//------------------------------- librarys ----------------------------------
#include <Wire.h>
//#include <rgb_lcd.h>
//#include <LiquidCrystal.h>
#include <Servo.h>
#include <Keypad.h>
//------------------------------- lcd ----------------------------------
//rgb_lcd lcd;
#include <LiquidCrystal_I2C.h>

LiquidCrystal_I2C lcd(0x27,20,4);  // set the LCD address to 0x27 for a 16 chars and 2 line display

//LiquidCrystal lcd(8, 9, 4, 5, 6, 7);

//------------------------------- stepper ----------------------------------
//#define stepPin 49
//#define dirPin 50
#define stepPin 3
#define dirPin 2
#define enablePin 4

//------------------------------- servo ----------------------------------
Servo snippers;
#define servo 46
#define openAngle 90
#define closedAngle 0

//------------------------------- input ----------------------------------
// Keypad setup
//const byte ROWS = 4;
//const byte COLS = 3;
//char keys[ROWS][COLS] = {
//  {'1', '2', '3' },
//  {'4', '5', '6' },
//  {'7', '8', '9'},
//  {'*', '0', '#'}
//};
//byte rowPins[ROWS] = {18,19,20,21};
//byte colPins[COLS] = {15,16,17};

const byte ROWS = 4;
const byte COLS = 4;
char keys[ROWS][COLS] = {
   {'1', '2', '3', 'A'},
  {'4', '5', '6', 'B' },
  {'7', '8', '9', 'C'},
  {'*', '0', '#', 'D'}
};
byte rowPins[ROWS] = {13,12,11,10};
byte colPins[COLS] = {9,8,7,6};

//byte rowPins[ROWS] = {18,19,22,23};
//byte colPins[COLS] = {14,15,16,17};
Keypad keypad = Keypad(makeKeymap(keys), rowPins, colPins, ROWS, COLS);
char ButtonState = 0;
 
//#define leftButton 3
//#define rightButton 2
//#define upButton 4
//#define downButton 5

#define START '*'   //Maps Character inputs to logical Button Names
#define STOP  '#'
#define F1    'A'
#define F2    'B'
#define F3    'C'
#define F4    'D'
#define NOKEY  0
#define LEFT    '4'
#define RIGHT   '6'
#define UP      '2'
#define DOWN    '5'
//-------------------------------output ----------------------------------
#define Mpos 37
#define Mcut 38


//------------------------------- user settings ----------------------------------
 float wireLength = 0.0;
unsigned int wireQuantity = 0;
int cuttime = 1000;
int positiontime = 1000;
int Maintimer =2500;
int Homesteps =20000;

//------------------------------- system settings ----------------------------------
int state = 0;
int incrementSpeed = 0;
int previousWireLength = 0.0;
int previousWireQuantity = 0;
float mmPerStep = 0.003125;


void setup() {
  Serial.begin(9600);
  lcd.init();                      // initialize the lcd 
  lcd.init();
  // Print a message to the LCD.
  lcd.backlight();
  
  
  //lcd.begin(16, 2); //LCD columns and rows
//  lcd.setRGB(255,255,0); //backlight colour
//
  pinMode(5, INPUT_PULLUP);
//  pinMode(downButton, INPUT_PULLUP);
//  pinMode(leftButton, INPUT_PULLUP);
//  pinMode(rightButton, INPUT_PULLUP);

  pinMode(stepPin,OUTPUT); 
  pinMode(dirPin,OUTPUT);
  
  pinMode(Mpos,OUTPUT); 
  pinMode(Mcut,OUTPUT);

  snippers.attach(servo);

  snippers.write(openAngle);
  
 
}

void loop() {
  


  if (ButtonState == STOP){
    if(state == 5){
      state = 0;
    }
    else{
      state += 1;
    }
    delay(100);
    lcd.clear();
  }
  if (ButtonState == START && state > 0 && state < 4){
    state -=1;
    delay(100);
    lcd.clear();
  }
ButtonState = keypad.getKey();

  switch (state){
    case 0:
      homeScreen();
      break;
//    case 1:
//       chooseWireLength();
//       break;
    case 1:
      handleLengthInput();
      break;
    case 2:
      chooseWireQuantity();
      break;
    case 3:
      confirm();
      break;
    case 4:
      currentlyCutting();
      break;
    case 5:
      finishedCutting();
      break;
  }
 

