REM Use the iPad screen to enter values into the Learn Site REM Examples for Activity Bot
REM Send the value of the PING sensor back to be displayed
REM Send the value of the wheel ticks as a result of
REM movement.

REM Use a toggle switch to connect to WiFi
REM Have a text box for ip address
REM Initial ip addr is 

DIM ipaddr$ AS STRING
!!! DEFAULT IP ADDRESS
ipaddr$ = "192.168.1.3"

DIM ipport$ AS STRING
!!! DEFAULT PORT 
ipport$ = "9750"

REM Only one port being used so hard code it
ipport% = val(ipport$)

!! Seperate message buffers for Rx and Tx messages
DIM RxMessage~(16) 
DIM TxMessage~(16)

!Only allow landscape home on right
System.setAllowedOrientations(4)

Graphics.setFont("Monospaced",18,1)

xcenter = Graphics.Width/2
!! Graphics.Width is not the right edge?? so tweeked it
xright = Graphics.Width + 150

DIM quit AS Button
quit = Graphics.newButton(xright,250)
quit.setTitle("Quit")

!! Define switches for connecting and AB led's
DIM swip as Switch
DIM swP26 as Switch
DIM swP27 as Switch
DIM lblip as Label
DIM lblP26 as Label
DIM lblP27 as Label

REM Connection variables
DIM found AS INTEGER
DIM connected AS INTEGER

swip = Graphics.newSwitch(xright,25)
!Default to off
!Color RED until connected
swip.setColor(1,0,0)
swip.setOn(0)

swP26 = Graphics.newSwitch(xright,65)
!Default to off
swP26.setOn(0)
swP26.setEnabled(0)

swP27 = Graphics.newSwitch(xright,105)
!Default to off
swP27.setOn(0)
swP27.setEnabled(0)

lblip = Graphics.newLabel(xright-100,25,100)
lblP26 = Graphics.newLabel(xright-100,65,100)
lblP27 = Graphics.newLabel(xright-100,105,100)

lblP26.setText("P26LED")
lblP27.setText("P27LED")
lblip.setText("CONNECT")

REM Define a text field to enter a different ip address
DIM txip AS TEXTFIELD

txip = Graphics.newTextField(xright-300,25,200)
txip.setFont("Monospaced",24,1)
txip.setBackgroundColor(1,1,0)
txip.setColor(1,0,0)
!! Only numbers and puncuation
txip.setKeyboardType(3)
txip.setText(ipaddr$)

REM Define the labels and text fields for abdrive code
DIM lblrt AS LABEL
DIM lbllf AS LABEL
DIM lbltp AS LABEL
DIM txrt AS TEXTFIELD
DIM txlf AS TEXTFIELD
DIM txtp AS TEXTFIELD

rt$ = "0"
lf$ = "0"
tp$ = "1000"

REM Variables to hold user entered screen values
rt% = 0
lf% = 0
tp% = 0
mycmd~ = 0

REM Create the labels and fields
lblrt = Graphics.newLabel(20,200,100)
lblrt.setAlignment(3)
lblrt.setFont("Monospaced",24,1)
lblrt.setText("Right")
txrt = Graphics.newTextField(125,200,100)
txrt.setFont("Monospaced",24,1)
txrt.setBackgroundColor(1,1,0)
txrt.setColor(0,0,1)
!! Only numbers and puncuation
txrt.setKeyboardType(3)
txrt.setText(rt$)

lbllf = Graphics.newLabel(20,250,100)
lbllf.setAlignment(3)
lbllf.setFont("Monospaced",24,1)
lbllf.setText("Left")
txlf = Graphics.newTextField(125,250,100)
txlf.setFont("Monospaced",24,1)
txlf.setBackgroundColor(1,1,0)
txlf.setColor(0,0,1)
!! Only numbers and puncuation
txlf.setKeyboardType(3)
txlf.setText(lf$)

lbltp = Graphics.newLabel(20,300,100)
lbltp.setAlignment(3)
lbltp.setFont("Monospaced",24,1)
lbltp.setText("Tpause")
txtp = Graphics.newTextField(125,300,100)
txtp.setFont("Monospaced",24,1)
txtp.setBackgroundColor(1,1,0)
txtp.setColor(0,0,1)
!! Only numbers and puncuation
txtp.setKeyboardType(3)
txtp.setText(tp$)

