_RemovePDO->Enabled = false;
	Btn_SendSync->Enabled = false;
        Btn_StopSync->Enabled = false;
	Btn_ChangeSYNCId->Enabled = false;
	Btn_ChangeEMCYId->Enabled = false;
	Btn_SetEventTimer->Enabled = false;
	Btn_SetTxType->Enabled = false;
	Btn_ChangePDOId->Enabled = false;
	Btn_DO->Enabled = false;
	Btn_DI->Enabled = false;
	Btn_AO->Enabled = false;
	Btn_AI->Enabled = false;

        Timer1->Interval = 0;

        Mem_Receive->Clear();
	//m_static_addnode.SetBitmap(m_static_red.GetBitmap());
	//----------------------------------------
}
//---------------------------------------------------------------------------

void __fastcall TCPM_TestProg::WhenActiveBoard(void)
{
	Btn_ActiveBoard->Caption = "Close Board";

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

	//--- Enable Add Node Button & ComboBox
	Cmb_NodeId->Enabled = true;
	Btn_AddNode->Enabled = true;
	//----------------------------------------

	RecenItem = 0;
	Timer1->Interval = 10;
}
//---------------------------------------------------------------------------

void __fastcall TCPM_TestProg::WhenAddNode(void)
{
	Btn_AddNode->Caption = "Remove";

	Cmb_NodeState->Enabled = true;
	Cmb_PDOCh->Enabled = true;
	Cmb_IOType->Enabled = true;
	Cmb_RxTxType->Enabled = true;
	Cmb_PDOEntry->Enabled = true;
        Cmb_Offset->Enabled = true;

        Edit_GuardTime->Enabled = true;
	Edit_Index->Enabled = true;
	Edit_SubIndex->Enabled = true;
	Edit_WSDOData->Enabled = true;
	Edit_PDOData->Enabled = true;
	Edit_PDOId->Enabled = true;
	Edit_SYNCId->Enabled = true;
	Edit_Cyclic->Enabled = true;
	Edit_SetupPDO->Enabled = true;
	Edit_PDOIndex->Enabled = true;
	Edit_IOCh1->Enabled = true;
        Edit_IOCh2->Enabled = true;
	Edit_NewCobId->Enabled = true;
	Edit_EventTimer->Enabled = true;
	Edit_TxType->Enabled = true;
	Edit_NewPDO->Enabled = true;
	Edit_IOValue->Enabled = true;

        Btn_SetState->Enabled = true;
	Btn_GetState->Enabled = true;
	Btn_Guarding->Enabled = true;
	Btn_ReadSDO->Enabled = true;
	Btn_WriteSDO->Enabled = true;
	Btn_AbortSDO->Enabled = true;
	Btn_PDORtr->Enabled = true;
	Btn_PDOOutput->Enabled = true;
	Btn_DynamicPDO->Enabled = true;
	Btn_InstallPDO->Enabled = true;
	Btn_RemovePDO->Enabled = true;
	Btn_SendSync->Enabled = true;
	Btn_ChangeSYNCId->Enabled = true;
	Btn_ChangeEMCYId->Enabled = true;
	Btn_SetEventTimer->Enabled = true;
	Btn_SetTxType->Enabled = true;
	Btn_ChangePDOId->Enabled = true;
	Btn_DO->Enabled = true;
	Btn_DI->Enabled = true;
	Btn_AO->Enabled = true;
	Btn_AI->Enabled = true;
}
//---------------------------------------------------------------------------

void __fastcall TCPM_TestProg::WhenRemoveNode(void)
{
	Btn_AddNode->Caption = "Add Node";

        Cmb_NodeState->Enabled = false;
	Cmb_PDOCh->Enabled = false;
	Cmb_IOType->Enabled = false;
	Cmb_RxTxType->Enabled = false;
	Cmb_PDOEntry->Enabled = false;
        Cmb_Offset->Enabled = false;

        Edit_GuardTime->Enabled = false;
	Edit_Index->Enabled = false;
	Edit_SubIndex->Enabled = false;
	Edit_WSDOData->Enabled = false;
	Edit_PDOData->Enabled = false;
	Edit_PDOId->Enabled = false;
	Edit_SYNCId->Enabled = false;
	Edit_Cyclic->Enabled = false;
	Edit_SetupPDO->Enabled = false;
	Edit_PDOIndex->Enabled = false;
	Edit_IOCh1->Enabled = false;
        Edit_IOCh2->Enabled = false;
	Edit_NewCobId->Enabled = false;
	Edit_EventTimer->Enabled = false;
	Edit_TxType->Enabled = false;
	Edit_NewPDO->Enabled = false;
	Edit_IOValue->Enabled = false;

