using System;
using System.Drawing;
using System.Collections;
using System.ComponentModel;
using System.Windows.Forms;
using System.Data;
using RS232;
using System.Threading;

namespace Styrning
{
	public class FormMain : System.Windows.Forms.Form
	{
		private System.Windows.Forms.Timer TimerKeyboard;
		private System.Windows.Forms.GroupBox groupBox3;
		private System.Windows.Forms.Label LabelLeft;
		private System.Windows.Forms.Label LabelRight;
		private System.Windows.Forms.Label LabelBack;
		private System.Windows.Forms.Label LabelForward;
		private System.Windows.Forms.Timer TimerSteering;
		private System.Windows.Forms.GroupBox groupBox6;
		private System.Windows.Forms.Label label3;
		private System.Windows.Forms.Label label2;
		private System.Windows.Forms.TrackBar TBAcceleration;
		private System.Windows.Forms.TrackBar TBDeceleration;
		private System.Windows.Forms.GroupBox groupBox4;
		private System.Windows.Forms.Label LabelTurning;
		private System.Windows.Forms.Label LabelDirection;
		private System.Windows.Forms.Label LabelThrottle;
		private System.Windows.Forms.ProgressBar PBThrottle;
		private System.Windows.Forms.GroupBox groupBox5;
		private System.Windows.Forms.Label label1;
		private System.Windows.Forms.Label LabelBinaryData;
		private System.Windows.Forms.CheckBox CheckLockAcc;
		private System.Windows.Forms.Label LabelPacketRate;
		private System.Windows.Forms.CheckBox CheckLights;
		private System.Windows.Forms.ProgressBar PBDataRate;
		private System.Windows.Forms.Label label4;
		private System.Windows.Forms.Label label5;
		private System.Windows.Forms.Label label6;
		private System.Windows.Forms.GroupBox groupBox1;
		private System.Windows.Forms.Label LabelStatus;
		private System.Windows.Forms.ComboBox ComboPort;
		private System.Windows.Forms.Label label8;
		private System.Windows.Forms.ComboBox ComboBaud;
		private System.Windows.Forms.Button ButtonToggleEnable;
		private System.Windows.Forms.Label LabelBaseLabel;
		private System.ComponentModel.IContainer components;

		// Hidden windows generated code
		#region Hidden generated code


		public FormMain()
		{
			//
			// Required for Windows Form Designer support
			//
			InitializeComponent();

			//
			// TODO: Add any constructor code after InitializeComponent call
			//
			rs232 = new Rs232();
		}

		/// <summary>
		/// Clean up any resources being used.
		/// </summary>
		protected override void Dispose( bool disposing )
		{
			if( disposing )
			{
				if (components != null) 
				{
					components.Dispose();
				}
			}
			base.Dispose( disposing );
		}