REM Define TextViews to show example code
DIM tvspeed AS TEXTVIEW
DIM tvramp AS TEXTVIEW
DIM tvgoto AS TEXTVIEW

tvspeed = Graphics.newTextView(50,450,220,70)
tvspeed.setEditable(0)
tvspeed.setAlignment(1)
tvspeed.setFont("MonoSpaced",14,1)
tvspeed.setBackgroundColor(0,1,0)
tvspeed.setText("drive_speed(Left,Right)" & Chr(10) _
                & "pause(Tpause)" & Chr(10) _
                & "drive_speed(0,0)" & Chr(10))
DIM exspd AS BUTTON
exspd = Graphics.newButton(80,410,150)
exspd.setTitle("Execute Speed")

tvramp = Graphics.newTextView(350,450,220,70)
tvramp.setEditable(0)
tvramp.setAlignment(1)
tvramp.setFont("MonoSpaced",14,1)
tvramp.setBackgroundColor(0,1,0)
tvramp.setText("drive_ramp(Left,Right)" & Chr(10) _
                & "pause(Tpause)" & Chr(10) _
                & "drive_ramp(0,0)" & Chr(10))
DIM exrmp AS BUTTON
exrmp = Graphics.newButton(380,410,150)
exrmp.setTitle("Execute Ramp")

tvgoto = Graphics.newTextView(650,450,220,70)
tvgoto.setEditable(0)
tvgoto.setAlignment(1)
tvgoto.setFont("MonoSpaced",14,1)
tvgoto.setBackgroundColor(0,1,0)
tvgoto.setText("drive_goto(Left,Right)" & Chr(10) _
                & "pause(Tpause)" & Chr(10) )
DIM exgo2 AS BUTTON
exgo2 = Graphics.newButton(680,410,150)
exgo2.setTitle("Execute GoTo")

REM Create Labels and TextFields to show incoming values
REM The Ping sensor data and Wheel ticks

pi$ = "0"
ticks$ = "10000"

DIM lblping AS LABEL
DIM txping AS TEXTFIELD
lblping = Graphics.newLabel(325,200,100)
lblping.setAlignment(3)
lblping.setFont("Monospaced",24,1)
lblping.setText("Ping:")
txping = Graphics.newTextField(425,200,100)
txping.setFont("Monospaced",24,1)
txping.setBackgroundColor(1,1,0)
txping.setColor(0,0,1)
txping.setText(pi$)
DIM lblin AS LABEL
lblin = Graphics.newLabel(525,215,80)
lblin.setFont("Monospaced",20,1)
lblin.setText("inches")

DIM lblticks AS LABEL
DIM txticks AS TEXTFIELD
lblticks = Graphics.newLabel(325,300,100)
lblticks.setAlignment(3)
lblticks.setFont("Monospaced",24,1)
lblticks.setText("Ticks:")
txticks = Graphics.newTextField(425,300,100)
txticks.setFont("Monospaced",24,1)
txticks.setBackgroundColor(1,1,0)
txticks.setColor(0,0,1)
txticks.setText(ticks$)
                                

t= system.ticks

REM Start out with controls that cause events disabled
REm until we connect to Wifi
EnableEvents(0)

REM USE FULL SCREEN
!Pass 1 to go full screen and in this
!mode setAllowedOrientations works
System.showGraphics(1)

REM SHOW GRAPHICS WITH DEBUGGER TOOLBAR
!System.showGraphics


!!! Sub's !!!

