#include <Arduino_GFX_Library.h>
#include <lvgl.h>
#include <lv_arduino.h> // LVGL Arduino Hardware Interface
#include <Wire.h>

void btn_cw_cb(lv_obj_t *btn, lv_event_t event);
void btn_ccw_cb(lv_obj_t *btn, lv_event_t event);
void slider_event_cb(lv_obj_t *slider, lv_event_t event);
void btn_start_cb(lv_obj_t *btn, lv_event_t event);
void btn_stop_cb(lv_obj_t *btn, lv_event_t event);
void updateNumericDisplay(lv_obj_t *slider, lv_obj_t *num_display);
void adjustMotorSpeed(lv_obj_t *slider);

lv_obj_t *num_display;
LVGL_Arduino lvgl_arduino;
#define TFT_SCK    18
#define TFT_MOSI   23
#define TFT_MISO   19
#define TFT_CS     22
#define TFT_DC     21
#define TFT_RESET  17
// Motor control pins
#define motorPinPUL 39 // PIN PUL+
#define motorPinDIR 34 // PIN DIR+
#define motorPinEN  36 // PIN ENA+
int SPR = 200;  // 200 steps per revolution (Assuming, adjust as needed)
// Global variables
int motorSpeedDelay = 500;  // default delay
bool motorEnabled = false;
bool motorTurning = false;
int motorDirection = 0; // 0 for CW, 1 for CCW

void updateNumericDisplay(lv_obj_t *slider, lv_obj_t *num_display) {
    int value = lv_slider_get_value(slider);
    char buffer[10];
    sprintf(buffer, "%d", value);
    lv_label_set_text(num_display, buffer);
}

void setup() {
    // Initialize the ILI9341 display
    Arduino_ESP32SPI bus = Arduino_ESP32SPI(TFT_DC, TFT_CS, TFT_SCK, TFT_MOSI, TFT_MISO);
    Arduino_ILI9341 tft = Arduino_ILI9341(&bus, TFT_RESET);
    tft.begin();
    tft.fillScreen(ILI9341_WHITE);
    tft.setRotation(ILI9341_ROTATION); // Set the display rotation as needed

    // Initialize LVGL using the Arduino hardware interface
    lvgl_arduino.begin(&tft);

    // Setup motor control pins
    pinMode(motorPinPUL, OUTPUT);
    pinMode(motorPinDIR, OUTPUT);
    pinMode(motorPinEN, OUTPUT);

    setupGUI();
}

unsigned long lastMotorPulseTime = 0;
bool pulseState = LOW;

void loop() {
    // Handle LVGL tasks
    lvgl_arduino.loop();
    
    if (motorEnabled && motorTurning) {
        unsigned long currentMillis = millis();

        if (currentMillis - lastMotorPulseTime >= motorSpeedDelay) {
            pulseState = !pulseState;
            digitalWrite(motorPinPUL, pulseState);

            if (motorDirection == 0) { // CW
                digitalWrite(motorPinDIR, HIGH);
            } else { // CCW
                digitalWrite(motorPinDIR, LOW);
            }

            lastMotorPulseTime = currentMillis;
        }
    }
}

void setupGUI() {
    // Title
    lv_obj_t *label_title = lv_label_create(lv_scr_act(), NULL);
    lv_label_set_text(label_title, "NEMA 34 Controller");
    lv_obj_align(label_title, NULL, LV_ALIGN_IN_TOP_MID, 0, 10);

    // Direction Buttons (CW and CCW)
    lv_obj_t *btn_cw = lv_btn_create(lv_scr_act(), NULL);
    lv_obj_set_event_cb(btn_cw, btn_cw_cb);
    lv_label_set_text(lv_label_create(btn_cw, NULL), "CW");
    lv_obj_align(btn_cw, label_title, LV_ALIGN_OUT_BOTTOM_LEFT, -50, 20);

    lv_obj_t *btn_ccw = lv_btn_create(lv_scr_act(), NULL);
    lv_obj_set_event_cb(btn_ccw, btn_ccw_cb);
    lv_label_set_text(lv_label_create(btn_ccw, NULL), "CCW");
    lv_obj_align(btn_ccw, label_title, LV_ALIGN_OUT_BOTTOM_RIGHT, 50, 20);

    // Slider for Speed Control
    lv_obj_t *slider = lv_slider_create(lv_scr_act(), NULL);
    lv_obj_set_width(slider, 200);
    lv_obj_set_event_cb(slider, slider_event_cb);
    lv_obj_align(slider, NULL, LV_ALIGN_CENTER, 0, 0);

    // Numeric Display for Current Speed
    num_display = lv_label_create(lv_scr_act(), NULL);
    lv_label_set_text(num_display, "0");
    lv_obj_align(num_display, slider, LV_ALIGN_OUT_BOTTOM_MID, 0, 20);

    // Progress Bar
    lv_obj_t *bar = lv_bar_create(lv_scr_act(), NULL);
    lv_obj_set_size(bar, 200, 20);
    lv_bar_set_range(bar, 0, 100);
    lv_obj_align(bar, num_display, LV_ALIGN_OUT_BOTTOM_MID, 0, 20);

    // Start and Stop Buttons
    lv_obj_t *btn_start = lv_btn_create(lv_scr_act(), NULL);
    lv_obj_set_event_cb(btn_start, btn_start_cb);
    lv_label_set_text(lv_label_create(btn_start, NULL), "ON");
    lv_obj_align(btn_start, bar, LV_ALIGN_OUT_BOTTOM_LEFT, -50, 20);

    lv_obj_t *btn_stop = lv_btn_create(lv_scr_act(), NULL);
    lv_obj_set_event_cb(btn_stop, btn_stop_cb);
    lv_label_set_text(lv_label_create(btn_stop, NULL), "OFF");
    lv_obj_align(btn_stop, bar, LV_ALIGN_OUT_BOTTOM_RIGHT, 50, 20);
}

void slider_event_cb(lv_obj_t *slider, lv_event_t event) {
    if (event == LV_EVENT_VALUE_CHANGED) {
        int value = lv_slider_get_value(slider);
        motorSpeedDelay = map(value, 0, 100, 1000, 100);
        updateNumericDisplay(slider, num_display);
    }
}

void btn_cw_cb(lv_obj_t *btn, lv_event_t event) {
    if (event == LV_EVENT_CLICKED) {
        motorDirection = 0;
        motorTurning = true;
    }
}

void btn_ccw_cb(lv_obj_t *btn, lv_event_t event) {
    if (event == LV_EVENT_CLICKED) {
        motorDirection = 1;
        motorTurning = true;
    }
}

void btn_start_cb(lv_obj_t *btn, lv_event_t event) {
    if (event == LV_EVENT_CLICKED) {
        motorEnabled = true;
    }
}

void btn_stop_cb(lv_obj_t *btn, lv_event_t event) {
    if (event == LV_EVENT_CLICKED) {
        motorEnabled = false;
        motorTurning = false;
    }
}