		#region Windows Form Designer generated code
		/// <summary>
		/// Required method for Designer support - do not modify
		/// the contents of this method with the code editor.
		/// </summary>
		private void InitializeComponent()
		{
			this.components = new System.ComponentModel.Container();
			this.TimerKeyboard = new System.Windows.Forms.Timer(this.components);
			this.groupBox3 = new System.Windows.Forms.GroupBox();
			this.LabelLeft = new System.Windows.Forms.Label();
			this.LabelRight = new System.Windows.Forms.Label();
			this.LabelBack = new System.Windows.Forms.Label();
			this.LabelForward = new System.Windows.Forms.Label();
			this.TimerSteering = new System.Windows.Forms.Timer(this.components);
			this.groupBox6 = new System.Windows.Forms.GroupBox();
			this.CheckLockAcc = new System.Windows.Forms.CheckBox();
			this.label3 = new System.Windows.Forms.Label();
			this.label2 = new System.Windows.Forms.Label();
			this.TBAcceleration = new System.Windows.Forms.TrackBar();
			this.TBDeceleration = new System.Windows.Forms.TrackBar();
			this.groupBox4 = new System.Windows.Forms.GroupBox();
			this.CheckLights = new System.Windows.Forms.CheckBox();
			this.LabelTurning = new System.Windows.Forms.Label();
			this.LabelDirection = new System.Windows.Forms.Label();
			this.LabelThrottle = new System.Windows.Forms.Label();
			this.PBThrottle = new System.Windows.Forms.ProgressBar();
			this.groupBox5 = new System.Windows.Forms.GroupBox();
			this.label6 = new System.Windows.Forms.Label();
			this.label5 = new System.Windows.Forms.Label();
			this.label4 = new System.Windows.Forms.Label();
			this.PBDataRate = new System.Windows.Forms.ProgressBar();
			this.LabelPacketRate = new System.Windows.Forms.Label();
			this.label1 = new System.Windows.Forms.Label();
			this.LabelBinaryData = new System.Windows.Forms.Label();
			this.groupBox1 = new System.Windows.Forms.GroupBox();
			this.ButtonToggleEnable = new System.Windows.Forms.Button();
			this.ComboBaud = new System.Windows.Forms.ComboBox();
			this.label8 = new System.Windows.Forms.Label();
			this.LabelBaseLabel = new System.Windows.Forms.Label();
			this.ComboPort = new System.Windows.Forms.ComboBox();
			this.LabelStatus = new System.Windows.Forms.Label();
			this.groupBox3.SuspendLayout();
			this.groupBox6.SuspendLayout();
			((System.ComponentModel.ISupportInitialize)(this.TBAcceleration)).BeginInit();
			((System.ComponentModel.ISupportInitialize)(this.TBDeceleration)).BeginInit();
			this.groupBox4.SuspendLayout();
			this.groupBox5.SuspendLayout();
			this.groupBox1.SuspendLayout();
			this.SuspendLayout();
			// 
			// TimerKeyboard
			// 
			this.TimerKeyboard.Enabled = true;
			this.TimerKeyboard.Interval = 50;
			this.TimerKeyboard.Tick += new System.EventHandler(this.TimerKeyboard_Tick);
			// 
			// groupBox3
			// 
			this.groupBox3.Controls.Add(this.LabelLeft);
			this.groupBox3.Controls.Add(this.LabelRight);
			this.groupBox3.Controls.Add(this.LabelBack);
			this.groupBox3.Controls.Add(this.LabelForward);
			this.groupBox3.Location = new System.Drawing.Point(16, 336);
			this.groupBox3.Name = "groupBox3";
			this.groupBox3.Size = new System.Drawing.Size(168, 64);
			this.groupBox3.TabIndex = 9;
			this.groupBox3.TabStop = false;
			// 
			// LabelLeft
			// 
			this.LabelLeft.Location = new System.Drawing.Point(16, 40);
			this.LabelLeft.Name = "LabelLeft";
			this.LabelLeft.Size = new System.Drawing.Size(40, 16);
			this.LabelLeft.TabIndex = 7;
			this.LabelLeft.Text = "Left";
			// 
			// LabelRight
			// 
			this.LabelRight.Location = new System.Drawing.Point(112, 40);
			this.LabelRight.Name = "LabelRight";
			this.LabelRight.Size = new System.Drawing.Size(40, 16);
			this.LabelRight.TabIndex = 6;
			this.LabelRight.Text = "Right";
			// 
			// LabelBack
			// 
			this.LabelBack.Location = new System.Drawing.Point(64, 40);
			this.LabelBack.Name = "LabelBack";
			this.LabelBack.Size = new System.Drawing.Size(40, 16);
			this.LabelBack.TabIndex = 5;
			this.LabelBack.Text = "Back";
			// 
			// LabelForward
			// 
			this.LabelForward.Location = new System.Drawing.Point(56, 16);
			this.LabelForward.Name = "LabelForward";
			this.LabelForward.Size = new System.Drawing.Size(56, 16);
			this.LabelForward.TabIndex = 4;
			this.LabelForward.Text = "Forward";
			// 
			// TimerSteering
			// 
			this.TimerSteering.Enabled = true;
			this.TimerSteering.Tick += new System.EventHandler(this.TimerSteering_Tick);
			// 
			// groupBox6
			// 
			this.groupBox6.Controls.Add(this.CheckLockAcc);
			this.groupBox6.Controls.Add(this.label3);
			this.groupBox6.Controls.Add(this.label2);
			this.groupBox6.Controls.Add(this.TBAcceleration);
			this.groupBox6.Controls.Add(this.TBDeceleration);
			this.groupBox6.Location = new System.Drawing.Point(16, 144);
			this.groupBox6.Name = "groupBox6";
			this.groupBox6.Size = new System.Drawing.Size(168, 184);
			this.groupBox6.TabIndex = 19;
			this.groupBox6.TabStop = false;
			this.groupBox6.Text = "Steering settings";
			// 
			// CheckLockAcc
			// 
			this.CheckLockAcc.Checked = true;
			this.CheckLockAcc.CheckState = System.Windows.Forms.CheckState.Checked;
