#include <Arduino.h>
#include <Wire.h>
#include <LiquidCrystal_I2C.h>
#include <AccelStepper.h>
#include <Keypad.h>
#include <WiFi.h>
#include <WebServer.h>

#include <EEPROM.h>
#define LIMIT_SWITCH_PIN 11
//#define homeBaslat 9

#define ENABLE_PIN 13  // Motor enable/disable pini

#define SENSOR_BACKOFF_STEPS 400
#define INITIAL_HOMING_STEPS -500
#define SAFE_POSITION_STEPS 4000
#define BACKOFF_STEPS 400  
#define FINE_HOMING_START -500
#define SAFE_POSITION 4000      // Safe position steps
#define POSITION_RATIO 10  

String inputString = "";
float result = 0.0;
String currentInput = "";  // To hold the current input expression
 char press;
int menuIndex = -1;
float DEGER_ORANTI = 20.00;
int siperBaslangic = 1;
int siperBitis = 1300;
float stepPosition = 0;
float maxSpeed = 1000.0;
float acceleration = 500.0;
int homingPosizyon = 10;
int hafizaButton0 = 700;
int hafizaButton1 = 340;
int hafizaButton2 = 40;
int hafizaButton3 = 500;

int yonDegis = 0;
String rxLine;  // PC'den gelen satır biriktirme tamponu
bool Hafizaenteratla = false;
int initial_homing = -1;
unsigned long startMillis=0;
unsigned int previousMillis = 0;  // Zamanı takip etmek için değişken
int minutes=0;
 int maxMinutes=0;
bool waitingForinput=true;
unsigned long interval=180000;
//===================eeprom=======================
const int addrMaxSpeed = 0;//1-50000
const int addrAcceleration = 4;//1-50000
const float addrDEGER_ORANTI = 8;//00.00
const int addrHomingPosizyon = 12;//10-1500
const int addrsiperBaslangic = 16;//0-50
const int addrsiperBitis = 20;//10-1500
const int addrhafizaButton0 = 24;//0000
const int addrhafizaButton1 = 28;//0000
const int addrhafizaButton2 = 32;//0000
const int addrhafizaButton3 = 36;//0000
const int addryonDegis = 40;//0-1
const int addmaxMinutes = 44;//000
// ===================== LCD =====================
#define I2C_ADDR 0x27
#define LCD_COLUMNS 20
#define LCD_ROWS 4
LiquidCrystal_I2C lcd(I2C_ADDR, LCD_COLUMNS, LCD_ROWS);

// ===================== WiFi =====================
// ==== WiFi AP Ayarları ====
const char* ssid = "ESP32_JSON";
const char* password = "12345678";

WebServer server(80);



// ===================== Stepper =====================
AccelStepper stepper(AccelStepper::DRIVER, 14, 5);
#define HOME_BTN 34   // ESP32'de uygun pin seç (ör: GPIO34)

// ===================== Keypad =====================
const byte ROWS = 5;
const byte COLS = 6;

 

byte rowPins[ROWS] = {23,19,18,17,16};
byte colPins[COLS] = {32,33,25,26,27,4};
char keys[ROWS][COLS] = {
  {'J', '+','1', '2', '3', 'A' },
  {'K', '-','4', '5', '6', 'B' },
  {'L', '/','7', '8', '9', 'C' },
  {'Z', '=','.', '0', 'M', 'D' },
  {'V', 'W','Q', 'S', 'E', 'R' }
};

Keypad keypad = Keypad(makeKeymap(keys), rowPins, colPins, ROWS, COLS);

// ===================== Değişkenler =====================

uint16_t charSet[8] = {0};  
int charSetSize = sizeof(charSet) / sizeof(charSet[0]);
int currentCharIndex = 0;
int displayIndex = 0;

// ===================== Türkçe karakterler =====================
byte turkce_karakterler[8][8] = {
  { B00000, B00000, B00100, B00100, B00100, B00100, B00100, B00000 }, // ı
  { B10000, B10000, B10110, B11001, B10001, B10001, B10001, B00000 }, // ğ
  { B01010, B00000, B00000, B10001, B10001, B10001, B01110, B00000 }, // ü
  { B00000, B00000, B11111, B00001, B01111, B10001, B01111, B00000 }, // ş
  { B01010, B00000, B01110, B10001, B10001, B10001, B01110, B00000 }, // ö
  { B00000, B00000, B01110, B10000, B10000, B10000, B01110, B00000 }, // ç
  { B01110, B10001, B10000, B11100, B10000, B10001, B01110, B00000 }, // İ
  { B00000, B00000, B11111, B00001, B01111, B10001, B01111, B00000 }  // Ş
};








