#include <Servo.h>
Servo servo1;  // create servo object to control a servo
Servo servo2;
const int detpin = 0;  // 检测状态指示的光电传感器
//int ledpin = 2;//指示灯
const int but_on = 3; //开按钮
const int but_off = 4; //关按钮
const int localon = 3;
const int localoff = 4;
//int but_chk = 3; //检测按钮
const int led = 7; //发射器状态指示灯
const int fbdelay = 3000; //反馈间隔
const int dicdelay = 5000;//断线检测时间
unsigned long timeflag1;//时间戳
unsigned long timeflag2;
unsigned long timeflag3;
unsigned long recedflag;
unsigned long sendedflag;
unsigned long blinkflag;
const int blinkdelay = 500;
bool runningflag1 = false;//运行中
bool conneted = false;//链接
bool  sended = false; //刚发送完毕
bool reced = false;//
const int RUN = 0;
const int STOP = 1;
const int notsure = 2;
int state;
int nowstate;
const char on = 'o';
const char off = 'p';
const char runing = 'r';
const char stopping = 's';
const char ns='n';
const int ledonval = 750;//亮灯读数
const int ledoffval = 350;//灭灯读数
//char test = '';//测试代码
//int val;
const int push = 180;
const int pull = 0;
void setup() {
  servo1.attach(5);  // attaches the servo on pin 9 to the servo object
  servo2.attach(6);
  // initialize serial:
  Serial.begin(9600);
  pinMode(13, OUTPUT);
  //Serial.println("1");
  pinMode(led, OUTPUT);
  pinMode(but_on, INPUT_PULLUP);
  pinMode(but_off, INPUT_PULLUP);
  pinMode(localon, INPUT_PULLUP);
  pinMode(localoff, INPUT_PULLUP);
  servo1.write(push);
  servo2.write(pull);
}

void loop()
{
  delay(200);
  switcher();
 feedback();
 localcrtl();
//sender();
  //feedbackled();
  //Serial.println('r');

  //delay(2000);

  //Serial.println('s');

  //delay(2000);


}
void sender() // 发射器
{

  if (digitalRead(but_on) == LOW)
  {
    Serial.println(on);
    sended = true;
    sendedflag = millis();
    delay(500);//连续发射，等待0.5秒
  }
  else if (digitalRead(but_off) == LOW)
  {
    Serial.println(off);
    sendedflag = millis();
    sended = true;

    delay(500);

  }
  else
  {
    sended = false;
  }
}
void feedback()
{
  char fbchar;
  if (analogRead(detpin) > ledonval)
  {
    fbchar = stopping;
    digitalWrite(led, LOW);
    state = STOP;
  }
  else if (analogRead(detpin) < ledoffval)
  {
    fbchar = runing;
    digitalWrite(led, HIGH);
    state = RUN;
  }
  else
  {
    fbchar =ns;
    state = notsure;
    ledblink();
  }
  /*if(nowstate!=state)
    {
     Serial.println(fbchar);
     state=nowstate;
    }*/

  if ((millis() - timeflag1 >= (dicdelay - 3000)) || (reced && (millis() - recedflag >= fbdelay))) //定时反馈
  {
    timeflag1 = millis();//更新时间戳
    reced = false;
    //Serial.println('1');
    Serial.println(fbchar);
    delay(500);
  }

}
void feedbackled()
{
  if ((millis() - timeflag2 >= dicdelay) && (millis() - sendedflag >= fbdelay + 2000)) // 检测是是否超时未收到回复。
  {
    timeflag2 = millis();//更新时间戳
    conneted = false;
  }
  if (Serial.available() > 0)
  {
    char ch_rec = Serial.read();
    timeflag2 = millis();
    if (ch_rec == runing)
    {
      digitalWrite(led, HIGH);
      conneted = true;
    }

    if (ch_rec == stopping)
    {
      digitalWrite(led, LOW);
      conneted = true;
    }
  }
  if (conneted == false)
  {
    ledblink();
  }
}
void switcher()
{
  if (Serial.available() > 0)
  {
    recedflag = millis();
    char ch = Serial.read();
    if (ch == on)
    { servo1.write(pull);
      delay(1000);
      servo1.write(push);
      reced = true;

    }
    if (ch == off)
    {
      servo2.write(push);
      delay(1000);
      servo2.write(pull);
      reced = true;


    }
    // ch = '0';
    //   Serial.print(ch);
  }

}

void ledblink()
{
  if (millis() - blinkflag >= blinkdelay)
  { blinkflag = millis();
    if (digitalRead (led) == LOW)
    {
      digitalWrite(led, HIGH);
    }
    else
    {
      digitalWrite(led, LOW);
    }
  }
}
void localcrtl()
{
  if (digitalRead(localon) == LOW)
  {
    servo1.write(pull);
    delay(1000);
    servo1.write(push);
    reced = true;
  }
  if (digitalRead(localoff) == LOW)
  {
    servo2.write(push);
    delay(1000);
    servo2.write(pull);
    reced = true;
  }
}
/*void Update()
{
if(analogRead(detpin)<>laststate)
Serial.println()

}
bool RTdelay()
{
 return( millis()>=lastime);
}*/