#comments-start
    This program is free software: you can redistribute it and/or modify
    it under the terms of the GNU General Public License as published by
    the Free Software Foundation, either version 3 of the License, or
    (at your option) any later version.

    This program is distributed in the hope that it will be useful,
    but WITHOUT ANY WARRANTY; without even the implied warranty of
    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
    GNU General Public License for more details.

    You should have received a copy of the GNU General Public License
    along with this program.  If not, see <http://www.gnu.org/licenses/>.
#comments-end

; declareing the corresponding hotkeys
HotKeySet ( "{Left}" , "left" )
HotKeySet ( "{RIGHT}" , "right" )
HotKeySet ( "{UP}" , "up" )
HotKeySet ( "{DOWN}" , "down" )
HotKeySet ( "{SPACE}" , "stop" )
HotKeySet ( "w" , "camup" )
HotKeySet ( "s" , "camdown" )
HotKeySet ( "e" , "servo1up" )
HotKeySet ( "d" , "servo1down" )
HotKeySet ( "r" , "servo2up" )
HotKeySet ( "f" , "servo2down" )
HotKeySet ( "t" , "servo3up" )
HotKeySet ( "g" , "servo3down" )
HotKeySet( "p", "pause") 
HotKeySet("{ESC}", "termina")

;including autoit's library for GUI
#include <GUIConstants.au3>

;creating the window
$window=GUICreate("OVR Demo Panel",400,250,312,200)

;creating the window's contents
$key=GUICtrlCreateLabel(" Key pressed: ",10,30,200)
GUICtrlCreateLabel("What does the robot do?",10,60,130)
$action=GUICtrlCreateLabel(" Nothing ",140,60,200)

;show the window
GUISetState(@SW_SHOW)

;start tcp, ask the user the IP of the robot, and the port the server is listening on
TCPStartup()
$ip=InputBox("Ip","Ip:","192.168.0.2")
$port=InputBox("Port","Port:","101")
$tcp=TCPConnect($ip,$port)

;here I tried to make it connect automatically, like trying the ports one after another. It was too slow
#comments-start
$tcp=-1
GUICtrlSetData($action,"Connecting")
while $tcp = -1
	$port = $port + 1
	$tcp=TCPConnect($ip,$port)
	if $tcp > 2 Then
		ToolTip("Connected on port: " & $port)
		GUICtrlSetData($action,"Connected")
		EndIf
	WEnd
	#comments-end

;declareing some variables, and setting the default positions
global $rand,$time,$pauza=0
$cam =20
$sl1=16
$sl2=46
$sl3=80

;when the program starts, start doing random things
fa_random()
fa_ceva_random()

;randomize waiting time between actions, and the action
func fa_random()
	$rand=int(random(1,6))
	$time=int(random(300,1500))
EndFunc

;this does not always work, don't know why
func pause()
	if $pauza=0 then 
	$pauza = 1
	GUICtrlSetData($action," Program paused, the robot is not moving")
	ElseIf $pauza = 1 Then
	$pauza = 0
	GUICtrlSetData($action," Program paused, the robot may move from time to time")
	fa_ceva_random()
	EndIf
EndFunc

;go left
func left()
	TCPSend($tcp,"left" & @crlf)
	GUICtrlSetData($key,"Key pressed: Left Arrow ( <- )")
	GUICtrlSetData($action,"The robot went left")
	sleep(1000)
EndFunc

;go right
func right()
	TCPSend($tcp,"right" & @crlf)
	GUICtrlSetData($key,"Key pressed: Right Arrow ( -> )")
	GUICtrlSetData($action,"The robot went right")
	sleep(1000)
EndFunc

;go forward
func up()
	TCPSend($tcp,"forward" & @crlf)
	GUICtrlSetData($key,"Key pressed: Up Arrow")
	GUICtrlSetData($action,"The robot went forward")
	sleep(1000)
EndFunc

;go back
func down()
	TCPSend($tcp,"back" & @crlf)
	GUICtrlSetData($key,"Key pressed: Down Arrow")
	GUICtrlSetData($action,"The robot went back")
	sleep(1000)
EndFunc