			this.CheckLockAcc.Location = new System.Drawing.Point(40, 24);
			this.CheckLockAcc.Name = "CheckLockAcc";
			this.CheckLockAcc.Size = new System.Drawing.Size(96, 16);
			this.CheckLockAcc.TabIndex = 27;
			this.CheckLockAcc.Text = "Lock controls";
			// 
			// label3
			// 
			this.label3.Location = new System.Drawing.Point(88, 48);
			this.label3.Name = "label3";
			this.label3.Size = new System.Drawing.Size(72, 16);
			this.label3.TabIndex = 26;
			this.label3.Text = "Acceleration";
			// 
			// label2
			// 
			this.label2.Location = new System.Drawing.Point(8, 48);
			this.label2.Name = "label2";
			this.label2.Size = new System.Drawing.Size(72, 16);
			this.label2.TabIndex = 25;
			this.label2.Text = "Deceleration";
			// 
			// TBAcceleration
			// 
			this.TBAcceleration.Location = new System.Drawing.Point(104, 72);
			this.TBAcceleration.Maximum = 20;
			this.TBAcceleration.Minimum = 1;
			this.TBAcceleration.Name = "TBAcceleration";
			this.TBAcceleration.Orientation = System.Windows.Forms.Orientation.Vertical;
			this.TBAcceleration.Size = new System.Drawing.Size(42, 104);
			this.TBAcceleration.TabIndex = 24;
			this.TBAcceleration.TickFrequency = 2;
			this.TBAcceleration.Value = 1;
			// 
			// TBDeceleration
			// 
			this.TBDeceleration.Location = new System.Drawing.Point(24, 72);
			this.TBDeceleration.Maximum = 20;
			this.TBDeceleration.Name = "TBDeceleration";
			this.TBDeceleration.Orientation = System.Windows.Forms.Orientation.Vertical;
			this.TBDeceleration.Size = new System.Drawing.Size(42, 104);
			this.TBDeceleration.TabIndex = 23;
			this.TBDeceleration.TickFrequency = 2;
			// 
			// groupBox4
			// 
			this.groupBox4.Controls.Add(this.CheckLights);
			this.groupBox4.Controls.Add(this.LabelTurning);
			this.groupBox4.Controls.Add(this.LabelDirection);
			this.groupBox4.Controls.Add(this.LabelThrottle);
			this.groupBox4.Controls.Add(this.PBThrottle);
			this.groupBox4.Location = new System.Drawing.Point(192, 144);
			this.groupBox4.Name = "groupBox4";
			this.groupBox4.Size = new System.Drawing.Size(280, 128);
			this.groupBox4.TabIndex = 20;
			this.groupBox4.TabStop = false;
			this.groupBox4.Text = "Steering output";
			// 
			// CheckLights
			// 
			this.CheckLights.Location = new System.Drawing.Point(72, 104);
			this.CheckLights.Name = "CheckLights";
			this.CheckLights.Size = new System.Drawing.Size(112, 16);
			this.CheckLights.TabIndex = 25;
			this.CheckLights.Text = "Car Lights active";
			// 
			// LabelTurning
			// 
			this.LabelTurning.Location = new System.Drawing.Point(56, 80);
			this.LabelTurning.Name = "LabelTurning";
			this.LabelTurning.Size = new System.Drawing.Size(160, 16);
			this.LabelTurning.TabIndex = 22;
			this.LabelTurning.Text = "Turning: No";
			// 
			// LabelDirection
			// 
			this.LabelDirection.Location = new System.Drawing.Point(56, 64);
			this.LabelDirection.Name = "LabelDirection";
			this.LabelDirection.Size = new System.Drawing.Size(160, 16);
			this.LabelDirection.TabIndex = 21;
			this.LabelDirection.Text = "Direction: None";
			// 
			// LabelThrottle
			// 
			this.LabelThrottle.Location = new System.Drawing.Point(56, 24);
			this.LabelThrottle.Name = "LabelThrottle";
			this.LabelThrottle.Size = new System.Drawing.Size(160, 16);
			this.LabelThrottle.TabIndex = 20;
			this.LabelThrottle.Text = "Throttle: 0%";
			// 
			// PBThrottle
			// 
			this.PBThrottle.Location = new System.Drawing.Point(56, 40);
			this.PBThrottle.Name = "PBThrottle";
			this.PBThrottle.Size = new System.Drawing.Size(160, 16);
			this.PBThrottle.TabIndex = 19;
			// 
			// groupBox5
			// 
			this.groupBox5.Controls.Add(this.label6);
			this.groupBox5.Controls.Add(this.label5);
			this.groupBox5.Controls.Add(this.label4);
			this.groupBox5.Controls.Add(this.PBDataRate);
			this.groupBox5.Controls.Add(this.LabelPacketRate);
			this.groupBox5.Controls.Add(this.label1);
			this.groupBox5.Controls.Add(this.LabelBinaryData);
			this.groupBox5.Location = new System.Drawing.Point(192, 280);
			this.groupBox5.Name = "groupBox5";
			this.groupBox5.Size = new System.Drawing.Size(280, 120);
			this.groupBox5.TabIndex = 22;
			this.groupBox5.TabStop = false;
			this.groupBox5.Text = "Data flow";
			// 
			// label6
			// 
			this.label6.Location = new System.Drawing.Point(232, 24);
			this.label6.Name = "label6";
			this.label6.Size = new System.Drawing.Size(40, 16);
			this.label6.TabIndex = 29;
			this.label6.Text = "200%";
			// 
			// label5
			// 
			this.label5.Location = new System.Drawing.Point(120, 24);
			this.label5.Name = "label5";
			this.label5.Size = new System.Drawing.Size(40, 16);
			this.label5.TabIndex = 28;
			this.label5.Text = "100%";
			// 
			// label4
			// 
			this.label4.Location = new System.Drawing.Point(16, 24);
			this.label4.Name = "label4";
			this.label4.Size = new System.Drawing.Size(24, 16);
			this.label4.TabIndex = 27;
			this.label4.Text = "0%";
			// 
			// PBDataRate
			// 
			this.PBDataRate.Location = new System.Drawing.Point(16, 40);
			this.PBDataRate.Name = "PBDataRate";
			this.PBDataRate.Size = new System.Drawing.Size(248, 16);
			this.PBDataRate.TabIndex = 26;
			// 
			// LabelPacketRate
			// 