// ===================== Setup =====================
void setup() {
  Wire.begin(21, 22); // SDA=21, SCL=22
  Serial.begin(115200);

  // --- EEPROM Başlat ---
  EEPROM.begin(64); // 48 byte gerekiyor, güvenli olsun diye 64 ayırdık

  // --- LCD Başlat ---
  lcd.init();
  lcd.backlight();
  for (int i = 0; i < 8; i++) {
    lcd.createChar(i, turkce_karakterler[i]);
  }

  // --- Açılış Mesajı ---
  lcd.clear();
  lcd.print("Bismillah");
  lcd.setCursor(0, 1);
  lcd.print("siper haf");
  lcd.write(byte(0)); // ı
  lcd.print("za");

  // --- İlk keypad kontrolü ---
  char key;
  do {
    key = keypad.getKey();
    if (key) {
      if (key >= '0' && key <= '9') {
        currentInput += key;
        lcd.setCursor(12, 1);
        lcd.print(currentInput);
        delay(200);
      }
      else if (key == 'C') {
        minutes = 0;
        waitingForinput = true;
        B_hafiza_al();
        break;
      }
      else if (key == 'V') {
        digitalWrite(ENABLE_PIN, LOW);
        minutes = 0;
        waitingForinput = true;
        sifirlama1();
        break;
      }
    }
  } while (waitingForinput);

  // --- WiFi Başlat ---
  WiFi.softAP(ssid, password);
  lcd.print("AP baslatildi");
  lcd.print(WiFi.softAPIP());

 

  // --- Web Sunucu ---


  
 
  server.begin();

  // --- IP ekrana yaz ---
  IPAddress myIP = WiFi.softAPIP();
  lcd.print("AP baslatildi");
  lcd.print(myIP);

  lcd.clear();
  lcd.setCursor(0, 0);
  lcd.print("WiFi Baslatildi");
  lcd.setCursor(0, 1);
  lcd.print(myIP.toString());
  delay(3000);
  lcd.clear();

  // --- EEPROM'dan ayarları al ---
  EEPROM.get(addrMaxSpeed, maxSpeed);
  EEPROM.get(addrAcceleration, acceleration);
  EEPROM.get(addrDEGER_ORANTI, DEGER_ORANTI);
  EEPROM.get(addrHomingPosizyon, homingPosizyon);
  EEPROM.get(addrsiperBaslangic, siperBaslangic);
  EEPROM.get(addrsiperBitis, siperBitis);
  EEPROM.get(addrhafizaButton0, hafizaButton0);
  EEPROM.get(addrhafizaButton1, hafizaButton1);
  EEPROM.get(addrhafizaButton2, hafizaButton2);
  EEPROM.get(addrhafizaButton3, hafizaButton3);
  EEPROM.get(addryonDegis, yonDegis);
  EEPROM.get(addmaxMinutes, maxMinutes);

  // --- Pin ayarları ---
  pinMode(ENABLE_PIN, OUTPUT);
  pinMode(LIMIT_SWITCH_PIN, INPUT);
  digitalWrite(ENABLE_PIN, HIGH);  // Başlangıçta motor devre dışı

  // --- Varsayılan değerler (yüklerken silinecek) ---
  DEGER_ORANTI = 20.00;
  homingPosizyon = 10;
  maxSpeed = 1200.0;
  acceleration = 600.0;
  siperBaslangic = 1;
  siperBitis = 1200;
  hafizaButton0 = 200;
  hafizaButton1 = 340;
  hafizaButton2 = 752;
  hafizaButton3 = 800;
  yonDegis = 0;
  maxMinutes = 1;
 

  // --- Stepper ayarı ---
  if (yonDegis == 0) {
    stepper.setPinsInverted(false, false, false);
  } else {
    stepper.setPinsInverted(true, false, false);
  }
  startMillis = millis();
  stepper.setMaxSpeed(maxSpeed);
  stepper.setAcceleration(acceleration);

  // --- İlk mesaj tekrar ---
  int ilkstepPosition; EEPROM.get(addrHomingPosizyon, ilkstepPosition);
  lcd.clear();
  lcd.setCursor(0, 0);
  lcd.print("Bismillah");
  lcd.setCursor(0, 1);
  lcd.print("siper haf");
  lcd.write(byte(0));
  lcd.print("za");

  // --- Ölçü ekranı ---
  updateLCD_Olcu();
}


// ===================== Loop =====================
void loop() {

 
 if (!stepper.isRunning()) { checkMemoryInputs(); }
  // --- Stepper çalıştır ---
  stepper.run();
  