REM ENABLE/DISABLE EVENT CONTROLS BASED ON CONNECTED
SUB EnableEvents(OnOff AS INTEGER)
  swP26.setEnabled(OnOff)
  swP27.setEnabled(OnOff)
  exspd.setEnabled(OnOff)
  exrmp.setEnabled(OnOff)
  exgo2.setEnabled(OnOff)
  
END SUB

SUB MessageTx(numbytes AS BYTE)
  FOR i% = 1 TO numbytes 
  PUT #1,, Txmessage~(i%)
  NEXT
END SUB

SUB SendMsgA1(db AS Byte)
  Txmessage~(1) = $A1
  Txmessage~(2) = 2
  Txmessage~(3) = db
! Compute the checksum
  checksum~ = BITNOT(2 + db) + 1
  Txmessage~(4) = checksum~
  MessageTx(4)
END SUB

SUB SendMsgA7(CMD AS BYTE,R AS INTEGER,L AS INTEGER,T AS INTEGER)
! Send TextField values and CMD based on which button clicked
  TxMessage~(1) = $A7
  TxMessage~(2) = 8
  TxMessage~(3) = CMD
  TxMessage~(4) = (R BITAND $00FF)
  TxMessage~(5) = (R BITAND $FF00) >> 8
  TxMessage~(6) = (L BITAND $00FF)
  TxMessage~(7) = (L BITAND $FF00) >> 8
  TxMessage~(8) = (T BITAND $00FF)
  TxMessage~(9) = (T BITAND $FF00) >> 8
  checksum~ = 0
  FOR ix% = 2 TO 9
    checksum~ = checksum~ + TxMessage~(ix%)
  NEXT
  checksum~ = BITNOT(checksum~) + 1
  TxMessage~(10) = checksum~
  MessageTx(10)
END SUB  

REM Modified version of Jeff T Connect
SUB connect

ON ERROR GOTO 100

ipaddr$ = txip.getText
Comm.openTCPIP(1,ipaddr$,ipport%)

t=system.ticks

WHILE system.ticks - t < 1

IF comm.isreadyforoutput(1) THEN

found=1
connected=1
EnableEvents(1)
!! Green switch if made connection
swip.setColor(0,1,0)
t=t-1

END IF

WEND

IF not found THEN
ERROR 53
ELSE
ERROR 0
END IF

100 IF err.number=53 THEN

close #1
connected=0
swip.setOn(0)
swip.setColor(1,0,0)
EnableEvents(0)

ON ERROR GOTO 0

END IF

END SUB

SUB valueChanged(ctrl AS Control, time AS DOUBLE)
IF ctrl = swP26 THEN
  IF swP26.isON THEN
    SendMsgA1(1)
  ELSE
    SendMsgA1(2)
  END IF
END IF

IF ctrl = swP27 THEN
  IF swP27.isON THEN
    SendMsgA1(4)
  ELSE
    SendMsgA1(8)
  END IF
END IF

IF ctrl = swip THEN
  IF swip.isON THEN
  connect
  ELSE
  IF connected THEN
    close #1
    connected = 0
    found = 0
    EnableEvents(0)
  END IF
  swip.setColor(1,0,0)
  END IF
END IF



END SUB

SUB touchUpInside(ctrl AS Button, when AS Double)
if ctrl = quit then
  STOP
  ELSE IF ctrl = exspd THEN
  mycmd~ = 1
  rt% = VAL(txrt.getText)
  lf% = VAL(txlf.getText)
  tp% = VAL(txtp.getText)
  SendMsgA7(mycmd~,rt%,lf%,tp%)
  ELSE IF ctrl = exrmp THEN
  mycmd~ = 3
  rt% = VAL(txrt.getText)
  lf% = VAL(txlf.getText)
  tp% = VAL(txtp.getText)
  SendMsgA7(mycmd~,rt%,lf%,tp%)
  ELSE IF ctrl = exgo2 THEN
  mycmd~ = 2
  rt% = VAL(txrt.getText)
  lf% = VAL(txlf.getText)
  tp% = VAL(txtp.getText)
  SendMsgA7(mycmd~,rt%,lf%,tp%)
  END IF  

END SUB