;stop movements
func stop()
	TCPSend($tcp,"stop" & @crlf)
	GUICtrlSetData($key,"Key pressed: Space")
	GUICtrlSetData($action,"The robot stopped")
	sleep(1000)
EndFunc

; here the bugs are starting - the servos do not move as they should, I think I messed up some position limits
;the following 2 functions have wrong positions, they have to be re-calibrated
func camup()
	if($cam<25) Then
	$cam = $cam + 1
	TCPSend($tcp,$cam & @crlf)
	GUICtrlSetData($key,"Key pressed: W")
	GUICtrlSetData($action,"The camera rotated upwards")
	sleep(1000)
	EndIf
EndFunc
func camdown()
	if($cam>10) Then
	$cam = $cam - 1
	TCPSend($tcp,$cam & @crlf)
	GUICtrlSetData($key,"Key pressed: S")
	GUICtrlSetData($action,"The camera rotated downwards")
	sleep(1000)
	EndIf
EndFunc

;and worse bugs. some functions from here didn't even start in the demo
func servo1up()
	if($sl1<30) Then
	$sl1= $sl1 + 1
	TCPSend($tcp,$sl1 & @crlf)
	GUICtrlSetData($key,"Key pressed: E")
	GUICtrlSetData($action,"The servo1 rotated upwards")
	sleep(1000)
	EndIf
EndFunc
func servo1down()
	if($sl1>1) Then
	$sl1= $sl1 - 1
	TCPSend($tcp,$sl1 & @crlf)
	GUICtrlSetData($key,"Key pressed: D")
	GUICtrlSetData($action,"The servo1 rotated downwards")
	sleep(1000)
	EndIf
EndFunc
func servo2up()
	if($sl2<30) Then
	$sl2= $sl2 + 1
	TCPSend($tcp,$sl2 + 65 & @crlf)
	GUICtrlSetData($key,"Key pressed: R")
	GUICtrlSetData($action,"The servo2 rotated upwards")
	sleep(1000)
	EndIf
EndFunc
func servo2down()
	if($sl2>1) Then
	$sl2= $sl2 - 1
	TCPSend($tcp,$sl2 + 65 & @crlf)
	GUICtrlSetData($key,"Key pressed: F")
	GUICtrlSetData($action,"The servo2 rotated downwards")
	sleep(1000)
	EndIf
EndFunc
func servo3up()
	if($sl3<25) Then
	$sl3= $sl3 + 1
	TCPSend($tcp,$sl3+37 & @crlf)
	GUICtrlSetData($key,"Key pressed: T")
	GUICtrlSetData($action,"The servo3 rotated upwards")
	sleep(1000)
	EndIf
EndFunc
func servo3down()
	if($sl3>10) Then
	$sl3= $sl3 - 1
	TCPSend($tcp,$sl3+37 & @crlf)
	GUICtrlSetData($key,"Key pressed: G")
	GUICtrlSetData($action,"The servo3 rotated downwards")
	sleep(1000)
	EndIf
EndFunc

; here the bugs are ending, as far as I know

;exit program - disconnect tcp, release hotkeys, say goodbye and leave
func termina()
	TCPSend($tcp,"18" & @crlf)
	TCPCloseSocket($tcp)
	TCPShutdown()
	HotKeySet ( "{Left}" )
	HotKeySet ( "{RIGHT}" )
	HotKeySet ( "{UP}" )
	HotKeySet ( "{DOWN}" )
	HotKeySet ( "{SPACE}" )
	HotKeySet ( "w")
	HotKeySet ( "s" )
	HotKeySet("{ESC}")
	GUICtrlSetData($key,"Key pressed: ESC")
	GUICtrlSetData($action,"Goodbye!")
	Exit
EndFunc

