module ArduinoTools

using SerialPorts


function connectBoard(baudrate::Int64)  # Automatically detects SerialPort and opens it
  arr = list_serialports()              # with given baudrate
  port = arr[1]
  ser = SerialPort(port,baudrate)       # Caution: works in most cases... If doesn't,
  sleep(2)                              # Use the openSerial() function
  return ser
end

# function openSerial(port::ASCIIString, baudrate::Int64)       # starts serial communication
#   ser = SerialPorts.SerialPort(port,baudrate)
#   sleep(2)
#   return ser
# end

function closeSerial(ser::SerialPorts.SerialPort)             # closes serial port
  SerialPorts.close(ser)
end

# function Write(ser::SerialPorts.SerialPort, str::ASCIIString) # writes a string to connected serial device
#   SerialPorts.write(ser,str)
# end

# function Write(ser::SerialPorts.SerialPort, str::UTF8String)  # writes a string to connected serial device
#   SerialPorts.write(ser,str)
# end

function Read(ser::SerialPorts.SerialPort, bytes::Int64)      # reads 'bytes' number of bytes from serial port
  SerialPorts.read(ser,bytes)
end

function ReadAvailable(ser::SerialPorts.SerialPort)           # reads all available bytes from serial port
  SerialPorts.readavailable(ser)
end

function nbAvailable(ser::SerialPorts.SerialPort)             # returns number of bytes available for reading
  SerialPorts.nb_available(ser)
end

function listSerialPorts()                                    # returns array of serial port names on computer
  SerialPorts.list_serialports()
end

function pinMode(file_des::SerialPorts.SerialPort , pin_no::Int64 , mode::String)
  # isascii(mode) && throw("Mode needs to be ascii") #This will throw an error if mode is not ascii
  # m = uppercase(mode)                                             # Prevent errors due to case differences
  if mode == "INPUT"  str = "Da"*string(Char(48+pin_no))*"0"  end    # Dan0 for INPUT
  if mode == "OUTPUT"  str = "Da"*string(Char(48+pin_no))*"1"  end   # Dan1 for OUTPUT
  str = ascii(str)                                                # Converts UTF8String to ASCIIString
  write(file_des,str)
end

function digiWrite(file_des::SerialPorts.SerialPort , pin_no::Int64 , val::Int64)
  if val > 0 str = "Dw"*string(Char(48+pin_no))*"1" end    # Dwn1 for HIGH
  if val == 0 str = "Dw"*string(Char(48+pin_no))*"0" end   # Dwn0 for LOW
  str = ascii(str)                                         # Converts UTF8String to ASCIIString
  write(file_des,str)
end

function digiRead(file_des::SerialPorts.SerialPort , pin_no::Int64)
  str = "Dr"*string(Char(48+pin_no))  # Drn to read digital pin n
  str = ascii(str)                    # Convert UTF8String to ASCIIString
  write(file_des,str)
  sleep(0.01)                         # Delay the next step by 10 milliseconds
  c = read(file_des,1)                # Read one byte from SerialPort
  n = parse(Int,c)                    # Convert the received string into integer
  return n                            # Return the integer
end

function analogWrite(file_des::SerialPorts.SerialPort , pin_no::Int64 , val::Int64)
  if val > 255 val = 255 end          # Make sure val isn't beyond limits
  if val < 0 val = 0 end
  c = Char(val)                       # Conversion of val into character
  d = string(c)                       # Converting character to string
  s = "W"*string(Char(48+pin_no))*d   # Wnm for analog value m on pin n
  write(file_des,s)
end

function analogRead(file_des::SerialPorts.SerialPort , pin_no::Int64)
  str = "A"*string(Char(48+pin_no))   #"An" for analog value on pin n
  write(file_des,str)
  sleep(0.1)                          # Delay next step by 100 milliseconds
  n = bytesavailable(file_des)          # Get number of bytes in input buffer
  s = read(file_des, n)                # Read n bytes from SerialPort
  iolit = IOBuffer(s) 
  num = read(iolit, Int16)
  # num = reinterpret(Int16, s)
  # println(sizeof(num))
  # println(num[1])
  # @printf("value = %d", Int(num))
  # close(iolit)
  
