// PROGRAMME COTE CARTE CAMERA
//programme controlant le mouvement du servo
// serveur web repondant depuis site web
// ou depuis envoi autre carte arduino depuis programme commande_web
//type de carte LOLIN (WEMOS) D1 R2 mini
// modifier la variable MODE_WIFI selon reseau   en general en A comme AccessPoint

//https://www.aranacorp.com/fr/communication-entre-deux-esp8266-par-wifi/

#include <Arduino.h>
// Load Wi-Fi library
#include <ESP8266WiFi.h>
//#include <ESP8266mDNS.h>
//#include <StreamString.h>
#include <Servo.h>
#include <ESP8266mDNS.h>        // Include the mDNS library

//mode wifi box
// choix du mode de connexion A pour AccesPoint ou B pour connexion à BOX
String MODE_WIFI = "B";
String CameraHostname = "Camera2RHB";

#define BOX_SSID "freebox_PHYZYT"
#define BOX_PSK "CF5AE5177A16379A5AF9977DAF4A5A"

//#define BOX_SSID "AndroidAP31CB"
//#define BOX_PSK "mkqn4199"

//#define BOX_SSID "OPPO A54 5G J"
//#define BOX_PSK "d5abekc5"



//fin mode wifi box

//mode wifi AP
//#ifndef APSSID
//#define APSSID "Camera2RHB"
//#define APPSK "LaBuvette2RHBToutA2Euros"
//#endif

#define AP_SSID "Camera2RHB"
#define AP_PSK "Buvette2RHB"

// Set your Static IP address
IPAddress local_IP(192, 168, 4, 184);
// Set your Gateway IP address
IPAddress gateway(192, 168, 4, 1);

IPAddress subnet(255, 255, 0, 0);
IPAddress primaryDNS(8, 8, 8, 8);   //optional
IPAddress secondaryDNS(8, 8, 4, 4); //optional
//fin mode wifi AP



Servo myservo;  // create servo object to control a servo
// variables pour microsecondes
int myservopos = 1500;    // variable to store the servo position
int origservogauche = 900 ;
int origservocentre = 1500 ;
int origservodroite = 2100 ;
int servogauche = origservogauche ;
int servocentre = origservocentre ;
int servodroite = origservodroite ;
int vitesse = 40;
int attente = 1000;

/*
int origservogauche = 500 ;
int origservocentre = 1500 ;
int origservodroite = 2500 ;
int servogauche = 500 ;
int servocentre = 1500 ;
int servodroite = 2500 ;
int vitesse = 20;
int attente = 1000;
*/
// valeurs utilisées pour les mvt de servo dans changedirection et dans le map de la valeur du potentiometre vitesse
int vitessemin = 1;
int vitessemax = 40;

int pot_max = 0;
int pot_vit = 2;

String inforeseau ;

/*
  const int buttonPin1 = 5;     // the number of the pushbutton pin
  const int buttonPin2 = 6;     // the number of the pushbutton pin
  const int buttonPin3 = 7;     // the number of the pushbutton pin
*/


/*
  gnd
  3.3v
  bt1   d5  GPIO14
  bt2   d6  GPIO12
  bt3   d7  GPIO13
  servo d8  GPIO15
  pot   a0  ADC0

*/

// variables will change:
int buttonState1 = 0;         // variable for reading the pushbutton status
int buttonState2 = 0;         // variable for reading the pushbutton status
int buttonState3 = 0;         // variable for reading the pushbutton status

int lastchangebuttonState1 = 0;
int lastchangebuttonState2 = 0;
int lastchangebuttonState3 = 0;

String buttonactif = "0" ;
String lastbuttonactif = "0" ;

String direction = "c" ;
String lastdirection = direction ;


const int pot_max_pin = A0;  // pot de fin de course


int coeff = 0;
int coeff1 = 0;
int coeff2 = 0;
int coeff3 = 0;
int coeff4 = 0;

int lastcoeff = coeff;

//mode ap
//const char *apssid = AP_SSID;
//const char *appassword = AP_PSK;
//fin mode ap

//mode box
const char *boxssid = BOX_SSID;
const char *boxpassword = BOX_PSK;
//fin mode box

// Replace with your network credentials
const char* SSID = BOX_SSID;
const char* PASSWORD = BOX_PSK;

