Option Strict Off
Imports System.Net
Imports System.Net.Sockets
Imports System.Text
Imports System.Runtime.InteropServices  'for joystick

Public Class Form1
    Inherits System.Windows.Forms.Form
    Public Declare Function joyGetPos Lib "winmm.dll" Alias "joyGetPos" (ByVal ujoyID As Integer, <MarshalAs(UnmanagedType.Struct)> ByRef pji As JOYINFO) As Integer
    <StructLayout(LayoutKind.Sequential)> _
    Public Structure JOYINFO
        Dim dwXpos As Integer
        Dim dwYpos As Integer
        Dim dwZpos As Integer
        Dim dwButtons As Integer
    End Structure
 
    Dim joypos As JOYINFO
    Dim X As Integer = 0
    Dim Y As Byte = 0
    Dim dm110 As Integer   'Transmitted Data DM110 - DM114
    Dim dm110H As Byte
    Dim dm110L As Byte     'left/right
    Dim dm111 As Integer
    Dim dm111H As Byte
    Dim dm111L As Byte     'forward/reverse
    Dim dm112 As Integer
    Dim dm112H As Byte
    Dim dm112L As Byte     'Comm watchdog
    Dim dm113 As Integer
    Dim dm113H As Byte
    Dim dm113L As Byte     'buttons 1 - 8
    Dim dm114 As Integer
    Dim dm114H As Byte
    Dim dm114L As Byte     'PC switches
    Dim ReceivedData(27) As Integer
    Friend receiveInProgress As Boolean = False
    Public Delegate Sub DisplayResultsDelegate(ByVal Text As Integer, ByRef dataBuffer() As Byte)
    Dim DisplayResultsMarshaler As DisplayResultsDelegate = AddressOf Me.DisplayResults
    Public udpSocket As New Socket(AddressFamily.InterNetwork, SocketType.Dgram, ProtocolType.Udp)
    Private ReadyToExchangeData As Boolean = False

    Private Sub Form1_Load(ByVal sender As System.Object, ByVal e As System.EventArgs) Handles MyBase.Load
        Me.Show()
        GetLocalHostInfo()
    End Sub

    Friend Sub GetLocalHostInfo()  'The IP address and port the remote PLC will send to.
        Dim localIPAddress As IPAddress = IPAddress.Parse("192.168.1.108")
        Dim LocalPort As Integer = 9600

        Try 'bind the port to the IP address and Use the IP address and port to define a endpoint.
            Dim LocalIPEndpoint As New IPEndPoint(localIPAddress, LocalPort)
            'Tell the UDP socket to use the specified port number.
            udpSocket.Bind(LocalIPEndpoint)
            'Display information about the local computer:
            TxtLog.AppendText(ControlChars.CrLf & "  PC IP Address " & localIPAddress.ToString & " Port " & CStr(LocalPort))

        Catch e As Exception
            MessageBox.Show(e.ToString)
        End Try
    End Sub

    'Actions to perform on each timer tick: 200 millisecs
    Private Sub Timer1_Tick(ByVal sender As System.Object, e As System.EventArgs) Handles Timer1.Tick
        TextBox5.Text = ""
        joyGetPos(0, joypos)              '0 is joystick ID

        dm110 = joypos.dwXpos / 257       'reduce to 0 - 255 
        dm110L = CByte(dm110)             '0 - FF
        If dm110 > 128 Then
            TextBox5.Text = "Right"
        ElseIf dm110 < 126 Then
            TextBox5.Text = "Left"
        End If

        dm111 = joypos.dwYpos / 257       'reduce to 0 - 255 
        dm111L = CByte(dm111)             '0 - FF
        If dm111 > 128 Then
            TextBox5.Text = "Reverse"
        ElseIf dm111 < 126 Then
            TextBox5.Text = "Forward"
        End If