        Btn_SetState->Enabled = false;
	Btn_GetState->Enabled = false;
	Btn_Guarding->Enabled = false;
	Btn_ReadSDO->Enabled = false;
	Btn_WriteSDO->Enabled = false;
	Btn_AbortSDO->Enabled = false;
	Btn_PDORtr->Enabled = false;
	Btn_PDOOutput->Enabled = false;
	Btn_DynamicPDO->Enabled = false;
	Btn_InstallPDO->Enabled = false;
	Btn_RemovePDO->Enabled = false;
	Btn_SendSync->Enabled = false;
        Btn_StopSync->Enabled = false;
	Btn_ChangeSYNCId->Enabled = false;
	Btn_ChangeEMCYId->Enabled = false;
	Btn_SetEventTimer->Enabled = false;
	Btn_SetTxType->Enabled = false;
	Btn_ChangePDOId->Enabled = false;
	Btn_DO->Enabled = false;
	Btn_DI->Enabled = false;
	Btn_AO->Enabled = false;
	Btn_AI->Enabled = false;
}
//---------------------------------------------------------------------------

__fastcall TCPM_TestProg::TCPM_TestProg(TComponent* Owner)
        : TForm(Owner)
{
        tempstr = "CPM_TestProg -- Driver Ver " +
          FormatFloat("0.00",CPM100_GetVersion()) +
          ", Total " + IntToStr(CPM100_TotalBoard()) +
          " Board";

	this->Caption = tempstr;

        Cmb_Board->ItemIndex = 0;
	Cmb_Baudrate->ItemIndex = 0;
        Cmb_NodeId->ItemIndex = 0;

	Cmb_PDOCh->ItemIndex = 0;
	Cmb_IOType->ItemIndex = 0;
	Cmb_RxTxType->ItemIndex = 0;
	Cmb_PDOEntry->ItemIndex = 0;
        Cmb_Offset->ItemIndex = 0;

	memset(NodeIsExist,0,128);
	memset(GuardingTime,0,128);

        Shp_LED->Brush->Color = clRed;

	WhenCloseBoard();
}
//---------------------------------------------------------------------------
//-------------- If Board Combo box has been click ------------//
void __fastcall TCPM_TestProg::OnBoardClick(TObject *Sender)
{
        BOARD = Cmb_Board->ItemIndex;
}
//---------------------------------------------------------------------------
//-------------- If Board Combo box lose focus ------------//
void __fastcall TCPM_TestProg::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 TCPM_TestProg::OnBaudrateClick(TObject *Sender)
{
        BAUDRATE = Cmb_Baudrate->ItemIndex;
}
//---------------------------------------------------------------------------
//-------------- If Baudrate Combo box lose focus ------------//
void __fastcall TCPM_TestProg::OnBaudrateExit(TObject *Sender)
{
        Cmb_Baudrate->ItemIndex = BAUDRATE;
}
//---------------------------------------------------------------------------
//-------------- If Node Id Combo box has been click ------------//
void __fastcall TCPM_TestProg::OnNodeidClick(TObject *Sender)
{
        NODE = Cmb_NodeId->ItemIndex + 1;

        if(NODE == 0) NODE = 1;

	if(NodeIsExist[NODE]){	//	Node is added
		Shp_LED->Brush->Color = clLime;
		WhenAddNode();
		Btn_GetStateClick(Sender);
	}
	else{			//	Node isn't added
		Shp_LED->Brush->Color = clRed;
		WhenRemoveNode();
	}

	Edit_GuardTime->Text = IntToStr(GuardingTime[NODE]);
}
//---------------------------------------------------------------------------
//-------------- If Node Id Combo box lose focus ------------//
void __fastcall TCPM_TestProg::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;
        }