  # typeof(s) 
  # k = parse(Int,s)                    # Convert String to integer
  return num                           # Return the integer
end

function DCMotorSetup(file_des::SerialPorts.SerialPort, driver_type::Int64, motor_no::Int64, pin1::Int64, pin2::Int64)
  println("Initializing motor")
  if (driver_type == 1)               # adafruit
      code_sent = "C"*string(motor_no)*string(Char(48+pin1))*string(Char(48+pin2))*"1"
  elseif (driver_type == 2)           # L298
      code_sent = "C"*string(motor_no)*string(Char(48+pin1))*string(Char(48+pin2))*"1"
  elseif (driver_type == 3)           # L293
      code_sent = "C"*string(motor_no)*string(Char(48+pin1))*string(Char(48+pin2))*"0"
  end
  write(file_des,code_sent)
  sleep(0.1)                          # sleep for a tenth of a second
  s = readavailable(file_des)         # read all available bytes from input buffer
  if s == "OK"
    println("Motor Setup Successful")
  else
    println("Motor Setup unsuccessful")
  end
end                                   # end function

function DCMotorRun(file_des::SerialPorts.SerialPort, motor_no::Int64, speed::Int64)
  sgn = sign(speed)                   # Checking sign of speed to set direction
  if sgn >= 0
    direction = "1"
  else
    direction = "0"
  end
  speed = abs(speed)                  # Dropping the sign
  if speed > 255 speed = 255  end     # Make sure speed is not beyond limit
  code_sent = "M"*string(motor_no)*direction*string(Char(speed))
  write(file_des,code_sent)
end                                   # end function

function DCMotorRelease(file_des::SerialPorts.SerialPort, motor_no::Int64)
  code_sent = "M"*string(motor_no)*"1"*string(Char(0))
  write(file_des,code_sent)           # Stops the motor first
  sleep(0.1)                          # Delay of 0.1 second
  code_sent = "M"*string(motor_no)*"r"
  write(file_des,code_sent)           # Releases the motor
end

function ServoAttach(file_des::SerialPorts.SerialPort, servo_no::Int64)
  println("Initializing servo")
  if servo_no == 1
    pin = "Sa1"
    write(file_des,pin)
  elseif servo_no == 2
    pin = "Sa2"
    write(file_des,pin)
  else
    println("Error")
  end
end

function ServoMove(file_des::SerialPorts.SerialPort, servo_no::Int64, val::Int64)
  if val < 0 val = 0 end
  if val >180 val = 180 end
  pin = "Sw"*string(servo_no)*string(Char(val))
  write(file_des,pin)
end

function ServoDetach(file_des::SerialPorts.SerialPort, servo_no::Int64)
  if servo_no == 1
    pin = "Sa1"
    write(file_des,pin)
  elseif servo_no == 2
    pin = "Sa2"
    write(file_des,pin)
  else
    println("Error")
  end
end

function MPUReadin(file_des::SerialPorts.SerialPort)
  cmd = "F"
  write(file_des,cmd)
  analog_times = []
  sleep(0.03)
  s = readavailable(file_des)
  sarr = split(s,"/")
  for i in 1:length(sarr)
    push!(analog_times,parse(Int,sarr[i]))
  end
  return analog_times
end

export connectBoard,openSerial,closeSerial,Write,Read,ReadAvailable,nbAvailable,listSerialPorts,pinMode,digiWrite,digiRead,analogWrite,analogRead,DCMotorSetup,DCMotorRun,DCMotorRelease,ServoAttach,ServoMove,ServoDetach,MPUReadin

end # module