#include <AccelStepper.h>
#include <WiFi.h>
#include <HTTPClient.h>

const char* ssid = "Wokwi-GUEST";
const char* password = "";
const char* serverAddress = "http://pm.is2b.ru/robot/command.php";
// Time interval in milliseconds between command processing
const unsigned long COMMAND_INTERVAL = 5000;

// Last time a command was processed
unsigned long lastCommandTime = 0;

#define ZDIR 17
#define ZPUL 18

#define XDIR 16
#define XPUL 15

int stepsPerRevolution = 200;

AccelStepper stepperZ(AccelStepper::DRIVER, ZPUL, ZDIR);
AccelStepper stepperX(AccelStepper::DRIVER, XPUL, XDIR);


#define motorInerfaceType 1


void setup() {
  // set the speed at 60 rpm:
//  myStepper.setSpeed(2);
  // initialize the serial port:
//  Serial.begin(9600);

  pinMode(ZDIR, OUTPUT);
  pinMode(ZPUL, OUTPUT);
  pinMode(XDIR, OUTPUT);
  pinMode(XPUL, OUTPUT);

  stepperZ.setMaxSpeed(1000);
  stepperZ.setAcceleration(100);
  stepperZ.moveTo(0);

  stepperX.setMaxSpeed(1000);
  stepperX.setAcceleration(100);
  stepperX.moveTo(0);

  Serial.begin(9600);

}

bool runStepper(AccelStepper* stepper){
  if (stepper->distanceToGo() != 0) stepper->run();
}

void loop() {
  bool movement = false;
  if (stepperX.distanceToGo() != 0) {
    stepperX.run();
    movement = true;
  }
  if (stepperZ.distanceToGo() != 0) {
    stepperZ.run();
    movement = true;
  }

  if (!movement && millis() - lastCommandTime > COMMAND_INTERVAL){
    lastCommandTime = millis();
    if (WiFi.status() != WL_CONNECTED){
      WiFi.begin(ssid, password);

      while (WiFi.status() != WL_CONNECTED) {
        delay(1000);
        Serial.println("Connecting to WiFi...");
      }
      Serial.println("Wifi connected");
    } 

    HTTPClient http;
    http.begin(String(serverAddress));
    int httpCode = http.GET();

    if (httpCode == HTTP_CODE_OK) {
      String input = http.getString();
      Serial.println(input);

      int command = 0;
      int x = 0.0;
      int y = 0.0;
      int z = 0.0;

      if (input.length() > 5){
        int i = 0;
        while (i < input.length()) {
            char c = input.charAt(i);
            i++;

            if (c == 'G') {
                String value;
                while (i < input.length() && (isdigit(input.charAt(i)) || input.charAt(i) == '.')) {
                    value += input.charAt(i);
                    i++;
                }
                command = value.toInt();
            } else if (c == 'X') {
                String value;
                while (i < input.length() && (isdigit(input.charAt(i)) || input.charAt(i) == '.')) {
                    value += input.charAt(i);
                    i++;
                }
                x = value.toInt();
                if (command == 0) stepperX.moveTo(x);
                if (command == 92) stepperX.setCurrentPosition(x);
            } else if (c == 'Y') {
                String value;
                while (i < input.length() && (isdigit(input.charAt(i)) || input.charAt(i) == '.')) {
                    value += input.charAt(i);
                    i++;
                }
                y = value.toInt();
            } else if (c == 'Z') {
                String value;
                while (i < input.length() && (isdigit(input.charAt(i)) || input.charAt(i) == '.')) {
                    value += input.charAt(i);
                    i++;
                }
                z = value.toInt();
                if (command == 0) stepperZ.moveTo(z);
                if (command == 92) stepperZ.setCurrentPosition(z);
            } else if (isspace(c)) {
                // Ignore whitespace between tokens
                continue;
            } else {
                // Invalid character, ignore the rest of the line
                break;
            }
        }

        // Print out the results
        Serial.print("Command: ");
        Serial.println(command);
        Serial.print("X: ");
        Serial.println(x);
        Serial.print("Y: ");
        Serial.println(y);
        Serial.print("Z: ");
        Serial.println(z);
        }
      
      
    } else {
      Serial.println("Error getting commands from server, HTTP code: " + httpCode);
    }

    http.end();
  
  }
}