        NODE = TempNodeId;
        Cmb_NodeId->ItemIndex = NODE - 1;
}
//***************************************************
//---------------------------------------------------------------------------


void __fastcall TCPM_TestProg::Btn_BoardInfoClick(TObject *Sender)
{
	int ret;
	AnsiString boardinfo;
	DWord dwVID=0, dwDID=0, dwSVID=0, dwSDID=0, dwSAuxID=0, dwIrqNo=0;

	ret = CPM100_GetBoardInf(BOARD, &dwVID,&dwDID,&dwSVID,&dwSDID,&dwSAuxID,&dwIrqNo);
	if(ret){
                tempstr = "Get Board Information failure, error = " + IntToStr(ret);
                MessageBox(NULL,tempstr.c_str(),"Error",0);
	}
	else{
                tempstr.printf(" Vendor ID = %X\n Device ID = %X\n Sub-Vendor ID = %X\n Sub-Device ID = %X\n Sub-Aux ID = %x\n Irq No. = %X",
                                dwVID,dwDID,dwSVID,dwSDID,dwSAuxID,dwIrqNo);

                boardinfo = "Board " + IntToStr(BOARD) + " Information";
                
                MessageBox(NULL,tempstr.c_str(),boardinfo.c_str(),MB_ICONINFORMATION);
	}
}
//---------------------------------------------------------------------------

void __fastcall TCPM_TestProg::Btn_ActiveBoardClick(TObject *Sender)
{
	int ret;

        if(Btn_ActiveBoard->Caption == "Active Board"){
	        ret = CPM100_ActiveBoard(BOARD);
	        if(ret){
                        tempstr = "Active Board failure, error = " + IntToStr(ret);
                        MessageBox(NULL,tempstr.c_str(),"Error",0);
	        }
	        else{
		        ret = CPM100_InitMaster(BOARD,BAUDRATE);
		        if(ret){
                                tempstr = "Initialize Master failure, error = " + IntToStr(ret);
                                MessageBox(NULL,tempstr.c_str(),"Error",0);
		        }
		        else{
			        WhenActiveBoard();
		        }
	        }
        }
        else{
	        ret = CPM100_ShutdownMaster(BOARD);
	        if(ret){
                        tempstr = "Master shutdow failure, error = " + IntToStr(ret);
                        MessageBox(NULL,tempstr.c_str(),"Error",0);
	        }
	        else{
		        ret = CPM100_CloseBoard(BOARD);
		        if(ret){
                                tempstr = "Close board failure, error = " + IntToStr(ret);
                                MessageBox(NULL,tempstr.c_str(),"Error",0);
		        }
		        else{
			        memset(NodeIsExist,0,128);
			        memset(GuardingTime,0,128);
			        WhenCloseBoard();
		        }
                }
	}
}
//---------------------------------------------------------------------------

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

        if(Btn_AddNode->Caption == "Add Node"){
	        ret = CPM100_AddNode(BOARD,NODE);
	        if(ret){
		        tempstr = "Node Add failure, error = " + IntToStr(ret);
                        MessageBox(NULL,tempstr.c_str(),"Error",0);
	        }
	        else{
		        NodeIsExist[NODE] = 1;
                        this->OnNodeidClick(Sender);
	        }
        }
        else{
	        ret = CPM100_RemoveNode(BOARD,NODE);
	        if(ret){
		        tempstr = "Remove Node failure, error = " + IntToStr(ret);
                        MessageBox(NULL,tempstr.c_str(),"Error",0);
	        }
	        else{
		        NodeIsExist[NODE] = 0;
		        GuardingTime[NODE] = 0;
		        this->OnNodeidClick(Sender);
	        }
        }
}
//---------------------------------------------------------------------------
//------------   NMT Protocol
void __fastcall TCPM_TestProg::Btn_SetStateClick(TObject *Sender)
{
	int ret;
	Byte State;

	switch(Cmb_NodeState->ItemIndex){
	case 0:
		State = 0x1;	//	opernational
		break;
	case 1:
		State = 0x80;	//	pre-opernational
		break;
	case 2:
		State = 0x2;	//	node stop
		break;
	case 3:
		State = 0x81;	//	reset state
		break;
	}
	ret = CPM100_NMTChangeState(BOARD,NODE,State);
	if(ret){
                tempstr = "Set Node state failure, error = " + IntToStr(ret);
                MessageBox(NULL,tempstr.c_str(),"Error",0);
	}
	else{
		if(State == 0x81) GuardingTime[NODE] = 0;
	}
}
//---------------------------------------------------------------------------

void __fastcall TCPM_TestProg::Btn_GetStateClick(TObject *Sender)
{
	int ret;
	Byte State;

	ret = CPM100_NMTGetState(BOARD,NODE,&State);
	if(ret){
                tempstr = "Get Node state failure, error = " + IntToStr(ret);
                MessageBox(NULL,tempstr.c_str(),"Error",0);
	}
	else{
		switch(State){
		case 0x5:	//	opernational
			 Cmb_NodeState->ItemIndex = 0;
			break;
		case 0x4:	//	node stop
			Cmb_NodeState->ItemIndex = 2;
			break;
		case 0x7f:	//  pre-opernational
			Cmb_NodeState->ItemIndex = 1;
			break;
		}
	}
}
//---------------------------------------------------------------------------

void __fastcall TCPM_TestProg::Btn_GuardingClick(TObject *Sender)
{
	int ret;
	Word GuardTime;
	Byte LifeTime;