}


void homeScreen(){
  lcd.clear();
  lcd.setCursor(2, 0);
  lcd.print("ALUMINIUM CUTTER");
  lcd.setCursor(15, 3);
  lcd.print("NEXT>");
  delay(100);
  if (Homesteps==20000 ) {
   
    for(int x = 0; x < Homesteps; x++) {
        digitalWrite(stepPin,HIGH); 
        delayMicroseconds(400); 
        digitalWrite(stepPin,HIGH); 
        delayMicroseconds(200); 
        if (digitalRead(5) != HIGH)
    {
      Homesteps=0;
    }
      } 
  }
  
}


//void chooseWireLength(){
//  wireLength = changeValue(wireLength);
//
//  //clear LCD if required
//  if(previousWireLength != wireLength){
//    lcd.clear();
//    previousWireLength = wireLength;
//  }
// 
//  //Display information on LCD
//  lcd.setCursor(0, 0);
//  lcd.print("MHKOS:" + (String)wireLength + "mm");
//  displayNavigation();
//}
//
//
void chooseWireQuantity(){
  wireQuantity = changeValue(wireQuantity);

  //clear LCD if required
  if(previousWireQuantity != wireQuantity){
    lcd.clear();
    previousWireQuantity = wireQuantity;
  }
 
  //Display information on LCD
  lcd.setCursor(0, 0);
  lcd.print("POSOTHTA:" + (String)wireQuantity);
  displayNavigation();
}

void handleLengthInput() {
  lcd.clear();
    lcd.setCursor(0, 0);
    lcd.print("Length: " + String(wireLength) + " mm");
    displayNavigation();
  char key = keypad.getKey();
  if (key == '#') {
    // Handle '#' key press (confirmation)
    state = 2; // Go to the next state for wire quantity input
    lcd.clear();
    lcd.setCursor(0, 0);
    lcd.print("Length: " + String(wireLength) + " mm");
    lcd.setCursor(0, 1);
    lcd.print("Press # to confirm");
    displayNavigation();
  } else if (key == '*') {
    // Handle '*' key press (back)
     state = 0;
    lcd.clear();
    lcd.setCursor(0, 0);
    lcd.print("Length: " + String(wireLength) + " mm");
    } else if (key == 'D') {
    // Handle 'D' key press (clear input)
    wireLength = 0.0;
    lcd.clear();
    lcd.setCursor(0, 0);
    lcd.print("Length: " + String(wireLength) + " mm");
    displayNavigation();
  } else if (isdigit(key)) {
    // Accumulate length input
    wireLength = wireLength * 10 + (key - '0');
    lcd.clear();
    lcd.setCursor(0, 0);
    lcd.print("Length: " + String(wireLength) + " mm");
    displayNavigation();
  }
}

void chooseWireLength() {
 static String inputBuffer = ""; // Buffer to store user input

  // Handle keypad input
  char key = keypad.getKey();
  if (key == NO_KEY) {
    if (key != '#') {
      // Use the '*' key to confirm the input and set the wire length
      if (inputBuffer.length() > 0) {
        // Convert the inputBuffer to a float
        wireLength = inputBuffer.toInt();
        inputBuffer = ""; // Clear the input buffer
        lcd.clear(); // Clear the LCD
        displayNavigation();
      }
    } else if (key != '*') {
      // Use the '#' key to clear the input
      inputBuffer = "";
      lcd.clear();
      displayNavigation();
    } else if (isdigit(key) && inputBuffer.length() < 6) {
      // Allow only digits and limit input to 6 characters
      inputBuffer += key;
      lcd.setCursor(0, 0);
      lcd.print("MHKOS: " + inputBuffer + "mm"); // Display the input
      lcd.setCursor(0, 1);
      lcd.print("<BACK       *CONFIRM>");
    }
  }
  else {
    lcd.setCursor(0, 0);
    lcd.print("MHKOS: " + inputBuffer + "mm"); // Display the input
    lcd.setCursor(0, 1);
    lcd.print("<BACK       *CONFIRM>");
  }
}


void confirm(){
  lcd.setCursor(0, 0);
  lcd.print((String)wireLength + "mm x " + (String)wireQuantity + "pcs");
  lcd.setCursor(0, 3);
  lcd.print("<PISW");
  lcd.setCursor(11, 3);
  lcd.print("EKKINHSH>");
  delay(100);
}

void currentlyCutting(){
  lcd.setCursor(0, 0);
  lcd.print((String)0 + "/" + (String)wireQuantity);
  lcd.setCursor(0, 1);
  lcd.print("Ypologismos xronou");


