#include "ue9.h"

const int ue9_port = 52360;

int allIO(int socketFD, ue9CalibrationInfo *caliInfo);

int main(int argc, char **argv)
{
  int socketFD;
  ue9CalibrationInfo caliInfo;

  if(argc < 2)
  {
    printf("Please enter an ip address to connect to.\n");
    exit(0);
  }
  else if(argc > 2)
  {
    printf("Too many arguments.\nPlease enter only an ip address.\n");
    exit(0);
  }

  printf("Hello Analog and Digital Labjack World\n");

  //Opening TCP connection to UE9
  if( (socketFD = openTCPConnection(argv[1], ue9_port)) < 0)
    goto done;

  //Getting calibration information from UE9
  if(getCalibrationInfo(socketFD, &caliInfo) < 0)
    goto close;

  allIO(socketFD, &caliInfo);

close:
  if(closeTCPConnection(socketFD) < 0)
  {
    printf("Error: failed to close socket\n");
    return 1;
  }
done:
  return 0;
}

//Sends 1000 Feedback low-level commands to read digital IO and analog inputs.
//On the first send, the following are set: DAC0 to 2.5 volts, DAC1 to 3.5
//volts, and digital IOs to inputs.
int allIO(int socketFD, ue9CalibrationInfo *caliInfo)
{
  uint8 sendBuff[34], recBuff[64];
  int sendChars, recChars;
  int i, j;
  uint16 checksumTotal, bytesVoltage;
  int initialize;  //boolean to init. DAC and digital IO settings
  int numIterations;
  long time;
  uint8 numChannels;  //Number of AIN channels, 0-16.
  long ainResolution;
  double valueAIN[16];
  int valueDIPort;
  uint8 settlingTime;
  uint16 ainMask;

  numIterations = 1000;
  initialize = 1;
  time = 0;
  numChannels = 8;
  ainResolution = 12;
  for(i = 0; i < 16; i++)
    valueAIN[i] = 9999.0;
  settlingTime = 0;
  ainMask = pow(2.0, numChannels) - 1;

  sendBuff[1] = (uint8)(0xF8);  //command byte
  sendBuff[2] = (uint8)(0x0E);  //number of data words
  sendBuff[3] = (uint8)(0x00);  //extended command number

  sendBuff[6] = 255;  //FIOMask : setting the mask of all FIOs
  sendBuff[7] = 0;    //FIODir : setting all FIO directions to input
  sendBuff[8] = 0;    //FIOState : all FIO directions are input, so
                      //           state writes do not apply
  sendBuff[9] = 255;  //EIOMask : setting the mask of all EIOs
  sendBuff[10] = 0;   //EIODir : setting all EIO directions to input
  sendBuff[11] = 0;   //EIOState : all EIO directions are input, so
                      //           state writes do not apply
  sendBuff[12] = 15;  //CIOMask : setting the mask of all CIOs
  sendBuff[13] = 0;   //CIODirState : setting all CIO directions to input,
                      //              state writes do not apply

  sendBuff[14] = 7;   //MIOMask : setting the mask of all MIOs
  sendBuff[15] = 0;   //MIODirState : setting all MIO directions to input,
                      //              state writes do not apply

  //getting binary DAC0 value of 2.5 volts
  if(analogToCalibratedBinaryVoltage(caliInfo, 0, 2.500, &bytesVoltage) < 0)
    return -1;
  //setting the voltage of DAC0 to 2.5
  sendBuff[16] = (uint8)(bytesVoltage & 255);     //low bits of DAC0
  sendBuff[17] = (uint8)(bytesVoltage/256) + 192; //high bits of DAC0
                                                  //(bit 7 : Enable,
                                                  //bit 6: Update)
  //getting binary DAC1 value of 3.5 volts
  if(analogToCalibratedBinaryVoltage(caliInfo, 1, 3.500, &bytesVoltage) < 0)
    return -1;
  //setting the voltage of DAC1 to 3.5 volts
  sendBuff[18] = (uint8)(bytesVoltage & 255);     //low bits of DAC1
  sendBuff[19] = (uint8)(bytesVoltage/256) + 192; //high bits of DAC1
                                                  //(bit 7 : Enable,
                                                  //bit 6: Update)