	GuardTime = (Word)StrToInt(Edit_GuardTime->Text);
	LifeTime = 3;
	ret = CPM100_NMTGuarding(BOARD,NODE,GuardTime,LifeTime);
	if(ret){
                tempstr = "Set Guarding failure, error = " + IntToStr(ret);
                MessageBox(NULL,tempstr.c_str(),"Error",0);
	}
	else{
		GuardingTime[NODE] = GuardTime;
                tempstr = "Guarding Set OK";
                MessageBox(NULL,tempstr.c_str(),"OK",0);
	}
}
//------------   End NMT Protocol
//---------------------------------------------------------------------------
//------------   SYNC Protocol
void __fastcall TCPM_TestProg::Btn_SendSyncClick(TObject *Sender)
{
	int ret;
	Word Cobid;
	DWord SYNCTime;

        //The unit of Cyclic is 0.1ms
	SYNCTime = (DWord)StrToInt(Edit_Cyclic->Text);
        //The unit of Cyclic*10 is 1ms
	SYNCTime = SYNCTime*10;
	//If Cyclic is 0, the function will send SYNC message one time

	Cobid = (Word)StrToInt("0x" + Edit_SYNCId->Text);

	ret = CPM100_SendSYNC(BOARD,Cobid,SYNCTime);
	if(ret){
                tempstr = "Set SYNC failure, error = " + IntToStr(ret);
                MessageBox(NULL,tempstr.c_str(),"Error",0);
	}
        else{
                if(SYNCTime){
                        Btn_SendSync->Enabled = false;
                        Btn_StopSync->Enabled = true;
                }
        }
}
//---------------------------------------------------------------------------

void __fastcall TCPM_TestProg::Btn_StopSyncClick(TObject *Sender)
{
	int ret;
	Word Cobid;
	DWord SYNCTime;

	SYNCTime = 0;

	Cobid = (Word)StrToInt("0x" + Edit_SYNCId->Text);

	ret = CPM100_SendSYNC(BOARD,Cobid,SYNCTime);
	if(ret){
                tempstr = "Set SYNC failure, error = " + IntToStr(ret);
                MessageBox(NULL,tempstr.c_str(),"Error",0);
	}
        else{
                Btn_SendSync->Enabled = true;
                Btn_StopSync->Enabled = false;
        }
}
//------------   End SYNC Protocol
//---------------------------------------------------------------------------
//------------   SDO Protocol
void __fastcall TCPM_TestProg::Btn_ReadSDOClick(TObject *Sender)
{
	int ret,i;
	Byte SubIndex,RData[100];
	Word Index,RDatalen;
        AnsiString TempStr,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()); 

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

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

        Edit_RSDOData->Text = SDOString;
}
//---------------------------------------------------------------------------

void __fastcall TCPM_TestProg::Btn_WriteSDOClick(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_WSDOData->Text.Trim();

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

		if((Edit_WSDOData->Text[i] >= 0x30)&&(Edit_WSDOData->Text[i] <= 0x39) || // 0x30 ~ 0x39 = '0' ~ '9'
		   (Edit_WSDOData->Text[i] >= 0x41)&&(Edit_WSDOData->Text[i] <= 0x5A) || // 0x41 ~ 0x5A = 'A' ~ 'Z'
		   (Edit_WSDOData->Text[i] >= 0x61)&&(Edit_WSDOData->Text[i] <= 0x7A)){  // 0x61 ~ 0x7A = 'a' ~ 'z'
                        if(i+1 <= Edit_WSDOData->Text.Length()){
			        if((Edit_WSDOData->Text[i+1] >= 0x30)&&(Edit_WSDOData->Text[i+1] <= 0x39) ||
			           (Edit_WSDOData->Text[i+1] >= 0x41)&&(Edit_WSDOData->Text[i+1] <= 0x5A) ||
			           (Edit_WSDOData->Text[i+1] >= 0x61)&&(Edit_WSDOData->Text[i+1] <= 0x7A)){