// Set web server port number to 80
WiFiServer server(80);

// Assign output variables to GPIO pins
const int output = 4;

String value = "c";

void setup() {

  //  myservo.attach(9);  // attaches the servo on pin 9 to the servo object
  //myservo.attach(D7);  // attaches the servo on pin D7 to the servo object
  //  myservo.attach(D7);  // attaches the servo on pin D7 to the servo object
  myservo.attach(2);  //D4

  Serial.begin(9600);
  // Initialize the output and set it to LOW
  pinMode(output, OUTPUT);
  digitalWrite(output, LOW);


  // Connect to Wi-Fi network with SSID and PASSWORD 

  if (MODE_WIFI == "A") {
    Serial.println("connection AP");
    connect_AP();
  } else if (MODE_WIFI == "B") {
    Serial.println("connection BOX");
    connect_BOX();
  }


  //mode wifi box
  /*
    Serial.print("Connecting to ");

    //WiFi.begin(SSID, PASSWORD);
    Serial.println(SSID);
    WiFi.begin(BOX_SSID, BOX_PSK);
    while (WiFi.status() != WL_CONNECTED) {
      delay(500);
      Serial.print(".");
    }
    // Print local IP address
    Serial.println("");
      Serial.print("Connected to ");
    Serial.println(BOX_SSID);
    Serial.println("WiFi connected at IP address:");
    Serial.println(WiFi.localIP());
  */
  //fin mode wifi box


  /*
    //mode wifi ap

    if (!WiFi.config(local_IP, gateway, subnet, primaryDNS, secondaryDNS)) {
      Serial.println("STA Failed to configure");
    }

    // Connect to Wi-Fi network with SSID and password
    Serial.print("Connecting to ");
    Serial.println(ssid);
    //WiFi.begin(ssid, password);
    WiFi.begin(AP_SSID, AP_PSK);
    while (WiFi.status() != WL_CONNECTED) {
      delay(500);
      Serial.print(".");
    }
    // Print local IP address and start web server
    Serial.println("");
    Serial.println("WiFi connected.");
    Serial.println("Acces Point");
    Serial.print((String)"SSID : " + AP_SSID + "password : " + AP_PSK);
    Serial.println("IP address: ");
    Serial.println(WiFi.localIP());
    // server.begin();


    //fin mode wifi ap
  */


  // Start Web Server
  
  //2603
  
  WiFiClient browser ;
  
  WiFiClient client = server.available();
  
  server.begin();

}

// Main loop
void loop() {
  // Create a client and listen for incoming clients

  //pot_max = analogRead(pot_max_pin);

  // val de 0 à 1024
  //coeff  = map(pot_max, 0, 1023, 0, 40); // coeff pour le servo en write
  //coeff  = map(pot_max, 0, 1023, 0, 400);
      Serial.println("---------------------------- DEPART LOOP ----------------------------------------");
      Serial.println((String) "adresse IP : " );
      Serial.println( WiFi.localIP());
      Serial.println(inforeseau);
  coeff  = map(analogRead(pot_max_pin), 0, 1023, 0, 400);

  //2603
  WiFiClient browser ;
  
  WiFiClient client = server.available();

  if (lastcoeff >= coeff - 5 && lastcoeff <= coeff + 5 )
  {
    Serial.println((String) "changedir par coeff  nouveau : " + coeff  + " ancien : " + lastcoeff);
    lastcoeff = coeff;
    changedirection(direction);
  }

  servogauche = origservogauche + coeff ;
  servodroite = origservodroite - coeff ;

  //Serial.println((String)" lastdirection : " + lastdirection + " direction : " + direction );
  if (direction != lastdirection) {
    Serial.println((String)" lastdirection : " + lastdirection + " direction : " + direction );
    /*    WiFiClient client;
        const char * host = "192.168.4.1";
        const int httpPort = 80;*/

    /*    changedirection(direction);
        lastdirection = direction ;
    */
    Serial.println((String) "changedir par diffdirection nouveau : " + direction  + " ancienne : " + lastdirection);
    changedirection(direction);
    lastdirection = direction ;

  }

  //gestionpageweb

  // Do nothing if server is not available
  /*  if (!client) {
       return;
    }
  */