        If dm111 < 126 And dm110 < 126 Then
            TextBox5.Text = "Forward Left"
        ElseIf dm111 < 126 And dm110 > 128 Then
            TextBox5.Text = "Forward Right"
        End If

        dm113 = joypos.dwButtons
        If dm113 <= 255 Then dm113L = CByte(dm113) 'buttons 1,2,4,8 and 16,32,64,128 only
        If dm113 = 1 Then
            TextBox6.Text = "Starter"
        ElseIf dm113 = 4 Then
            TextBox6.Text = "Horn"
        ElseIf dm113 > 0 Then
            TextBox6.Text = "Button " & dm113 'buttons 1,2,4,8 and 16,32,64,128 and 256,512,1024,2048
        Else
            TextBox6.Text = "" 'no button pressed
        End If

        If X = 0 Or X = 2 Or X = 4 Then dm112L = CByte("1") 'watchdog oscilator
        If X = 1 Or X = 3 Or X = 5 Then dm112L = CByte("0")
        WriteToPLC()  'write data to PLC

        X = X + 1
        If X >= 5 Then
            SendReadToPLC()  'send read command to PLC once every 5 transmissions (once per sec)
            X = 0
        End If
    End Sub

    Friend Sub ReceiveDataFromRemoteHost()
        'Static Dim ReadyToExchangeData As Boolean

        Try  'If the local and remote IP addresses and ports haven't been specified, do so.
            If (ReadyToExchangeData = False) Then
                ReadyToExchangeData = PrepareToExchangeData()     'PrepareToExchangeData(udpSocket)
            End If

            If ReadyToExchangeData = True Then
                If receiveInProgress = False Then
                    receiveInProgress = True   'Set receiveInProgress True to prevent another attempt 
                    'to receive data until this receive attempt has completed.
                    Receive(udpSocket)   'Retrieve any received data.
                End If
            Else
                TxtLog.Text = ControlChars.CrLf & "connection failed"
            End If

        Catch e As Exception
            MessageBox.Show(e.ToString)
        End Try
    End Sub

    'connect to remote PLC
    Friend Function PrepareToExchangeData() As Boolean
        Dim RemoteIpAddress As IPAddress = IPAddress.Parse("192.168.1.100")
        Dim RemotePort As Integer = 9600

        Try   ' Use the IP Address and port to create an IPEndpoint.
            Dim RemoteIpEndPoint As New IPEndPoint(RemoteIpAddress, RemotePort)
            'The Connect method is required to specify an endpoint before using Socket.Send.
            udpSocket.Connect(RemoteIpEndPoint)
            'Display information about the remote PLC
            TxtLog.AppendText(ControlChars.CrLf & "PLC IP Address " & RemoteIpAddress.ToString & " Port " & CStr(RemotePort))
            If udpSocket.Connected Then      'If Connect was successful, set ReadyToExchangeData True 
                ReadyToExchangeData = True   'to indicate that transfers may be attempted.
            Else
                TxtLog.AppendText(ControlChars.CrLf & "Winsock error: " + Convert.ToString(System.Runtime.InteropServices.Marshal.GetLastWin32Error()))
            End If

            Return ReadyToExchangeData

        Catch e As Exception
            MessageBox.Show(e.ToString)
        End Try
    End Function

    Private Sub Receive(ByVal udpSocket As Socket)
        Try  'Call udpSocket's BeginReceive method to start waiting for received data.
            Dim receivedData As New socketData
            receivedData.workSocket = udpSocket
            'Wait for data from the remote host.
            'ReceiveCallback is called when a datagram has arrived.
            'Pass receivedData, which contains udpSocket, to the callback.
            udpSocket.BeginReceive _
            (receivedData.socketDataBuffer, 0, receivedData.socketDataBufferLength, 0, _
              AddressOf ReceiveCallback, receivedData)

        Catch e As Exception
            MessageBox.Show(e.ToString)
        End Try
    End Sub

