#include <LiquidCrystal_I2C.h>


LiquidCrystal_I2C lcd(0x27, 16, 2);

int address = 105;
char data[64] = {0};
int y100;
int y200;
float y[19];
int commandStart = 1200;
int commandStop = 1300;
int commandBacklight = 1403;
int commandNoBacklight = 1404;
int packet1 = 201;
int packet2 = 202;
int packet3 = 203;
int packet4 = 204;
int packet5 = 205;
int packet6 = 206;
int comRelease = 207;

// RX 0
// TX 1
#define enaExchange 2
#define pulExchange 3
#define dirExchange 4
#define enaDose 5
#define pulDose 6
#define dirDose 7
#define manual_1 8
#define manual_2 9
#define manual_3 10
#define txEnable 11
// #define xxx 12

int enaExchangeState;
long pulExchangeState;
int dirExchangeState;
long uSecExchange;
int enaDoseState;
long pulDoseState;
int dirDoseState;
long uSecDose;



void setup() {
  lcd.init();
  lcd.backlight();
  delay(500);
  lcd.noBacklight();

  Serial.begin(9600);
  Serial.println(".....");

  enaExchangeState = 0;
  pulExchangeState = 0;
  dirExchangeState = 0;
  enaDoseState = 0;
  pulDoseState = 0;
  dirDoseState = 0;
  uSecExchange = 0;
  uSecDose = 0;

  pinMode(enaExchange, OUTPUT);
  pinMode(pulExchange, OUTPUT);
  pinMode(dirExchange, OUTPUT);
  pinMode(enaDose, OUTPUT);
  pinMode(pulDose, OUTPUT);
  pinMode(dirDose, OUTPUT);
  pinMode(manual_1, INPUT);
  pinMode(manual_2, INPUT);
  pinMode(manual_3, INPUT);
  pinMode(txEnable, OUTPUT);

}

void loop() {
  if(Serial.available() != 0) {
    getSerialData();

    enaExchangeState = y[4];
    pulExchangeState = y[5];
    dirExchangeState = y[6];
    enaDoseState = y[7];
    pulDoseState = y[8];
    dirDoseState = y[9];
    uSecExchange = y[10];
    uSecDose = y[11];
  }

  if(y[2] == commandBacklight) {
    lcd.backlight();
  }
  else if(y[2] == commandNoBacklight) {
    lcd.noBacklight();
  }

  while((y[1] == commandStart) && (y200 == comRelease)) {
    if(enaExchangeState == 1) {
      digitalWrite(enaExchange, LOW);
    }
    else if(enaExchangeState == 0) {
      digitalWrite(enaExchange, HIGH);
    }
    if(dirExchangeState == 1) {
      digitalWrite(dirExchange, LOW);
    }
    else if(dirExchangeState == 0) {
      digitalWrite(dirExchange, HIGH);
    }
    for(long x = 0; x < pulExchangeState; x++) {
      digitalWrite(pulExchange,HIGH); 
      delayMicroseconds(uSecExchange);    
      digitalWrite(pulExchange,LOW); 
      delayMicroseconds(uSecExchange); 
    }
    delay(1000);

    if(enaDoseState == 1) {
      digitalWrite(enaDose, LOW);
    }
    else if(enaDoseState == 0) {
      digitalWrite(enaDose, HIGH);
    }
    if(dirDoseState == 1) {
      digitalWrite(dirDose, LOW);
    }
    else if(dirDoseState == 0) {
      digitalWrite(dirDose, HIGH);
    }
    for(long x = 0; x < pulDoseState; x++) {
      digitalWrite(pulDose,HIGH); 
      delayMicroseconds(uSecDose);    
      digitalWrite(pulDose,LOW); 
      delayMicroseconds(uSecDose); 
    }
    delay(1000);
    digitalWrite(txEnable, HIGH);
    Serial.print(address);
    Serial.print(",");
    Serial.println(commandStop);
    digitalWrite(txEnable, LOW);
    y[1] = 0;

  }
  


}

void getSerialData() {
  byte n = Serial.available();
  if (n != 0) {
    byte m = Serial.readBytesUntil('\n', data, 64);
    data[m] = '\0'; //null-byte
    y100 = atoi(strtok(data, ","));
    y200 = atoi(strtok(NULL, ","));
    if(y100 == address) {

      if(y200 == 0) {

      }
      if(y200 == packet1) {
        y[1] = atof(strtok(NULL, ","));
        y[2] = atof(strtok(NULL, ","));
        y[3] = atof(strtok(NULL, ","));
        delay(200);
        digitalWrite(txEnable, HIGH);
        Serial.print(address);
        Serial.print(",");
        Serial.println(packet2);
        digitalWrite(txEnable, LOW);
      }

      if(y200 == packet2) {
        y[4] = atof(strtok(NULL, ","));
        y[5] = atof(strtok(NULL, ","));
        y[6] = atof(strtok(NULL, ","));
        delay(200);
        digitalWrite(txEnable, HIGH);
        Serial.print(address);
        Serial.print(",");
        Serial.println(packet3);
        digitalWrite(txEnable, LOW);
      }
      
      if(y200 == packet3) {
        y[7] = atof(strtok(NULL, ","));
        y[8] = atof(strtok(NULL, ","));
        y[9] = atof(strtok(NULL, ","));
        delay(200);
        digitalWrite(txEnable, HIGH);
        Serial.print(address);
        Serial.print(",");
        Serial.println(packet4);
        digitalWrite(txEnable, LOW);
      }

      if(y200 == packet4) {
        y[10] = atof(strtok(NULL, ","));
        y[11] = atof(strtok(NULL, ","));
        y[12] = atof(strtok(NULL, ","));
        delay(200);
        digitalWrite(txEnable, HIGH);
        Serial.print(address);
        Serial.print(",");
        Serial.println(packet5);
        digitalWrite(txEnable, LOW);
      }

      if(y200 == packet5) {
        y[13] = atof(strtok(NULL, ","));
        y[14] = atof(strtok(NULL, ","));
        y[15] = atof(strtok(NULL, ","));
        delay(200);
        digitalWrite(txEnable, HIGH);
        Serial.print(address);
        Serial.print(",");
        Serial.println(packet6);
        digitalWrite(txEnable, LOW);
      }
      
      if(y200 == packet6) {
        y[16] = atof(strtok(NULL, ","));
        y[17] = atof(strtok(NULL, ","));
        y[18] = atof(strtok(NULL, ","));
        delay(200);
        digitalWrite(txEnable, HIGH);
        Serial.print(address);
        Serial.print(",");
        Serial.println(comRelease);
        digitalWrite(txEnable, LOW);
      }
      if(y200 == comRelease) {

      }
    }
  }
}