  // Wait a client
  /*
    while(!client.available()){}
  */

  // A new client is connected, get the request
  String request = client.readStringUntil('\r');

  Serial.println(request);
  //   ancienne methode
      client.flush();

  // Display GPIO status
  client.println("HTTP/1.1 200 OK");
  client.println("Content-Type: text/html");
  client.println("");
  client.println("<!DOCTYPE HTML>");
  client.println("<html>");

  //client.flush();
  //    client.print( header );
  //    client.print( tmpString );

  //insert
  client.println("<head>");
  client.println("<meta name='viewport' content='width=device-width, initial-scale=1.0'/>");
  client.println("<meta charset='utf-8'>");
  client.println("<meta http-equiv='refresh' content='5'>");
  client.println("<style>body {font-size:100%;}#main {display: table; margin: auto;  padding: 0 10px 0 10px; }h2 {text-align:center; }p { text-align:center; }</style>");
  client.println("<title>Controle Camera dirigeable 2RHB</title>");
  client.println("<meta http-equiv='refresh' content='5'>");
  client.println("<meta name='viewport' content='width=device-width, initial-scale=1.0'></head>");
  //  client.println("</head>"); 
  //fin insert
  client.println("<body>");
  client.println("<br>");
  client.print(" Controle position Camera 2RHB : ");

  if (value == "c") {
    client.print("CENTRE");
  }
  if (value == "g") {
    client.print("GAUCHE");
  }
  if (value == "d") {
    client.print("DROITE");
  }
  client.println("<br><br>");

  client.println("Position actuelle");
  client.print(direction);
  client.println("<br>");
  client.println (" Coefficient de fin de course: ");
  client.print (coeff);
  client.println("<br><br>");
  client.println(" Clic sur Direction ");
  client.println("<br><br>");
  /*client.println(" <- Max Gauche : ");
    client.print(servogauche);
    client.print(" &emsp; |Position actuelle| : ");
    client.print (myservopos);
    client.print(" &emsp; Max Droite  : ");
    client.print(servodroite);
    client.print(" -> ");
    client.println("<br><br>");*/
  client.println(" Max Gauche | Position | Max Droite <br>");
  client.println("<pre>");
  client.print( "      " );
  client.print( servogauche );
  client.print( "  |  " );
  client.print( myservopos);
  client.print( "  |  " );
  client.print( servodroite );
  client.println("<br>");
  client.println("</pre>");
  client.println("<br>");
  client.println("Direction <a href=\"/direction=G\">GAUCHE</a>");
  client.print(" &emsp;  Retour <a href=\"/direction=C\">CENTRE</a>");
  client.print(" &emsp;  Direction <a href=\"/direction=D\">DROITE</a><br>");
  client.println("<br><br>");
  client.println("</body>");
  client.println("</html>");
  client.flush();

  Serial.println((String)"request :   " + request);

  if (request.indexOf("/direction=G") != -1)
  {
    //digitalWrite(output, HIGH);
    value = "g";
    direction = value;
    Serial.println((String) " value : " + value);
  }
  if (request.indexOf("/direction=C") != -1)
  {
    //digitalWrite(output, LOW);
    value = "c";
    direction = value;
    Serial.println((String) " value : " + value);
  }
  if (request.indexOf("/direction=D") != -1)
  {
    //digitalWrite(output, LOW);
    value = "d";
    direction = value;
    Serial.println((String) " value : " + value);
  }

  Serial.println((String)" getreq :  " + value);

  delay(100);


  // lecture de la commande envoyée par la carte TELECOMMANDE
  String directioncommande = "";
  directioncommande = clientRequest();
  Serial.println("********************************************************");
  Serial.println("   LA COMMANDE A ENVOYE    :" + directioncommande);
  Serial.println("********************************************************");

  if (directioncommande != "")
  {
    value = directioncommande;
    direction = directioncommande;
    Serial.println("on affecte la dir");
    
  }
  
}


void changedirection(String dir) {

  Serial.println((String) " /////////////////DIR/////////////");
  Serial.println((String) "changement de direction vers : " + dir  + " coeff : " + coeff);
  if (dir == "c") {

    if (myservopos < servocentre  ) {
      Serial.println((String) " C< myservopos : " + myservopos  + " servogauche : " + servogauche  + " servodroite : " + servodroite);
      while (myservopos <= servocentre) {

        if (servocentre - myservopos < vitessemax)
        {
          /* calcule le nouvel angle */
          myservopos = myservopos + vitessemin ;
          myservo.writeMicroseconds(myservopos);
          Serial.println((String)"centre slow + 1" + myservopos);