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

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

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

        Edit_RSDOData->Text = SDOString;
}
//---------------------------------------------------------------------------

void __fastcall TCPM_TestProg::Btn_AbortSDOClick(TObject *Sender)
{
	int ret;
	Byte SubIndex;
	Word Index;

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

	ret = CPM100_SDOAbortTransmit(BOARD, NODE, Index, SubIndex);
	if(ret){
		tempstr = "Abort SDO failure, error = " + IntToStr(ret);
                MessageBox(NULL,tempstr.c_str(),"Error",0);
	}
}
//------------   End SDO Protocol
//---------------------------------------------------------------------------
//------------   PDO Protocol
void __fastcall TCPM_TestProg::Btn_PDORtrClick(TObject *Sender)
{
	int ret,i;
	WORD Cobid;
	BYTE RDatalen,RData[20];
	DWORD UpperTime,LowerTime;
	double TimeStamp;
        AnsiString PDOString;

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

	ret = CPM100_PDORemote(BOARD, Cobid, &RDatalen, RData, &UpperTime, &LowerTime);
	if(ret){
		tempstr = "Read PDO failure, error = " + IntToStr(ret);
                MessageBox(NULL,tempstr.c_str(),"Error",0);
	}
	else{
                PDOString = "[" + IntToStr(RDatalen) + "]--";
                if(RDatalen){
                        for(i=0;i<RDatalen;i++){
                                PDOString = PDOString + " " + IntToHex(RData[i],2);
                        }
                }
                else{
                        PDOString = PDOString + " XX ";
                }

                TimeStamp = UpperTime;
	        TimeStamp = (((TimeStamp * 0x100000000) + LowerTime)/10000);

                PDOString = PDOString + " --- " + FormatFloat("0.0000",TimeStamp) + " s\n\r";

                // Add new line to the Mem_Recive
                Edit_RTRData->Text = PDOString;
	}
}
//---------------------------------------------------------------------------

void __fastcall TCPM_TestProg::Btn_PDOOutputClick(TObject *Sender)
{
	int ret,i;
	Byte Offset,WDatalen,WData[8];
	Word CobId;
        AnsiString PDOString;

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

        // Convert string to Dec
	Offset = Cmb_Offset->ItemIndex;

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

	WDatalen=0;

        // To check the data if useful
        for(i=1;i<=Edit_PDOData->Text.Length();i++){
	        if((Edit_PDOData->Text[i] >= 0x30)&&(Edit_PDOData->Text[i] <= 0x39) || // 0x30 ~ 0x39 = '0' ~ '9'
		   (Edit_PDOData->Text[i] >= 0x41)&&(Edit_PDOData->Text[i] <= 0x5A) || // 0x41 ~ 0x5A = 'A' ~ 'Z'
		   (Edit_PDOData->Text[i] >= 0x61)&&(Edit_PDOData->Text[i] <= 0x7A)){  // 0x61 ~ 0x7A = 'a' ~ 'z'
			if(i+1 <= Edit_PDOData->Text.Length()){
				if((Edit_PDOData->Text[i+1] >= 0x30)&&(Edit_PDOData->Text[i+1] <= 0x39) ||
				   (Edit_PDOData->Text[i+1] >= 0x41)&&(Edit_PDOData->Text[i+1] <= 0x5A) ||
				   (Edit_PDOData->Text[i+1] >= 0x61)&&(Edit_PDOData->Text[i+1] <= 0x7A)){

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


	ret = CPM100_PDOWrite(BOARD,CobId,Offset,WDatalen,WData);
	if(ret){
		tempstr = "Write PDO failure, error = " + IntToStr(ret);
                MessageBox(NULL,tempstr.c_str(),"Error",0);
	}
}
//------------   End PDO Protocol
//---------------------------------------------------------------------------
//------------   PDO Setup
void __fastcall TCPM_TestProg::Btn_DynamicPDOClick(TObject *Sender)
{
	int ret;
	Byte RxTxType,PDOChannel,MappingData[4];
	Word CobId;

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

        // PDO channel(entry number of the PDO)
	PDOChannel = Cmb_PDOCh->ItemIndex + 1;
	// Ex: If the PDO had two AO and two DO data, and you want to mapping a new DO(or AO) 
	//     data into the PDO, the parameter "PDOChannel" must be 5. Because the two AO 
	//     have two entry, and the two DO have two entry, too, so the new data must be 
	//     mapping at the fifth entry. 
	//
	// PDO Data Byte       :   0      1      2      3      4      5      6      7   
	// Before mapping      : AO0_L  AO0_H   AO1_L  AO1_H  DO0    DO1     X      X
	// After mapping new DO: AO0_L  AO0_H   AO1_L  AO1_H  DO0    DO1    DO2     X
	// After mapping new AO: AO0_L  AO0_H   AO1_L  AO1_H  DO0    DO1   AO2_L  AO2_H
	//
	// Note: Every PDO has max. data is 8 bytes.
	//       And a AO entry is two bytes, a DO entry is one byte. 
		    	