			this.LabelPacketRate.Location = new System.Drawing.Point(48, 56);
			this.LabelPacketRate.Name = "LabelPacketRate";
			this.LabelPacketRate.Size = new System.Drawing.Size(144, 16);
			this.LabelPacketRate.TabIndex = 25;
			this.LabelPacketRate.Text = "Data rate: 0 packets / s";
			// 
			// label1
			// 
			this.label1.Location = new System.Drawing.Point(8, 80);
			this.label1.Name = "label1";
			this.label1.Size = new System.Drawing.Size(104, 16);
			this.label1.TabIndex = 23;
			this.label1.Text = "Binary control data:";
			// 
			// LabelBinaryData
			// 
			this.LabelBinaryData.Font = new System.Drawing.Font("Tahoma", 8.25F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((System.Byte)(0)));
			this.LabelBinaryData.Location = new System.Drawing.Point(8, 96);
			this.LabelBinaryData.Name = "LabelBinaryData";
			this.LabelBinaryData.Size = new System.Drawing.Size(264, 16);
			this.LabelBinaryData.TabIndex = 22;
			this.LabelBinaryData.Text = "Wait...";
			// 
			// groupBox1
			// 
			this.groupBox1.Controls.Add(this.ButtonToggleEnable);
			this.groupBox1.Controls.Add(this.ComboBaud);
			this.groupBox1.Controls.Add(this.label8);
			this.groupBox1.Controls.Add(this.LabelBaseLabel);
			this.groupBox1.Controls.Add(this.ComboPort);
			this.groupBox1.Controls.Add(this.LabelStatus);
			this.groupBox1.Location = new System.Drawing.Point(16, 8);
			this.groupBox1.Name = "groupBox1";
			this.groupBox1.Size = new System.Drawing.Size(456, 128);
			this.groupBox1.TabIndex = 23;
			this.groupBox1.TabStop = false;
			this.groupBox1.Text = "Serial port communication";
			// 
			// ButtonToggleEnable
			// 
			this.ButtonToggleEnable.Location = new System.Drawing.Point(352, 96);
			this.ButtonToggleEnable.Name = "ButtonToggleEnable";
			this.ButtonToggleEnable.Size = new System.Drawing.Size(96, 24);
			this.ButtonToggleEnable.TabIndex = 14;
			this.ButtonToggleEnable.Text = "Enable port";
			this.ButtonToggleEnable.Click += new System.EventHandler(this.ButtonToggleEnable_Click);
			// 
			// ComboBaud
			// 
			this.ComboBaud.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList;
			this.ComboBaud.Items.AddRange(new object[] {
														   "600",
														   "1200",
														   "2400",
														   "3600",
														   "4800",
														   "6000",
														   "7200",
														   "8400",
														   "9600",
														   "14400",
														   "19200",
														   "28800",
														   "76800"});
			this.ComboBaud.Location = new System.Drawing.Point(208, 64);
			this.ComboBaud.Name = "ComboBaud";
			this.ComboBaud.Size = new System.Drawing.Size(88, 21);
			this.ComboBaud.TabIndex = 13;
			// 
			// label8
			// 
			this.label8.Location = new System.Drawing.Point(144, 64);
			this.label8.Name = "label8";
			this.label8.Size = new System.Drawing.Size(64, 16);
			this.label8.TabIndex = 12;
			this.label8.Text = "Baud rate";
			// 
			// LabelBaseLabel
			// 
			this.LabelBaseLabel.Location = new System.Drawing.Point(144, 32);
			this.LabelBaseLabel.Name = "LabelBaseLabel";
			this.LabelBaseLabel.Size = new System.Drawing.Size(56, 16);
			this.LabelBaseLabel.TabIndex = 11;
			this.LabelBaseLabel.Text = "COM port";
			// 
			// ComboPort
			// 
			this.ComboPort.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList;
			this.ComboPort.Items.AddRange(new object[] {
														   "COM1",
														   "COM2"});
			this.ComboPort.Location = new System.Drawing.Point(208, 32);
			this.ComboPort.Name = "ComboPort";
			this.ComboPort.Size = new System.Drawing.Size(88, 21);
			this.ComboPort.TabIndex = 10;
			// 
			// LabelStatus
			// 
			this.LabelStatus.Location = new System.Drawing.Point(144, 96);
			this.LabelStatus.Name = "LabelStatus";
			this.LabelStatus.Size = new System.Drawing.Size(96, 16);
			this.LabelStatus.TabIndex = 9;
			this.LabelStatus.Text = "Port active: No";
			// 
			// FormMain
			// 
			this.AutoScaleBaseSize = new System.Drawing.Size(5, 14);
			this.BackColor = System.Drawing.SystemColors.Control;
			this.ClientSize = new System.Drawing.Size(482, 423);
			this.Controls.Add(this.groupBox1);
			this.Controls.Add(this.groupBox5);
			this.Controls.Add(this.groupBox4);
			this.Controls.Add(this.groupBox6);
			this.Controls.Add(this.groupBox3);
			this.Font = new System.Drawing.Font("Tahoma", 8.25F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((System.Byte)(0)));
			this.FormBorderStyle = System.Windows.Forms.FormBorderStyle.FixedSingle;
			this.MaximizeBox = false;
			this.Name = "FormMain";
			this.StartPosition = System.Windows.Forms.FormStartPosition.CenterScreen;
			this.Text = "Styrning till radiostyrd bil";
			this.Closing += new System.ComponentModel.CancelEventHandler(this.FormMain_Closing);
			this.Load += new System.EventHandler(this.FormMain_Load);
			this.groupBox3.ResumeLayout(false);
			this.groupBox6.ResumeLayout(false);
			((System.ComponentModel.ISupportInitialize)(this.TBAcceleration)).EndInit();
			((System.ComponentModel.ISupportInitialize)(this.TBDeceleration)).EndInit();
			this.groupBox4.ResumeLayout(false);
			this.groupBox5.ResumeLayout(false);
			this.groupBox1.ResumeLayout(false);
			this.ResumeLayout(false);