        }
        else
        {
          vitesse = speed();
          /* calcule le nouvel angle */
          myservopos = myservopos + vitesse ;
          myservo.writeMicroseconds(myservopos);
          Serial.println((String)"centre  + vitesse"  + myservopos);

        }
      }

    }
    else if  (myservopos > servocentre  ) {
      Serial.println((String) " C> myservopos : " + myservopos  + " servogauche : " + servogauche  + " servodroite : " + servodroite);
      while (myservopos >= servocentre) {

        if (myservopos - servocentre < vitessemax )
        {
          myservopos = myservopos - vitessemin ;
          myservo.writeMicroseconds(myservopos);
          Serial.println((String) " centre slow - 1 " + myservopos);
          //      myservo.write(servogauche + 1);
        }
        else
        {
          vitesse = speed();
          myservopos = myservopos - vitesse ;
          myservo.writeMicroseconds(myservopos);
          Serial.println((String) "centre + vitesse " + myservopos);
          //myservo.write(servogauche + coeff);
        }


        /*
          vitesse = speed();
          Serial.println((String) " myservopos : " + myservopos  + " servogauche : " + servogauche  + " servodroite : " + servodroite);
          myservo.writeMicroseconds(myservopos);

          myservopos = myservopos - vitesse ;
            //vitesse = -1;

          //myservo.write(servogauche + coeff);
        */
      }

    }
    myservo.write(servocentre);

  }

  else if (dir == "g") {

    if (myservopos > servogauche) {
      Serial.println((String) " G> myservopos : " + myservopos  + " servogauche : " + servogauche  + " servodroite : " + servodroite);

      while (myservopos > servogauche) {

        Serial.println((String) " myservopos : " + myservopos  + " servogauche : " + servogauche  + " servodroite : " + servodroite);
        //myservo.writeMicroseconds(myservopos);

        /* calcule le nouvel angle */

        if (myservopos - servogauche < vitessemax )
        {
          myservopos = myservopos - vitessemin ;
          myservo.writeMicroseconds(myservopos);
          //myservo.write(servogauche + 1);
        }
        else
        {
          vitesse = speed();
          myservopos = myservopos - vitesse ;
          myservo.writeMicroseconds(myservopos);
          //myservo.write(servogauche + coeff);
        }

        // myservopos = myservopos - vitesse ;
        //vitesse = -1;

        //  myservo.write(servogauche + coeff);

      }
    }

    else if (myservopos < servogauche) {
      Serial.println((String) " G< myservopos : " + myservopos  + " servogauche : " + servogauche  + " servodroite : " + servodroite);

      while (myservopos < servogauche) {
        Serial.println((String) " myservopos : " + myservopos  + " servogauche : " + servogauche  + " servodroite : " + servodroite);
        // myservo.writeMicroseconds(myservopos);
        /* calcule le nouvel angle */

        if (servogauche - myservopos < vitessemax )
        {
          myservopos = myservopos + vitessemin ;
          myservo.writeMicroseconds(myservopos);
          //      myservo.write(servogauche + 1);
        }
        else
        {
          vitesse = speed();
          myservopos = myservopos + vitesse ;
          myservo.writeMicroseconds(myservopos);
          //myservo.write(servogauche + coeff);
        }

        //      myservopos = myservopos + vitesse ;
        //vitesse = -1;

        //    myservo.write(servogauche + coeff);

      }
    }

  }
  else if (dir == "d") {

    if (myservopos < servodroite) {
      Serial.println((String) " D< myservopos : " + myservopos  + " servogauche : " + servogauche  + " servodroite : " + servodroite);

      while (myservopos < servodroite) {
        Serial.println((String) " myservopos : " + myservopos  + " servogauche : " + servogauche  + " servodroite : " + servodroite);
        //myservo.writeMicroseconds(myservopos);
        /* calcule le nouvel angle */

        if (servodroite - myservopos < vitessemax )
        {
          myservopos = myservopos + vitessemin ;
          myservo.writeMicroseconds(myservopos);
          //myservo.write(servogauche + 1);
        }
        else
        {
          vitesse = speed();
          myservopos = myservopos + vitesse ;
          myservo.writeMicroseconds(myservopos);
          //myservo.write(servogauche + coeff);
        }

