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/*
	 * Flush
	 */
	tcflush(program->usb.serialPort, TCIFLUSH); // Get the latest values

	/*
	 * Collect
	 */
	int receiveBytes = read(program->usb.serialPort, readBuffer, sizeof(readBuffer));

	/*
	 * Print
	 */
	int count = 0;
	int adc = 0;
	for (int i = 0; i < receiveBytes; i++) {

		if (count == 0) {
			adc = (int) readBuffer[i] * 256;
			count++;
		} else if (count == 1) {
			adc += (int) readBuffer[i];
			count = 0;
			printf("value %d\n", adc);
			program->usb.output = program->usb.slope * ((double) adc) + program->usb.offset; // y = kx+m
			adc = 0;
		}

	}

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/*
		 * adc is beteen 0 to 4095
		 */
		int adc = adcValues[0]; // We store adcValues[i] into a temporary array due to changes of adcValues

		/*
		 * Send
		 */
		uint8_t data = (uint8_t) (adc >> 8); // First data
		HAL_UART_Transmit(&huart2, &data, sizeof(data), TIME_OUT);
		data = (uint8_t) (adc & 0xFF); // Second data
		HAL_UART_Transmit(&huart2, &data, sizeof(data), TIME_OUT);
		HAL_Delay(10);

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# This is the main file. We start here.

function main() 
  # Begin to load instrument-control 
  pkg load instrument-control % Load the library for USB and TCP/IP
  
  # Connect the USB
  path = input("Enter the path or COM to the USB: ", "s");
  program.serial = serial(path);
  
  # Connect to TCP/IP
  program.ip = input("Enter the IPv4 number to connect the TCP/IP server: ", "s");
  program.port = input("Enter the port of the TCP/IP server: ");
  program.client = tcp(program.ip, program.port); 
  
  ## Set some initial values
  program.countTime = 0;
  program.maxCount = 200;
  program.inputSignal = 0;
  program.outputSignal = 0;
  i = 1;
  program.y = [];
  program.u = [];
  
  # This is our while loop 
  while(true)
  
    ## Read the TCP/IP server
    tcp_write(program.client, "GET"); # Order the TCP/IP server to get all the values
    n = tcp_read(program.client, 1); # Read the length of the data
    tcpData = tcp_read(program.client, n); # Now read all
    tcpData = char(tcpData); # Turn uint8 to string
    
    ## Split the strin tcpData at "#" and load it into the structure
    splitedString = strsplit(tcpData, "#");
    program.sampleTime = splitedString(1,1);
    program.pwmStartSignal = splitedString(1,2);
    program.referencePoint = splitedString(1,3);
    program.controlHorizon = splitedString(1,4);
    program.predictHorizon = splitedString(1,5);
    program.sensorSlope = splitedString(1,6);
    program.sensorOffset = splitedString(1,7);
    program.running = splitedString(1,8);
    program.time = splitedString(1,9);
    # don't need inputSingal here
    # don't need outputSignal here
  
    ## Read the USB
    srl_flush(program.serial); # First flush
    usbData = srl_read(program.serial, 2); # Read two bytes
    output = usbData(1)*256 + usbData(2); # The STM32 sending shifted bites due to 8-bit UART
    program.outputSignal = program.sensorSlope*output + program.sensorOffset; % y = kx + m formula
    
    ## Check if we should control 
    if(strcmp(program.running, "true")
      
      ## Start to collect data if...
      if(program.countTime < program.maxCount*program.sampleTime)
        
        ## We use the initial input signal here
        program.inputSignal = program.pwmStartSignal; % 0..255
        
        ## Add the signals
        program.u(i) = program.inputSignal;
        program.y(i) = program.outputSignal;
        
        ## Add to the counting
        program.countTime += program.sampleTime;
        i++;
        
      else
        ## OKID/ERA - Find the model
        
        ## Kalman filter - Find the initial state
        
        ## MPC - Find the best input value
        
        ## Send the best value to USB
        
        ## Update signals for next iteration
        
      endif
    
    else
    
        ## Reset some values
        program.countTime = 0;
        program.inputSignal = 0;
        i = 1;
        program.u = [];
        program.y = [];
  
    endif
    ## Send the best input value, output value and time to TCP/IP server
    
    ## Pause before next iteration
    pause(program.sampleTime);
  
  endwhile

endfunction