	// I/O channel (sub-index of I/O index)
	MappingData[1] = (Byte)StrToInt("0x" + Edit_IOCh1->Text.Trim());

	switch(Cmb_IOType->ItemIndex){
	case 0:	// DI
		MappingData[0] = 8;	//      DI data length (8 bit)
		MappingData[2] = 0x00;	//	Low byte of DI index
		MappingData[3] = 0x60;	//	High byte of DI index
		RxTxType = 1;           //      tx      PDO
		break;
	case 1:	// DO
		MappingData[0] = 8;	//	DO data length (8 bit)
		MappingData[2] = 0x00;	//	Low byte of DO index
		MappingData[3] = 0x62;	//	High byte of DO index
		RxTxType = 0;           //      rx PDO
		break;
	case 2:	// AI
		MappingData[0] = 16;	//	AI data length (16 bit)
		MappingData[2] = 0x01;	//	Low byte of AI index
		MappingData[3] = 0x64;	//	High byte of AI index
		RxTxType = 1;           //      tx PDO
		break;
	case 3:	// AO
		MappingData[0] = 16;	//	AO data length (16 bit)
		MappingData[2] = 0x11;	//	Low byte of AO index
		MappingData[3] = 0x64;	//	High byte of AO index
		RxTxType = 0;           //      rx PDO
		break;
	}

	ret = CPM100_DynamicPDO(BOARD,NODE,CobId,RxTxType,PDOChannel,MappingData);
	if(ret){
                tempstr = "Dynamic PDO failure, error = " + IntToStr(ret);
                MessageBox(NULL,tempstr.c_str(),"Error",0);
	}
	else{
		tempstr = "Dynamic PDO OK";
                MessageBox(NULL,tempstr.c_str(),"OK",0);
	}
}
//---------------------------------------------------------------------------

void __fastcall TCPM_TestProg::Btn_InstallPDOClick(TObject *Sender)
{
	int ret;
	Word CobId,PDOIndex;

        // Convert string to Hex
	CobId = (Word)StrToInt("0x" + Edit_SetupPDO->Text.Trim());
        // Convert string to Hex
	PDOIndex = (WORD)StrToInt("0x" + Edit_PDOIndex->Text.Trim());

	ret = CPM100_InstallPDO(BOARD,NODE,CobId,PDOIndex);
	if(ret){
		tempstr = "Install PDO failure, error = " + IntToStr(ret);
                MessageBox(NULL,tempstr.c_str(),"Error",0);
	}
	else{
		tempstr = "Install PDO OK";
                MessageBox(NULL,tempstr.c_str(),"OK",0);
	}
}
//---------------------------------------------------------------------------

void __fastcall TCPM_TestProg::Btn_RemovePDOClick(TObject *Sender)
{
	int ret;
	Byte RxTxType; // 0: is rx , 1: is tx
	Byte PDOEntry;
	Word CobId;

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

	RxTxType = Cmb_RxTxType->ItemIndex;
	PDOEntry = Cmb_PDOEntry->ItemIndex;

	ret = CPM100_RemovePDO(BOARD,NODE,CobId,RxTxType,PDOEntry);
	if(ret){
                tempstr = "Remove PDO failure, error = " + IntToStr(ret);
                MessageBox(NULL,tempstr.c_str(),"Error",0);
	}
	else{
                tempstr = "Remove PDO OK";
                MessageBox(NULL,tempstr.c_str(),"OK",0);
	}
}
//---------------------------------------------------------------------------

void __fastcall TCPM_TestProg::Btn_SetTxTypeClick(TObject *Sender)
{
	int ret;
	Byte TxType;
	Word CobId;