    Private Sub ReceiveCallback(ByVal ar As IAsyncResult)
        'This routine is called after calling BeginReceive, 
        'when a datagram  has arrived at the specified socket. 
        'ar.asyncstate is a socketData structure that contains the received data.
        Try
            'Convert the passed IAsyncResult to socketData.
            Dim state As socketData = CType(ar.AsyncState, socketData)
            'Read the received data.
            Dim numberOfBytesReceived As Integer = state.workSocket.EndReceive(ar)
            'Call the DisplayResults routine to display the received data in a text box on the Form.
            'Use Invoke with a delegate to make the call in the form's thread.
            'args is the object containing the information that DisplayResults will use.
            Dim args() As Object = {numberOfBytesReceived, state.socketDataBuffer}
            MyBase.Invoke(DisplayResultsMarshaler, args)

        Catch e As Exception
            MessageBox.Show(e.ToString)
        End Try
    End Sub

    Private Sub DisplayResults(ByVal Text As Integer, ByRef dataBuffer() As Byte)

        'insert data into array
        For count = 0 To (Text - 1)
            ReceivedData(count) = dataBuffer(count)  'DM140 - DM144
        Next count

        'display batt condition DM140 
        Select Case CByte(ReceivedData(15))
            Case 1
                TextBox10.Text = ("100%")
            Case 2
                TextBox10.Text = ("75%")
            Case 4
                TextBox10.Text = ("50%")
            Case 8
                TextBox10.Text = ("25%")
            Case 16
                TextBox10.Text = ("0%")
            Case Else
                TextBox10.Text = ("err")
        End Select

        'TextBox11.Text = CByte(ReceivedData(16))   'DM141H
        TextBox12.Text = CByte(ReceivedData(17))   'DM141L
        TextBox13.Text = CByte(ReceivedData(18))   'DM142H
        TextBox14.Text = CByte(ReceivedData(19))   'DM142L
        TextBox15.Text = CByte(ReceivedData(20))   'DM143H
        TextBox16.Text = CByte(ReceivedData(21))   'DM143L
        TextBox17.Text = CByte(ReceivedData(22))   'DM144H
        TextBox18.Text = Hex(ReceivedData(23))     'DM144L

        receiveInProgress = False
    End Sub

    Friend Sub SendReadToPLC()  'Finn's command to read 5 words (10 bytes) from PLC starting at DM140
        Dim dataToSend(17) As Byte
        Dim count As Integer = 0

        Try
            If (ReadyToExchangeData = False) Then
                ReadyToExchangeData = PrepareToExchangeData()
            End If

            If ReadyToExchangeData = True Then          
                dataToSend(0) = CByte("128")            
                dataToSend(1) = CByte("00")             
                dataToSend(2) = CByte("02")             
                dataToSend(3) = CByte("00")             
                dataToSend(4) = CByte("100")            
                dataToSend(5) = CByte("00")             
                dataToSend(6) = CByte("00")             
                dataToSend(7) = CByte("108")                         
                dataToSend(8) = CByte("01")             
                dataToSend(9) = CByte("00")             
                dataToSend(10) = CByte("01")            
                dataToSend(11) = CByte("01")            
                dataToSend(12) = CByte("130")           
                dataToSend(13) = CByte("00")            
                dataToSend(14) = CByte("140")           
                dataToSend(15) = CByte("00")            
                dataToSend(16) = CByte("00")            
                dataToSend(17) = CByte("05")  
          
                'Send the data to the remote PLC.
                udpSocket.Send(dataToSend, 0, dataToSend.Length, SocketFlags.None)
                ReceiveDataFromRemoteHost()

            Else
                TxtLog.AppendText(ControlChars.CrLf & "connection failed")
            End If

        Catch e As Exception
            MessageBox.Show(e.ToString)
        End Try
    End Sub

    Friend Sub WriteToPLC()   'command to write 5 words (10 Bytes) to PLC 
        Dim dataToSend(27) As Byte  'total command = 27 bytes 
        Dim count As Integer = 0

        Try
            If (ReadyToExchangeData = False) Then
                ReadyToExchangeData = PrepareToExchangeData()
            End If