        //myservopos = myservopos + vitesse ;--------

        //vitesse = -1;

        //myservo.write(servogauche + coeff);

      }

      //  myservo.write(servodroite - coeff);

    }

    else if (myservopos > servodroite) {
      Serial.println((String) " D> myservopos : " + myservopos  + " servogauche : " + servogauche  + " servodroite : " + servodroite);

      while (myservopos > servodroite) {
        Serial.println((String) " myservopos : " + myservopos  + " servogauche : " + servogauche  + " servodroite : " + servodroite);
        // myservo.writeMicroseconds(myservopos);
        /* calcule le nouvel angle */

        if (myservopos - servodroite < vitessemax )
        {
          myservopos = myservopos - vitessemin ;
          myservo.writeMicroseconds(myservopos);
          //      myservo.write(servogauche + 1);
        }
        else
        {
          vitesse = speed();
          myservopos = myservopos - vitesse ;
          myservo.writeMicroseconds(myservopos);
          //myservo.write(servogauche + coeff);
        }


        //      myservopos = myservopos + vitesse ;
        //vitesse = -1;

        //    myservo.write(servogauche + coeff);

      }
    }

  }
}


void changedirection_rotcont(String dir) {

  Serial.println((String) " /////////////////DIR/////////////");
  
  Serial.println((String) "debut deplacement myservopos : " + myservopos  + " servogauche : " + servogauche  + " servodroite : " + servodroite); 
  Serial.println((String) "changement de direction vers : " + dir  + " coeff : " + coeff);
  if (dir == "c") {
        
        myservo.writeMicroseconds(servocentre);

    }
   
  else if (dir == "g") {

        myservo.writeMicroseconds(servogauche);

      }

  else if (dir == "d") {

            myservo.writeMicroseconds(servogauche);

  }

Serial.println((String) "fin deplacement myservopos : " + myservopos  + " servogauche : " + servogauche  + " servodroite : " + servodroite);  
}

int speed()
{
  // calcul de la vitesse
  int result;

  /*  pot_vit = analogRead(pot_vit_pin);
    result = map(pot_vit, 0, 1023, vitessemin, vitessemax);
    return result;
  */

  result = vitesse;
  return result;

}



void connect_BOX()
{
  //mode wifi box

  Serial.print("Connecting to ");

  //WiFi.begin(SSID, PASSWORD);
  Serial.println(SSID);
//Set new hostname
  WiFi.hostname(CameraHostname);
  //Get Current Hostname
//  Serial.println("New hostname: %s\n", WiFi.hostname().c_str());
 
  WiFi.begin(BOX_SSID, BOX_PSK);
  while (WiFi.status() != WL_CONNECTED) {
    delay(500);
    Serial.print(".");
  }
  // Print local IP address
  Serial.println("");
  Serial.print("Connected to ");
  Serial.println(BOX_SSID);
  Serial.println("WiFi connected at IP address:");
  Serial.println(WiFi.localIP());
  Serial.print("RRSI: ");
  Serial.println(WiFi.RSSI());



if (!MDNS.begin(CameraHostname)) {             // Start the mDNS responder for esp8266.local
    Serial.println("Error setting up MDNS responder!");
  }
  Serial.println("mDNS responder started");




  inforeseau = "Nom Camera : " + String(WiFi.hostname().c_str()) + " IP : " + String(WiFi.localIP().toString()) + " subnet : " + String(WiFi.subnetMask().toString()) + " gateway : " + String(WiFi.gatewayIP().toString()) + " BOX_SSID : " + String(BOX_SSID) + " BOX_PSK : " + String(BOX_PSK);
  //fin mode wifi box

}

void connect_AP() {
  //mode wifi ap

  WiFi.mode(WIFI_AP_STA);

/*
 * 
 IPAddress    apIP(10, 10, 10, 1);                               // Private network address: local & gateway

<...>
void setup() {
  WiFi.mode(WIFI_AP_STA);
  WiFi.softAPConfig(apIP, apIP, IPAddress(255, 255, 255, 0));   // subnet FF FF FF 00
  WiFi.softAP("TardisTime");