	// Convert string to Hex
	CobId = (Word)StrToInt("0x" + Edit_SetupPDO->Text.Trim());
	// Convert string to Dec
	TxType = (Byte)StrToInt(Edit_TxType->Text.Trim());

	ret = CPM100_PDOTxType(BOARD, NODE, CobId, TxType);
	if(ret){
                tempstr = "Transmission type set failure, error = " + IntToStr(ret);
                MessageBox(NULL,tempstr.c_str(),"Error",0);
	}
	else{
                tempstr = "Transmission type Set OK";
                MessageBox(NULL,tempstr.c_str(),"OK",0);
	}
}
//---------------------------------------------------------------------------

void __fastcall TCPM_TestProg::Btn_SetEventTimerClick(TObject *Sender)
{
	int ret;
	Word CobId,EventTimer;

	// Convert string to Hex
	CobId = (Word)StrToInt("0x" + Edit_SetupPDO->Text.Trim());
	// Convert string to Dec
	EventTimer = (Word)StrToInt(Edit_EventTimer->Text.Trim());

	ret = CPM100_SetEventTimer(BOARD, NODE, CobId, EventTimer);
	if(ret){
                tempstr = "EventTimer Set failure, error = " + IntToStr(ret);
                MessageBox(NULL,tempstr.c_str(),"Error",0);
	}
	else{
                tempstr = "EventTimer Set OK";
                MessageBox(NULL,tempstr.c_str(),"OK",0);
	}
}
//---------------------------------------------------------------------------

void __fastcall TCPM_TestProg::Btn_ChangePDOIdClick(TObject *Sender)
{
	int ret;
	Word oldCobId,newCobId;

	// Convert string to Hex
	oldCobId = (Word)StrToInt("0x" + Edit_SetupPDO->Text.Trim());
        // Convert string to Hex
	newCobId = (Word)StrToInt("0x" + Edit_NewPDO->Text.Trim());

	ret = CPM100_ChangePDOCobID(BOARD, NODE, oldCobId, newCobId);
	if(ret){
                tempstr = "Change Cob ID failure, error = " + IntToStr(ret);
                MessageBox(NULL,tempstr.c_str(),"Error",0);
	}
	else{
                tempstr = "Cob ID change OK";
                MessageBox(NULL,tempstr.c_str(),"OK",0);
	}
}
//------------   End PDO Setup
//---------------------------------------------------------------------------
//------------   Change Cob ID
void __fastcall TCPM_TestProg::Btn_ChangeSYNCIdClick(TObject *Sender)
{
	int ret;
	Word CobId;

	CobId = (Word)StrToInt("0x" + Edit_NewCobId->Text.Trim());

	ret = CPM100_ChangeSYNCID(BOARD,NODE,CobId);
	if(ret){
                tempstr = "Change SYNC ID failure, error = " + IntToStr(ret);
                MessageBox(NULL,tempstr.c_str(),"Error",0);
	}
	else{
                tempstr = "SYNC ID Change OK";
                MessageBox(NULL,tempstr.c_str(),"OK",0);
	}
}
//---------------------------------------------------------------------------

void __fastcall TCPM_TestProg::Btn_ChangeEMCYIdClick(TObject *Sender)
{
	int ret;
	Word CobId;

	CobId = (Word)StrToInt("0x" + Edit_NewCobId->Text.Trim());

	ret = CPM100_ChangeEMCYID(BOARD,NODE,CobId);
	if(ret){
                tempstr = "Change EMCY ID failure, error = " + IntToStr(ret);
                MessageBox(NULL,tempstr.c_str(),"Error",0);
	}
	else{
                tempstr = "EMCY ID Change OK";
                MessageBox(NULL,tempstr.c_str(),"OK",0);
	}
}
//------------   End Change Cob ID
//---------------------------------------------------------------------------
//------------   I/O control
void __fastcall TCPM_TestProg::Btn_DIClick(TObject *Sender)
{
	int ret;
	Byte iochannel,value;

        // Convert string to Hex
	iochannel = (Byte)StrToInt("0x" + Edit_IOCh2->Text.Trim());

	ret = CPM100_ReadDI(BOARD,NODE,iochannel,&value);
	if(ret){
                tempstr = "Input DI failure, error = " + IntToStr(ret);
                MessageBox(NULL,tempstr.c_str(),"Error",0);
	}
	else{
		Edit_IOValue->Text = IntToHex(value,2) + " (Dec: " + IntToStr(value) +")";
	}
}
//---------------------------------------------------------------------------

void __fastcall TCPM_TestProg::Btn_AIClick(TObject *Sender)
{
	int ret;
	Byte iochannel;
	Word value;