            If ReadyToExchangeData = True Then
                dataToSend(0) = CByte("129")            
                dataToSend(1) = CByte("00")             
                dataToSend(2) = CByte("02")             
                dataToSend(3) = CByte("00")             
                dataToSend(4) = CByte("100")            
                dataToSend(5) = CByte("00")             
                dataToSend(6) = CByte("00")             
                dataToSend(7) = CByte("108")            
                dataToSend(8) = CByte("01")             
                dataToSend(9) = CByte("00")             
                dataToSend(10) = CByte("01")            
                dataToSend(11) = CByte("02")            
                dataToSend(12) = CByte("130")           
                dataToSend(13) = CByte("00")            
                dataToSend(14) = CByte("110")           
                dataToSend(15) = CByte("00")            
                dataToSend(16) = CByte("00")            
                dataToSend(17) = CByte("5")             
                dataToSend(18) = CByte(dm110H)          
                dataToSend(19) = CByte(dm110L)         
                dataToSend(20) = CByte(dm111H)          
                dataToSend(21) = CByte(dm111L)          
                dataToSend(22) = CByte(dm112H)          
                dataToSend(23) = CByte(dm112L)          
                dataToSend(24) = CByte(dm113H)         
                dataToSend(25) = CByte(dm113L)          
                dataToSend(26) = CByte(dm114H)          
                dataToSend(27) = CByte(dm114L)         

                'Send the data to the remote PLC.
                udpSocket.Send(dataToSend, 0, dataToSend.Length, SocketFlags.None)

            Else
                TxtLog.AppendText("connection failed")
            End If

        Catch e As Exception
            MessageBox.Show(e.ToString)
        End Try
    End Sub

    Sub Button1_Click(sender As Object, e As EventArgs) Handles Button1.Click
        'Motor Power
        If TextBox21.Text = ("ON") Then
            TextBox21.Text = ("OFF")
            dm114L = (dm114L - CByte("1"))
        ElseIf TextBox21.Text = ("OFF") Then
            TextBox21.Text = ("ON")
            dm114L = (dm114L + CByte("1"))
        End If
    End Sub

    Sub Button2_Click(sender As Object, e As EventArgs) Handles Button2.Click
        'Ignition
        If TextBox22.Text = ("ON") Then
            TextBox22.Text = ("OFF")
            dm114L = (dm114L - CByte("2"))
        ElseIf TextBox22.Text = ("OFF") Then
            TextBox22.Text = ("ON")
            dm114L = (dm114L + CByte("2"))
        End If
    End Sub

    Sub Button3_Click(sender As Object, e As EventArgs) Handles Button3.Click
        'Lights
        If TextBox23.Text = ("ON") Then
            TextBox23.Text = ("OFF")
            dm114L = (dm114L - CByte("4"))
        ElseIf TextBox23.Text = ("OFF") Then
            TextBox23.Text = ("ON")
            dm114L = (dm114L + CByte("4"))
        End If
    End Sub

    Sub Button4_Click(sender As Object, e As EventArgs) Handles Button4.Click
        'Enable Starter
        If TextBox24.Text = ("ON") Then
            TextBox24.Text = ("OFF")
            dm114L = (dm114L - CByte("8"))
        ElseIf TextBox24.Text = ("OFF") Then
            TextBox24.Text = ("ON")
            dm114L = (dm114L + CByte("8"))
        End If
    End Sub

    Sub Button5_Click(sender As Object, e As EventArgs) Handles Button5.Click
        'Misc 
        If TextBox7.Text = ("ON") Then
            TextBox7.Text = ("OFF")
            dm114L = (dm114L - CByte("16"))
        ElseIf TextBox7.Text = ("OFF") Then
            TextBox7.Text = ("ON")
            dm114L = (dm114L + CByte("16"))
        End If
    End Sub

    Private Sub Form1_Closing(ByVal sender As Object, ByVal e As System.ComponentModel.CancelEventArgs) Handles MyBase.Closing
        Me.Dispose()
    End Sub

    Private Sub releaseObject(ByVal obj As Object)
        Try
            System.Runtime.InteropServices.Marshal.ReleaseComObject(obj)
            obj = Nothing
        Catch ex As Exception
            obj = Nothing
        Finally
            GC.Collect()
        End Try
    End Sub
End Class