/******************************************************************************/
/*
* File name: McomModbusMasterTCP.cpp
* Location: See Matrox Example Launcher in the MIL Control Center
 * 
*
* Synopsis:  This program allocates a MIL application and system.
*            Then allocate a MIL industrial communication context to an
*            Modbus TCP master instance.
*
* Notes:     This example is only available if you have the MIL Industrial Communication package,
*            or another relevant update installed.
*
* Copyright (C) Matrox Electronic Systems Ltd., 1992-2016.
* All Rights Reserved
*/
#include <mil.h>

MIL_ID MilApplication,  /* Application identifier.  */
MilSystem,              /* System identifier.       */
MilCom;                 /* Industrial communication identifier.       */

/* Status register */
MIL_UINT8 TriggerACK;
MIL_UINT8 ResultReady;
MIL_UINT8 ResultValue;

/* Control register */
MIL_UINT8 Trigger;
MIL_UINT8 ResultACK;
MIL_UINT8 ResultCopy;
MIL_UINT8 value = 0;

void WriteControl(MIL_UINT8 trigger, MIL_UINT8 resultACK, MIL_UINT8 resultCopy);
void ReadStatus(void);
void SetInitialData(void);
void GenerateTrigger(void);
MIL_UINT8 WaitForResultFromSlave(void);
void WriteResultCopy(MIL_UINT8 result);

int MosMain(void)
{
   MIL_UINT8 processingResult;

   /* Allocate a default MIL application, system, display and image. */
   MappAllocDefault(M_DEFAULT, &MilApplication, &MilSystem, M_NULL, M_NULL, M_NULL);

   McomAlloc(MilSystem, M_COM_PROTOCOL_MODBUS, M_NULL, M_DEFAULT, M_DEFAULT, &MilCom);

   /* Set the data to the initial values. */
   SetInitialData();

   /* Wait for a key press. */
   MosPrintf(MIL_TEXT("Press <Enter> to end.\n"));
   while (!MosKbhit())
   {
      /* Generate a trigger to begin processing on the slave */
      GenerateTrigger();

      /* Wait that the slave finish the processing*/
      processingResult = WaitForResultFromSlave();

      /* Write back the result to simulate work with result */
      WriteResultCopy(processingResult);
   }

   /* Free MIL objects*/
   McomFree(MilCom);
   MappFreeDefault(MilApplication, MilSystem, M_NULL, M_NULL, M_NULL);
   return 0;
}

void WriteControl(MIL_UINT8 trigger, MIL_UINT8 resultACK, MIL_UINT8 resultCopy)
{
   MIL_UINT8 control[2];

   Trigger = trigger;
   ResultACK = resultACK;
   ResultCopy = resultCopy;
   control[0] = ((ResultACK & 0x01) << 1) | (Trigger & 0x01);
   control[1] = ResultCopy;

   McomWrite(MilCom, MIL_TEXT("1@localhost/") M_HOLDING_REGISTER, 0, sizeof(control) / sizeof(MIL_UINT16), control);
}

void ReadStatus(void)
{
   MIL_UINT8 status[2];

   McomRead(MilCom, MIL_TEXT("1@localhost/") M_INPUT_REGISTER, 0, sizeof(status) / sizeof(MIL_UINT16), status);
   TriggerACK = status[0] & 0x1;
   ResultReady = (status[0] & 0x2) >> 1;
   ResultValue = status[1];
}

void SetInitialData(void)
{
   WriteControl(0, 0, 0);
}

void GenerateTrigger(void)
{
   MosSleep(1000);
   WriteControl(1, 0, ResultCopy);
   MosPrintf(MIL_TEXT("Send Trigger!\n"));
}

MIL_UINT8 WaitForResultFromSlave(void)
{
   MIL_INT counter = 0;

   do
   {
      ReadStatus();
      MosSleep(10);
      counter++;
   } while (ResultReady == 0 && !MosKbhit());

   MosPrintf(MIL_TEXT("Received result ready! Value:%d\n"), ResultValue);

   WriteControl(0, 1, ResultValue);
   return ResultValue;
}

void WriteResultCopy(MIL_UINT8 result)
{
   WriteControl(0, 1, ResultValue);
}