 */

//Set new hostname
  WiFi.hostname(CameraHostname.c_str());
  //Get Current Hostname
//  Serial.println("New hostname: %s\n", WiFi.hostname().c_str());


  if (!WiFi.config(local_IP, gateway, subnet, primaryDNS, secondaryDNS)) {
    Serial.println("STA Failed to configure");
  }

  // Connect to Wi-Fi network with SSID and password
  Serial.print("Connecting to ");
  Serial.println(AP_SSID);
  //WiFi.begin(ssid, password);
  //Serial.println(WiFi.softAPConfig(local_IP, gateway, subnet) ? "Ready" : "Failed!");
  //Serial.println(WiFi.softAP(AP_SSID, AP_PSK) ? "Ready" : "Failed!");

//  WiFi.begin(AP_SSID, AP_PSK);
/*  while (WiFi.status() != WL_CONNECTED) {
    delay(500);
    Serial.print(".");
  }*/
  // Print local IP address and start web server
  Serial.println("");
  Serial.println("WiFi connected.");
  Serial.println("Acces Point");
  Serial.print((String)"SSID : " + AP_SSID + "password : " + AP_PSK);
  Serial.println("IP address: ");
  Serial.println(WiFi.localIP());

  Serial.println(WiFi.softAPConfig(local_IP, gateway, subnet) ? "Ready" : "Failed!");
  Serial.println(WiFi.softAP(AP_SSID, AP_PSK) ? "Ready" : "Failed!");
  Serial.println("IP obtenue : ");
  Serial.println(WiFi.softAPIP());
/*
  if (!MDNS.begin(CameraHostname)) {             // Start the mDNS responder for esp8266.local
    Serial.println("Error setting up MDNS responder!");
  }
  Serial.println("mDNS responder started");*/
  inforeseau = "Nom Camera : " + String(WiFi.hostname().c_str()) + " IP : " + String(WiFi.softAPIP().toString()) + " subnet : " + String(WiFi.subnetMask().toString()) + " gateway : " + String(WiFi.gatewayIP().toString()) + " AP_SSID : " + String(AP_SSID) + " AP_PSK : " + String(AP_PSK);

  //fin mode wifi ap

}

String clientRequest() 
  { /* function clientRequest */
    ////Check if client connected
  Serial.println( "ClientRequest fonction ");
  //Variables
  bool sendCmd = false;
  String dir_commande ="";
  String nom =" ";
    WiFiClient client = server.available();
    client.setTimeout(50);
    if (client) {
      if (client.connected()) {
        //Print client IP address
        Serial.print(" ->");Serial.println(client.remoteIP());
        String request = client.readStringUntil('\r'); //receives the message from the client
        //String request2 = client.readString(); //receives the message from the client
        
        String reponseTELECOMMANDE = client.readString(); //receives the message from the client
        
        //String request3 = client.
        Serial.println("  request :   ");
        Serial.println(request);
        //Serial.println("  request2 :   ");
        //Serial.println(request2);
        
        Serial.println("-------affichage-------------");
        //Serial.println(reponseTELECOMMANDE);
        Serial.println(" index toto : ");
        // formatage de la reponse pour recuperer le caractere de direction
        int longueurtotal = reponseTELECOMMANDE.length();
        String indexcherche = "TELECOMMANDE DIRECTION:";
        int pos_indexcherche = reponseTELECOMMANDE.indexOf("TELECOMMANDE DIRECTION:");
        int longueur_telecommdir = indexcherche.length();
        int position_telecommdir = pos_indexcherche + longueur_telecommdir;
        //Serial.println(reponseTELECOMMANDE.indexOf("TELECOMMANDE DIRECTION:"));
        //Serial.println(String("longueurtotal: ") + longueurtotal + String(" indexcherche : ") + indexcherche + String(" longueur_telecommdir : ") + longueur_telecommdir + String(" position_telecommdir : ") +position_telecommdir );
        
        dir_commande =  reponseTELECOMMANDE.substring(position_telecommdir + 1, position_telecommdir + 2);
        //Serial.println("dir_commande : " + dir_commande);
              
      }
      
    }
    
    return(dir_commande);
    
  }