  //Anoigma meggenis kopis kleisimo meggenis topothetisis
    digitalWrite(Mcut,LOW);
    lcd.clear();
    lcd.setCursor(7, 0);
    lcd.print("MCUT OFF");
    delay(1000); // Edw mporei na mpei ena interlock asfaleias ean anoiksa oi meggenes kopis

    digitalWrite(Mpos,HIGH);
    lcd.setCursor(7,1);
    lcd.print("MPOS ON");
    delay(positiontime);
       

   //Metakinisi stin epithimiti thesi
    lcd.clear();
    lcd.setCursor(0, 0);
    lcd.print("METAKINHSH");
    
    int stepsToTake = (float)wireLength/mmPerStep;
    for(int i = 0; i < wireQuantity; i++){
      unsigned long timeForOneCycle = millis();
      digitalWrite(dirPin,HIGH);
      for(int x = 0; x < stepsToTake; x++) {
        digitalWrite(stepPin,HIGH); 
        delayMicroseconds(200); 
        digitalWrite(stepPin,LOW); 
        delayMicroseconds(200); 
      }
    // Oloklirwsi metakinhshs
    lcd.clear();
    lcd.setCursor(0, 0);
    lcd.print("Move is done!");

    delay(Maintimer); 
    
    lcd.clear();
    lcd.setCursor(7,0);
    lcd.print("MCUT ON");
    digitalWrite(Mcut,HIGH);
    delayMicroseconds(1000); 
    lcd.setCursor(7,1);
    lcd.print("MPOS OFF");
    digitalWrite(Mpos,LOW);

    delay(Maintimer); 

     int stepsToTake = (float)wireLength/mmPerStep;
       digitalWrite(dirPin,LOW);
      for(int x = 0; x < stepsToTake; x++) {
        digitalWrite(stepPin,HIGH); 
        delayMicroseconds(200); 
        digitalWrite(stepPin,LOW); 
        delayMicroseconds(200); 
      }  
      
    lcd.clear(); 
    lcd.setCursor(3,0);
    lcd.print("CUTTING");
    
    snippers.write(openAngle);
    
    delay(cuttime);

    lcd.clear(); 
    lcd.setCursor(3,0);
    lcd.print("CUT IS DONE");
    
    delay(Maintimer); 

    lcd.setCursor(7, 0);
    lcd.print("MCUT OFF");
    digitalWrite(Mcut,LOW);
    delayMicroseconds(1000); 
    lcd.setCursor(7,1);
    lcd.print("MPOS ON");
    digitalWrite(Mpos,HIGH);
    delay(positiontime);
    
    lcd.clear();
    lcd.setCursor(0, 0);
    lcd.print((String)(i+1) + "/" + (String)wireQuantity);
    lcd.setCursor(0, 1);

    unsigned long timeRemaining = ((millis() - timeForOneCycle)*(wireQuantity - (i+1)))/1000;
    lcd.print((String)timeRemaining + "s    ");
    snippers.write(closedAngle);

   


    
    lcd.setCursor(0, 1);

    
    lcd.print((String)timeRemaining + "s    ");
    
  }
  wireLength = 0;
  wireQuantity = 0;
  state = 5;
}

void finishedCutting(){
  lcd.clear();
  lcd.setCursor(0, 0);
  lcd.print("CUT  IS  COMPLETED");
  lcd.setCursor(15, 3);
  lcd.print("NEXT>");
  delay(100);
}


float changeValue(float currentValue){
  if (ButtonState == UP) {
    currentValue ++;
    incrementSpeed =1;
  }
  if (ButtonState == START) {
    currentValue = currentValue+0.1;
    incrementSpeed =10;
  }
  if (ButtonState == DOWN) {
    if(currentValue - incrementSpeed >= 0){
      currentValue -= incrementSpeed;
      incrementSpeed =1;
    }
    else{
      currentValue = 0;
    }
 
  }
  return currentValue;
}

void displayNavigation(){
  lcd.setCursor(0, 3);
  lcd.print("<BACK");
  lcd.setCursor(15, 3);
  lcd.print("NEXT>");
 delay(100);
}