		}

		// Application startup point
		[STAThread]
		static void Main() 
		{
			Application.Run(new FormMain());
		}
		#endregion

		#endregion

		// DLL imports
		[System.Runtime.InteropServices.DllImport("user32.dll")] 
		extern static short GetKeyState(int vKey); 

		// Private variables
		bool twoDelays = false;
		string sendData = "0";
		Settings settings;
		byte[] packet = new byte[4];
		private Rs232 rs232;
		private Thread thrPacketSenderThread;
		private int timerPacketTics = 0;
		private int packetsSent = 0;
		private double throttle = 0;
		private int directionCar = 0;
		private int throttleStep = 0;
		private bool activateLights = false;
		private bool activateBrakeLights = false;
		private bool keyBackPressed = false;
		private bool keyLeftPressed = false;
		private bool keyRightPressed = false;
		private bool keyForwardPressed = false;		
		private string binaryControlData = "";
		private double THROTTLE_SENSITIVITY;
		private double DECELERATION_FACTOR;


		// Private constants
		//private string BINARY_SIGNATURE = "01101100"; // 108

		private void FormMain_Load(object sender, System.EventArgs e)
		{
			settings = (Settings)LoadSaveData.LoadData("settings.dat");
			if (settings == null) settings = new Settings();

			ComboPort.SelectedIndex = settings.portIndex;
			ComboBaud.SelectedIndex = settings.baudIndex;

			// Set tracbar values
			TBAcceleration.Value = (int)settings.throttleFactor;
			TBDeceleration.Value = (int)settings.decelerationFactor;

			CheckLights.Checked = settings.lightsActive;
		}

		//private int packetsSent2 = 0;

		private void PacketSenderThread()
		{
			while(true)
			{
				bool sendDataFlag = false;

				lock (sendData)
				{
					if (sendData == "1") 
						sendDataFlag = true;
					else
						sendDataFlag = false;
				}
				
				if (sendDataFlag && rs232.IsOpen)
				{
					rs232.Write(packet);
					packetsSent++;
					//packetsSent2++;
				}
			}
		}

		# region Open port code
		// Setup driver and open
		private void OpenPort()
		{
			// RS232 driver settings
			rs232.DataBit = 8;
			rs232.Timeout = 1500;
			rs232.StopBit = Rs232.DataStopBit.StopBit_2;
			rs232.Parity = Rs232.DataParity.Parity_None;
			rs232.BaudRate = Convert.ToInt16(ComboBaud.Text);
			rs232.Port = Convert.ToInt16(ComboPort.Text.Substring(3, 1));

			try
			{
				// Open serial port
				rs232.Open();
			}
			catch (Exception ex)
			{
				MessageBox.Show(ex.Message);
			}
		}
		#endregion

		#region Closing
		private void FormMain_Closing(object sender, System.ComponentModel.CancelEventArgs e)
		{
			lock (sendData)
			{
				sendData = "0";
			}
			if (thrPacketSenderThread != null) thrPacketSenderThread.Abort();
			Thread.Sleep(500);
			
			settings.baudIndex = ComboBaud.SelectedIndex;
			settings.decelerationFactor = TBDeceleration.Value;
			settings.throttleFactor = TBAcceleration.Value;
			settings.lightsActive = CheckLights.Checked;
			settings.portIndex = ComboPort.SelectedIndex;

			LoadSaveData.SaveData("settings.dat", settings);

			try
			{
				rs232.DisableEvents();
				if (rs232.IsOpen) rs232.Close();
			}
			catch (Exception ex)
			{
				MessageBox.Show(ex.Message);
			}
		}
		#endregion

		private void TimerKeyboard_Tick(object sender, System.EventArgs e)
		{
			//this.Text = packetsSent2.ToString();
			//if (packetsSent2 >= 500) 
			//{
			//	TimerKeyboard.Enabled = false;
			//	ButtonToggleEnable_Click(null, EventArgs.Empty);
			//}

			string data = "";
			string keyForward, keyBack, keyLeft, keyRight;