	// Convert string to Hex
	iochannel = (Byte)StrToInt("0x" + Edit_IOCh2->Text.Trim());

	ret = CPM100_ReadAI(BOARD,NODE,iochannel,&value);
	if(ret){
		tempstr = "Input AI failure, error = " + IntToStr(ret);
                MessageBox(NULL,tempstr.c_str(),"Error",0);
	}
	else{
		Edit_IOValue->Text = IntToHex(value,4) + " (Dec: " + IntToStr(value) +")";
	}
}
//---------------------------------------------------------------------------

void __fastcall TCPM_TestProg::Btn_DOClick(TObject *Sender)
{
	int ret;
	Byte iochannel,value;

	// Convert string to Hex
	iochannel = (Byte)StrToInt("0x" + Edit_IOCh2->Text.Trim());
	// Convert string to Hex
	value = (Byte)StrToInt("0x" + Edit_IOValue->Text.Trim());

	ret = CPM100_WriteDO(BOARD,NODE,iochannel,value);
	if(ret){
                tempstr = "Output DO failure, error = " + IntToStr(ret);
                MessageBox(NULL,tempstr.c_str(),"Error",0);
	}
	else{
                tempstr = "DO output OK";
                MessageBox(NULL,tempstr.c_str(),"OK",0);
	}
}
//---------------------------------------------------------------------------

void __fastcall TCPM_TestProg::Btn_AOClick(TObject *Sender)
{
	int ret;
	Byte iochannel;
	Word value;

	// Convert string to Hex
	iochannel =  (Byte)StrToInt("0x" + Edit_IOCh2->Text.Trim());
	// Convert string to Hex
	value = (Byte)StrToInt("0x" + Edit_IOValue->Text.Trim());

	ret = CPM100_WriteAO(BOARD,NODE,iochannel,value);
	if(ret){
		tempstr = "Output AO failure, error = " + IntToStr(ret);
                MessageBox(NULL,tempstr.c_str(),"Error",0);
	}
	else{
		tempstr = "AO output OK";
                MessageBox(NULL,tempstr.c_str(),"OK",0);
	}
}
//------------   End I/O control
//---------------------------------------------------------------------------

void __fastcall TCPM_TestProg::Timer1Timer(TObject *Sender)
{
	int ret,i,j,count;
	Byte EMCY_Data[8],PDO_Data[8],PDO_Len;
        Byte Node;
	Word Cob_Id;
	Word Year, Month, DayOfWeek, Day, Hour, Minute, Second, Milliseconds;
	DWord UpperTime,LowerTime;
	double TimeStamp;
	AnsiString EMCYStr,PDOStr,TempStr;
	
	count = CPM100_ReadEMCYCount(BOARD);
	if(count){
		for(i=0;i<count;i++){
			ret = CPM100_ReadEMCY(BOARD, &Node, &Cob_Id, EMCY_Data, &Year, &Month, &DayOfWeek, &Day, &Hour, &Minute, &Second, &Milliseconds);
			if(!ret){
                                EMCYStr = IntToHex(Cob_Id,3) + " -- ";
                                for(j=0;j<8;j++){
                                        EMCYStr = EMCYStr + IntToHex(EMCY_Data[j],2) + " ";
                                }
                                //Add Local System Time MM/DD/YYYY
                                TempStr.printf("-- %02d/%02d/%04d ",Month,Day,Year);
                                EMCYStr = EMCYStr + TempStr;
                                //Add Local System Time HH:MM:SS
                                TempStr.printf("%02d:%02d:%02d",Hour,Minute,Second);
                                EMCYStr = EMCYStr + TempStr;


                                if(RecenItem >= 100){
					Mem_Receive->Clear();
					RecenItem = 0;
				}

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

        count = CPM100_ReadPDOCount(BOARD);
        if(count){
		for(i=0;i<count;i++){
			ret = CPM100_ReadPDOMessage(BOARD, &Cob_Id, &PDO_Len, PDO_Data, &UpperTime, &LowerTime);
                        if(!ret){
				PDOStr = IntToHex(Cob_Id,3) + " -- ";
				for(j=0;j<PDO_Len;j++){
					PDOStr = PDOStr + IntToHex(PDO_Data[j],2) + " ";
				}
				TimeStamp = UpperTime;
				TimeStamp = (TimeStamp * 0x100000000) + ((double)LowerTime / 10000);
                                //Add Time Stamp, and second is its' unit
                                TempStr.printf(" -- %0.4f s",TimeStamp);
				PDOStr = PDOStr + TempStr;

                                if(RecenItem >= 100){
					Mem_Receive->Clear();
					RecenItem = 0;
				}

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