String data[]={
"","","","","","",""};
String inputString = "";

int horn=15;
int lamp=14;
int alarm=0;
String c1,c2,c3,c4;


// Enter a MAC address and IP address for your controller below.
// The IP address will be dependent on your local network:
byte mac[] = { 
0xDE, 0xAD, 0xBE, 0xEF, 0xFE, 0xED };
IPAddress ip(192, 168, 2, 165);

unsigned int localPort = 8888; // local port to listen on

// buffers for receiving and sending data
char packetBuffer[UDP_TX_PACKET_MAX_SIZE]; //buffer to hold incoming packet,
char ReplyBuffer[] = "acknowledged"; // a string to send back

// An EthernetUDP instance to let us send and receive packets over UDP
EthernetUDP Udp;

void setup() {
inputString.reserve(200);
//---( THEN set pins as outputs )----
pinMode(3, OUTPUT);
pinMode(4, OUTPUT);
pinMode(5, OUTPUT);
pinMode(6, OUTPUT);
pinMode(7, OUTPUT);
pinMode(8, OUTPUT);

pinMode(horn, OUTPUT);
pinMode(lamp, OUTPUT);

//-------( Initialize Pins so relays are inactive at reset)----
digitalWrite(3, LOW);
digitalWrite(4, LOW);
digitalWrite(5, LOW);
digitalWrite(6, LOW);
digitalWrite(7, LOW);
digitalWrite(8, LOW);

delay(1000);

// start the Ethernet and UDP:
Ethernet.begin(mac,ip);
Udp.begin(localPort);

Serial.begin(9600);
}

void loop() {
// if there's data available, read a packet
int packetSize = Udp.parsePacket();
if(packetSize)
{
IPAddress remote = Udp.remoteIP();
Udp.read(packetBuffer,UDP_TX_PACKET_MAX_SIZE);

//Serial.println(packetBuffer);
String datam=packetBuffer;

int i=0;
while (i<packetSize) {
char inChar = datam[i];
if (inChar == '&') {
int myLength=inputString.length();
int anchor=0;
int counter=0;
;
for(int i=0;i<myLength;i++){
if(inputString[i]==','){
data[counter]=inputString.substring(anchor,i);
anchor=i+1;
counter++;
}
}
int dcValue1=data[1].toInt();
int dcValue2=data[2].toInt();
c1=data[3].substring(0, 1);
c2=data[3].substring(1, 2); 
c3=data[3].substring(2, 3); 
c4=data[3].substring(3, 4); 


if(c2=="0"){
if(c1=="1"){
digitalWrite(horn,HIGH); 
}
else{
digitalWrite(horn,LOW); 
}
}

if(c4=="0"){
if(c3=="1"){
digitalWrite(lamp,HIGH); 
}
else{
digitalWrite(lamp,LOW); 
}
}


if(dcValue1 >=0){
digitalWrite(3, LOW);
digitalWrite(4, HIGH);
}
else{
digitalWrite(3, HIGH);
digitalWrite(4, LOW);
}
if(dcValue2 >=0){
digitalWrite(7, LOW);
digitalWrite(8, HIGH);
}
else{
digitalWrite(7, HIGH);
digitalWrite(8, LOW);
}

analogWrite(5, abs(dcValue1));
analogWrite(6, abs(dcValue2));
Serial.print(dcValue1);
Serial.print(",");
Serial.print(dcValue2);
inputString = "";
}
else{
inputString += inChar;
}
i++;
}

// send a reply, to the IP address and port that sent us the packet we received
//Udp.beginPacket(Udp.remoteIP(), Udp.remotePort());
//Udp.write(ReplyBuffer);
//Udp.endPacket();
}
delay(15);


if(c2=="1"){
if(alarm<10){
digitalWrite(lamp,HIGH);
digitalWrite(horn,HIGH);
}
else{
digitalWrite(lamp,LOW);
digitalWrite(horn,LOW);
}
}
alarm++;
if(alarm==100){
alarm=0; 
}

}

void split(){



}