			// Key state handler
			#region Key state code
			Font fontBold = new Font(LabelBaseLabel.Font, FontStyle.Bold);
			Font fontRegular = new Font(LabelBaseLabel.Font, FontStyle.Regular);

			//for (int i = 0; i <= 512; i++)
			//{
			//	keyForward = Convert.ToString(GetKeyState(i), 16).ToUpper();
			//	if (keyForward.Substring(0,1) == "F") this.Text = i.ToString();
			//	Application.DoEvents();
			//}

			// Get key states
			keyForward = Convert.ToString(GetKeyState(0x26), 16).ToUpper();
			keyBack = Convert.ToString(GetKeyState(0x28), 16).ToUpper();
			keyLeft = Convert.ToString(GetKeyState(0x25), 16).ToUpper();
			keyRight = Convert.ToString(GetKeyState(0x27), 16).ToUpper();

			// Forward key
			if (keyForward.Substring(0,1) == "F")
			{
				LabelForward.ForeColor = Color.Red;
				LabelForward.Font = fontBold;
				keyForwardPressed = true;
			}
			else
			{
				LabelForward.ForeColor = Color.Gray;
				LabelForward.Font = fontRegular;
				keyForwardPressed = false;
			}

			// Back key
			if (keyBack.Substring(0,1) == "F")
			{
				LabelBack.ForeColor = Color.Red;
				LabelBack.Font = fontBold;
				keyBackPressed = true;
			}
			else
			{
				LabelBack.ForeColor = Color.Gray;
				LabelBack.Font = fontRegular;
				keyBackPressed = false;
			}

			// Left key
			if (keyLeft.Substring(0,1) == "F")
			{
				LabelLeft.ForeColor = Color.Red;
				LabelLeft.Font = fontBold;
				keyLeftPressed = true;
			}
			else
			{
				LabelLeft.ForeColor = Color.Gray;
				LabelLeft.Font = fontRegular;
				keyLeftPressed = false;
			}

			// Right key
			if (keyRight.Substring(0,1) == "F")
			{
				LabelRight.ForeColor = Color.Red;
				LabelRight.Font = fontBold;
				keyRightPressed = true;
			}
			else
			{
				LabelRight.ForeColor = Color.Gray;
				LabelRight.Font = fontRegular;
				keyRightPressed = false;
			}
			#endregion

			// Lock or open controls
			if (CheckLockAcc.Checked) 
			{
				TBDeceleration.Enabled = false;
				TBAcceleration.Enabled = false;
			}
			else
			{
				TBDeceleration.Enabled = true;
				TBAcceleration.Enabled = true;
			}

			// Set acceleration and deceleration values from trackbar settings
			THROTTLE_SENSITIVITY = TBAcceleration.Value;
			DECELERATION_FACTOR = (double)TBDeceleration.Value / 2;			

			// Activate car lights?
			activateLights = CheckLights.Checked;

			// Show binary control data
			//LabelBinaryData.Text = binaryControlData;

			// Packet counter
			timerPacketTics++;
			if (timerPacketTics * this.TimerKeyboard.Interval >= 500)
			{
				LabelPacketRate.Text = "Data rate: " + Math.Round(packetsSent * (double)2, 1).ToString() + 
									   " packets / s";
				int dataRate = (int)Math.Round(packetsSent * (double)2, 1);

				if (dataRate <= PBDataRate.Maximum) PBDataRate.Value = (int)Math.Round(packetsSent * (double)2, 1);
				packetsSent = 0;
				timerPacketTics = 0;
			}

			// Checksum generator
			data = binaryControlData;

			// Convert binary data to byte array
			if (data.Length != 0)
			{
				/*
				packet = new byte[3];
				packet[0] = Convert.ToByte(BINARY_SIGNATURE, 2);
				packet[1] = Convert.ToByte(data.Substring(0, 8), 2);
				packet[2] = Convert.ToByte(data.Substring(8, 8), 2);
				*/

				lock (sendData)
				{
					if (twoDelays)
					{
						packet = new byte[6];
						//packet[0] = Convert.ToByte(BINARY_SIGNATURE, 2);
						packet[0] = Convert.ToByte(data, 2);
						packet[1] = Convert.ToByte(CalcCRC(data), 2);
						packet[2] = Convert.ToByte("00000000", 2);
						packet[3] = Convert.ToByte("00000000", 2);
						packet[4] = Convert.ToByte("00000000", 2);
						packet[5] = Convert.ToByte("00000000", 2);
						twoDelays = false;
					}
					else
					{
						//string x = data.Substring(0, 6) + "0" + (data.Substring(7,1));
						//data = x;
						packet = new byte[5];
						//packet[0] = Convert.ToByte(BINARY_SIGNATURE, 2);
						packet[0] = Convert.ToByte(data, 2);
						packet[1] = Convert.ToByte(CalcCRC(data), 2);
						packet[2] = Convert.ToByte("00000000", 2);
						packet[3] = Convert.ToByte("00000000", 2);
						packet[4] = Convert.ToByte("00000000", 2);
						twoDelays = true;
					}