;kind of Demo-mode. Move in all 4 directions randomly, and move the camera up & down. The last ones do not work
func fa_ceva_random()
	if $pauza = 0 Then
	if $rand=1 Then
		TCPSend($tcp,"left" & @crlf)
		GUICtrlSetData($key,"Key simulated: Left Arrow")
		GUICtrlSetData($action,"The robot went left")
		sleep($time)
		TCPSend($tcp,"stop" & @crlf)
		GUICtrlSetData($key,"Key simulated: Space")
		GUICtrlSetData($action,"The robot stopped")
		sleep($time * 6)
		TCPSend($tcp,"right" & @crlf)
		GUICtrlSetData($key,"Key simulated: Right Arrow")
		GUICtrlSetData($action,"The robot went right")
		sleep($time)
		TCPSend($tcp,"stop" & @crlf)
		GUICtrlSetData($key,"Key simulated: Space")
		GUICtrlSetData($action,"The robot stopped")
		sleep($time * 10)
		fa_random()
		fa_ceva_random()
	ElseIf $rand=2 Then
		TCPSend($tcp,"right" & @crlf)
		GUICtrlSetData($key,"Key simulated: Right Arrow")
		GUICtrlSetData($action,"The robot went right")
		sleep($time)
		TCPSend($tcp,"stop" & @crlf)
		GUICtrlSetData($key,"Key simulated: Space")
		GUICtrlSetData($action,"The robot stopped")
		sleep($time * 6)
		TCPSend($tcp,"left" & @crlf)
		GUICtrlSetData($key,"Key simulated: Left Arrow")
		GUICtrlSetData($action,"The robot went left")
		sleep($time)
		TCPSend($tcp,"stop" & @crlf)
		GUICtrlSetData($key,"Key simulated: Space")
	GUICtrlSetData($action,"The robot stopped")
	sleep($time * 10)
	fa_random()
	fa_ceva_random()
	ElseIf $rand=3 Then
	TCPSend($tcp,"forward" & @crlf)
	GUICtrlSetData($key,"Key simulated: Up Arrow")
	GUICtrlSetData($action,"The robot went forward")
	sleep($time)
	TCPSend($tcp,"stop" & @crlf)
	GUICtrlSetData($key,"Key simulated: Space")
	GUICtrlSetData($action,"The robot stopped")
	sleep($time * 6)
	TCPSend($tcp,"back" & @crlf)
	GUICtrlSetData($key,"Key simulated: Down Arrow")
	GUICtrlSetData($action,"The robot went back ")
	sleep($time)
	TCPSend($tcp,"stop" & @crlf)
	GUICtrlSetData($key,"Key simulated: Space")
	GUICtrlSetData($action,"The robot stopped")
	sleep($time * 10)
	fa_random()
	fa_ceva_random()
	elseif $rand=4 Then
	TCPSend($tcp,"back" & @crlf)
	GUICtrlSetData($key,"Key simulated: Down Arrow")
	GUICtrlSetData($action,"The robot went back")
	sleep($time)
	TCPSend($tcp,"stop" & @crlf)
	GUICtrlSetData($key,"Key simulated: Space")
	GUICtrlSetData($action,"The robot stopped")
	sleep($time * 6)
	TCPSend($tcp,"forward" & @crlf)
	GUICtrlSetData($key,"Key simulated: Up Arrow")
	GUICtrlSetData($action,"The robot went forward")
	sleep($time)
	TCPSend($tcp,"stop" & @crlf)
	GUICtrlSetData($key,"Key simulated: Space")
	GUICtrlSetData($action,"The robot stopped")
	sleep($time * 10)
	fa_random()
	fa_ceva_random()
	ElseIf $rand=5 Then
;the following 2 don't work
	if($cam<25) Then
		$cam = $cam + 1
		TCPSend($tcp,$cam & @crlf)
		GUICtrlSetData($key,"Key simulated: W")
		GUICtrlSetData($action,"The camera rotated upwards")
		sleep($time * 5)
		fa_random()
		fa_ceva_random()
	EndIf
	ElseIf $rand=6 Then
	if($cam>10) Then
		$cam = $cam - 1
		TCPSend($tcp,$cam & @crlf)
		GUICtrlSetData($key,"Key simulated: S")
		GUICtrlSetData($action,"The camera rotated downwards")
		sleep($time * 5)
		fa_random()
		fa_ceva_random()
	EndIf
ElseIf $pauza = 1 then 
	sleep(1000)
	fa_ceva_random()
	
	EndIf
EndIf
	EndFunc

;the usual in AutoIT, for keeping the window alive. Wait until I close the window:D
While 1
    $msg = GUIGetMsg()
    If $msg = $GUI_EVENT_CLOSE Then ExitLoop
Wend