  //AINMask - reading the number of AINs specified by numChannels
  sendBuff[20] = ainMask & 255;  //AINMask (low byte)
  sendBuff[21] = ainMask/256;    //AINMask (high byte)
  sendBuff[22] = 14;             //AIN14ChannelNumber :  setting to channel 14
  sendBuff[23] = 15;             //AIN15ChannelNumber :  setting to channel 15
  sendBuff[24] = ainResolution;  //Resolution : Resolution specified by
                                 //             ainResolution
  sendBuff[25] = settlingTime;   //SettlingTime

  //setting all BipGains (Gain = 1, Bipolar = 1)
  for(i = 26; i < 34; i++)
    sendBuff[i] = (uint8)(0x00);

  extendedChecksum(sendBuff, 34);

  time = getTickCount();
  for(i = 0; i < numIterations; i++)
  {
    //Sending command to UE9
    sendChars = send(socketFD, sendBuff, 34, 0);
    if(sendChars < 34)
    {
      if(sendChars == 0)
        printf("Feedback error (Iteration %d) : send failed\n", i);
      else
        printf("Feedback error (Iteration %d) : did not send all of the buffer\n", i);
      return -1;
    }

    //Reading response from UE9
    recChars = recv(socketFD, recBuff, 64, 0);
    if(recChars < 64)
    {
      if(recChars == 0)
        printf("Feedback error (Iteration %d) : rcv failed\n", i);
      else
        printf("Feedback error (Iteration %d) : did not rcv all of the buffer\n", i);
      return -1;
    }

    checksumTotal = extendedChecksum16(recBuff, 64);
    if( (uint8)((checksumTotal / 256) & 0xff) != recBuff[5])
    {
      printf("Feedback error (Iteration %d) : read buffer has bad checksum16(MSB)\n", i);
      return -1;
    }

    if( (uint8)(checksumTotal & 255) != recBuff[4])
    {
      printf("Feedback error (Iteration %d) : read buffer has bad checksum16(LBS)\n", i);
      return -1;
    }

    if( extendedChecksum8(recBuff) != recBuff[0])
    {
      printf("Feedback error (Iteration %d) : read buffer has bad checksum8\n", i);
      return -1;
    }

    if(recBuff[1] != (uint8)(0xF8) || recBuff[2] != (uint8)(0x1D) || recBuff[3] != (uint8)(0x00))
    {
      printf("Feedback error (Iteration %d) : read buffer has wrong command bytes\n", i);
      return -1;
    }

    for(j = 0; j < numChannels && j < 16; j++)
      binaryToCalibratedAnalogVoltage(caliInfo, 0x00, ainResolution, recBuff[12 + j*2] + recBuff[13 + j*2]*256, &valueAIN[j]);

    valueDIPort = recBuff[7] + recBuff[9]*256 + (recBuff[10] & 15)*65536 + (recBuff[11] & 7)*1048576;

    if(initialize == 1)
    {
      //unsetting digital IO bit masks since we only want to read states now
      sendBuff[6] = 0;  //FIOMask
      sendBuff[9] = 0;  //EIOMask
      sendBuff[12] = 0; //CIOMask
      sendBuff[14] = 0; //MIOMask

      //turning off Update bit of DACs
      sendBuff[17] = sendBuff[17] - 64;  //high bits of DAC0
      sendBuff[19] = sendBuff[19] - 64;  //high bits of DAC1

      extendedChecksum(sendBuff, 34);

      initialize = 0;
    }
  }
  time = getTickCount() - time;

  printf("Milleseconds per iteration = %.3f\n", (double)time / (double)numIterations);
  printf("\nDigital Input (FIO0-7, EIO0-7, CIO0-3, MIO0-2)  = %d\n",valueDIPort);
  printf("\nAIN readings from last iteration:\n");
  for( j = 0; j < numChannels; j++)
    printf("%.6f\n", valueAIN[j]);

  return 0;
}