				}

			// Show binary control data
			//LabelBinaryData.Text = BINARY_SIGNATURE + data + " [" + 
								   //packet[0].ToString() + ":" + packet[1].ToString() + ":" + packet[2].ToString() + "]";
				LabelBinaryData.Text = data + " [" + packet[0].ToString() + ":" + packet[1].ToString() + "]";
			}
		}

		string CalcCRC(string data)
		{
			return NumberOfOnesInBinary(BitwiseInvert(data));
		}

		string BitwiseInvert(string data)
		{
			string result = "";

			for (int i = 0; i < data.Length; i++)
			{
				if (data[i] == '0')
					result = result + "1";
				else
					result = result + "0";
			}

			return result;
		}

		string NumberOfOnesInBinary(string data)
		{
			int count = 0;

			for (int i = 0; i < data.Length; i++)
			{
				if (data[i] == '1') count++;
			}

			return Convert.ToString(count, 2);
		}

		private void TimerSteering_Tick(object sender, System.EventArgs e)
		{
			activateBrakeLights = false;

			if (keyForwardPressed)
			{
				if (throttle < 0 && DECELERATION_FACTOR > 0) throttle = 0;
				if (throttle < 0 && DECELERATION_FACTOR == 0) 
				{
					throttle += THROTTLE_SENSITIVITY;
				}
				else
				{
					if (throttle < 100) throttle += THROTTLE_SENSITIVITY; // Increase throttle, max = 100
				}


			}

			if (keyBackPressed)
			{
				if (throttle > 0 && DECELERATION_FACTOR > 0) throttle = 0;
				if (throttle > 0 && DECELERATION_FACTOR == 0) 
				{
					throttle -= THROTTLE_SENSITIVITY;
				}
				else
				{
					if (throttle > -66) throttle -= THROTTLE_SENSITIVITY; // Decrease throttle, min = -66
				}
			}

			if (!keyForwardPressed && !keyBackPressed)
			{
				if (throttle > 0) throttle -= DECELERATION_FACTOR;
				if (throttle < 0) throttle += DECELERATION_FACTOR;
				if (Math.Abs(throttle) < THROTTLE_SENSITIVITY * 2) throttle = 0;

				if (throttle != 0 && DECELERATION_FACTOR > 0) activateBrakeLights = true;
			}

			if (throttle > 100) throttle = 100;
			if (throttle < -66) throttle = -66;

			// Car direction
			if (throttle < 0) directionCar = -1;
			if (throttle == 0) directionCar = 0;
			if (throttle > 0) directionCar = 1;

			// Update binary control data
			UpdateBinaryControlData();
			
			#region Visual status update
			// Update visual status
			Font fontBold = new Font(LabelBaseLabel.Font, FontStyle.Bold);
			Font fontRegular = new Font(LabelBaseLabel.Font, FontStyle.Regular);

			if (throttle < 0) LabelDirection.Font = fontBold;
			if (throttle == 0) LabelDirection.Font = fontRegular;
			if (throttle > 0) LabelDirection.Font = fontBold;

			if (throttle < 0) LabelDirection.Text = "Direction: Back";
			if (throttle == 0) LabelDirection.Text = "Direction: None";
			if (throttle > 0) LabelDirection.Text = "Direction: Forward";
			LabelThrottle.Text = "Throttle: " + Math.Round(Math.Abs(throttle), 0) + " %";
			if (throttle != 0) LabelThrottle.Font = fontBold;
			if (throttle == 0) LabelThrottle.Font = fontRegular;

			if (throttle <= -66) PBThrottle.Value = 66;
			if (throttle <= -33 && throttle > -66) PBThrottle.Value = 33;
			if (throttle <= 32 && throttle > -32) PBThrottle.Value = 0;
			if (throttle <= 66 && throttle > 33) PBThrottle.Value = 33;
			if (throttle <= 99 && throttle > 66) PBThrottle.Value = 66;
			if (throttle > 99) PBThrottle.Value = 100;

			if (keyLeftPressed) LabelTurning.Font = fontBold;
			if (keyRightPressed) LabelTurning.Font = fontBold;
			if (!keyLeftPressed && !keyRightPressed) LabelTurning.Font = fontRegular;

			if (keyLeftPressed) LabelTurning.Text = "Turning: Left";
			if (keyRightPressed) LabelTurning.Text = "Turning: Right";
			if (!keyLeftPressed && !keyRightPressed) LabelTurning.Text = "Turning: None";

			
			if (rs232.IsOpen) 
			{
				ButtonToggleEnable.Text = "Disable port";
				LabelStatus.Font = fontBold;
				LabelStatus.Text = "Port active: Yes";
				ComboPort.Enabled = false;
				ComboBaud.Enabled = false;
			}
			else
			{
				ButtonToggleEnable.Text = "Enable port";
				LabelStatus.Font = fontRegular;
				LabelStatus.Text = "Port active: No";
				ComboPort.Enabled = true;
				ComboBaud.Enabled = true;
			}
			#endregion

			// Update throttle step
			if (PBThrottle.Value == 0) throttleStep = 0;
			if (PBThrottle.Value == 33 && directionCar < 0) throttleStep = -1;
			if (PBThrottle.Value == 33 && directionCar > 0) throttleStep = 1;
			if (PBThrottle.Value == 66 && directionCar < 0) throttleStep = -2;
			if (PBThrottle.Value == 66 && directionCar > 0) throttleStep = 2;
			if (PBThrottle.Value == 100 && directionCar > 0) throttleStep = 3;
		}

		private void UpdateBinaryControlData()
		{
			// Update binary control data
			binaryControlData = "";

			// ----------------------------------------------------
			// No forward/backward direction of the car
			// ----------------------------------------------------
			if (directionCar == 0)
			{
				// If turn key is pressed, rotate motors in different angles
				if (keyLeftPressed) binaryControlData = "111011";
				if (keyRightPressed) binaryControlData = "011111";
				
				// No key pressed
				if (!keyLeftPressed && !keyRightPressed) binaryControlData = "000000"; // 0% both motors
			}

			// ----------------------------------------------------
			// Backward direction of the car
			// ----------------------------------------------------
			if (directionCar < 0) 
			{
				// No turning
				if (!keyLeftPressed && !keyRightPressed)
				{
					// Throttle
					if (throttleStep == 0) binaryControlData = "000000"; // 0% both motors
					if (throttleStep == -1) binaryControlData = "001001"; // 33% both motors
					if (throttleStep == -2) binaryControlData = "010010"; // 66% both motors
				}

				// Turning left
				if (keyLeftPressed)
				{
					// Throttle
					if (throttleStep == 0) binaryControlData = "000000"; // 0% both motors
					if (throttleStep == -1) binaryControlData = "001000"; // 33% / 0%
					if (throttleStep == -2) binaryControlData = "010001"; // 66% / 33%
				}

				// Turning right
				if (keyRightPressed)
				{
					// Throttle
					if (throttleStep == 0) binaryControlData = "000000"; // 0% both motors
					if (throttleStep == -1) binaryControlData = "000001"; // 0% / 33%
					if (throttleStep == -2) binaryControlData = "001010"; // 33% / 66%
				}
			}

			// ----------------------------------------------------
			// Forward direction of the car
			// ----------------------------------------------------
			if (directionCar > 0) 
			{
				// No turning
				if (!keyLeftPressed && !keyRightPressed)
				{
					// Throttle
					if (throttleStep == 0) binaryControlData = "000000"; // 0% both motors
					if (throttleStep == 1) binaryControlData = "101101"; // 33% both motors
					if (throttleStep == 2) binaryControlData = "110110"; // 66% both motors
					if (throttleStep == 3) binaryControlData = "111111"; // 100% both motors
				}

				// Turning left
				if (keyLeftPressed)
				{
					// Throttle
					if (throttleStep == 0) binaryControlData = "000000"; // 0% both motors	// Throttle = 0%
					if (throttleStep == 1) binaryControlData = "100101"; // 0% / 33%		// Throttle = 33%
					if (throttleStep == 2) binaryControlData = "101110"; // 33% / 66%		// Throttle = 66%
					if (throttleStep == 3) binaryControlData = "110111"; // 66% / 100%		// Throttle = 100%
				}

				// Turning right
				if (keyRightPressed)
				{
					// Throttle
					if (throttleStep == 0) binaryControlData = "000000"; // 0% both motors
					if (throttleStep == 1) binaryControlData = "101100"; // 33% / 0%
					if (throttleStep == 2) binaryControlData = "110101"; // 66% / 33%
					if (throttleStep == 3) binaryControlData = "111110"; // 100% / 66%
				}
			}

			// Lights active?
			if (activateLights) binaryControlData = binaryControlData + "1";
			if (!activateLights) binaryControlData = binaryControlData + "0";

			// Brake lights
			if (activateBrakeLights) binaryControlData = binaryControlData + "1";
			if (!activateBrakeLights) binaryControlData = binaryControlData + "0";

			// The binary data must be 8 bits long. Fill 0:s
			while (binaryControlData.Length < 8)
			{
				binaryControlData = "0" + binaryControlData; 
			}
		}

		private void ButtonToggleEnable_Click(object sender, System.EventArgs e)
		{
			//packetsSent2 = 0;
			//TimerKeyboard.Enabled = true;
			if (ButtonToggleEnable.Text == "Enable port")
			{
				OpenPort();
				Thread.Sleep(200);

				lock (sendData)
				{
					sendData = "1";
				}

				thrPacketSenderThread = new Thread(new ThreadStart(PacketSenderThread));
				thrPacketSenderThread.Priority = ThreadPriority.BelowNormal;
				thrPacketSenderThread.Start();
			}
			else
			{
				lock (sendData)
				{
					sendData = "0";
				}
				thrPacketSenderThread.Abort();
				Thread.Sleep(500);

				rs232.Close();
			}
		}
	}

	
	[Serializable()]
	public class Settings
	{
		public double throttleFactor = 5;
		public double decelerationFactor = 10;
		public bool lightsActive = false;
		public int portIndex = 0;
		public int baudIndex = 8;
	}
}