}
void parseCommand(String cmd) {
  int start = 0;
  while (start < cmd.length()) {
    int comma = cmd.indexOf(',', start);
    if (comma == -1) comma = cmd.length();
    String token = cmd.substring(start, comma);
    handleToken(token);
    start = comma + 1;
  }
}

void handleToken(String token) {
  token.trim();

  if (token.startsWith("h1=")) {
    hafizaButton0 = token.substring(3).toInt();
  //  Serial.println("H1 = " + String(hafizaButton1));
  } else if (token.startsWith("h2=")) {
    hafizaButton1 = token.substring(3).toInt();
   // Serial.println("H2 = " + String(hafizaButton2));
  } else if (token.startsWith("h3=")) {
    hafizaButton2 = token.substring(3).toInt();
   // Serial.println("H3 = " + String(hafizaButton3));
  } else if (token.startsWith("h4=")) {
    hafizaButton3 = token.substring(3).toInt();
   // Serial.println("H4 = " + String(hafizaButton4));
  } else if (token.startsWith("all=")) {
  //  Serial.println("Tüm değerler gönderildi:");
  //  Serial.println("H1 = " + String(hafizaButton1));
   // Serial.println("H2 = " + String(hafizaButton2));
   // Serial.println("H3 = " + String(hafizaButton3));
   // Serial.println("H4 = " + String(hafizaButton4));
  }
}

// Hafıza girişlerini kontrol eden fonksiyon
void checkMemoryInputs() {
 
 char press=keypad.getKey();
 
  if (press != NO_KEY) {

    
    if (press >= '0' && press <= '9') {
   
digitalWrite(ENABLE_PIN,LOW);
startMillis=millis();
minutes=0;
waitingForinput=false;
    currentInput += press;
 updateLCD_Olcu(); 
    }
    if (press == '+' || press == '-' || press == '/' || press == '*') {
      if (result > 0) { inputString = result; }
      currentInput += press;
      inputString += press;  // Operatörü string'e ekle
      
      updateLCD_Olcu();      // Ekranı güncelle
    } else if (press == '=') {
      if (inputString.length() > 0) {
        result = calculateResult(inputString);
        lcd.setCursor(0, 1);
        lcd.print("Sonu");
          lcd.write(byte(5)); // ç
         lcd.print(":        ");
        lcd.setCursor(8, 1);
       // lcd.print(result);
        currentInput =String(result,2) ;  // Sonucu yeni input olarak ayarla
        inputString = result;
        lcd.print(currentInput);
      }
      if (Hafizaenteratla) {
        A_fonksiyon();
      }
        if (result > 0) {
      lcd.setCursor(15, 0);
       lcd.print("H");
     }
    } else if (press == 'A') {
      if (currentInput == "") {
        return;  // Eğer giriş boşsa fonksiyonu çağırmadan çık
      }
      
      A_fonksiyon();  // Geçerli giriş varsa fonksiyonu çağır
    
  
    } else if (press == 'B') {
     
        clearInput();
       updateLCD_Olcu();
    } else if (press == 'C') {
     B_hafiza_al();
    } else if (press == 'M') {
      lcd.clear();
      menuIndex = (menuIndex + 1) % 16;
      displayMenu();
    } else if (press == 'D') {
      handleMenu_Option();
    }  else if (press == 'J') {
     displayMemoryData(hafizaButton0, "h1");
     digitalWrite(ENABLE_PIN,LOW);
startMillis=millis();
minutes=0;
waitingForinput=false;
    if (Hafizaenteratla) {
      A_fonksiyon();
    }
    } else if (press == 'K') {
     displayMemoryData(hafizaButton1, "h2");
     digitalWrite(ENABLE_PIN,LOW);
startMillis=millis();
minutes=0;
waitingForinput=false;
    if (Hafizaenteratla) {
      A_fonksiyon();
    }
    } else if (press == 'L') {
     displayMemoryData(hafizaButton2, "h3");
     digitalWrite(ENABLE_PIN,LOW);
startMillis=millis();
minutes=0;
waitingForinput=false;
    if (Hafizaenteratla) {
      A_fonksiyon();
    }
    } else if (press == 'V') {
    digitalWrite(ENABLE_PIN,LOW);
       sifirlama1();  // Function for 'A' key
    }else if (press == 'Z') {
       displayMemoryData(hafizaButton3, "h4");
     digitalWrite(ENABLE_PIN,LOW);
startMillis=millis();
minutes=0;
waitingForinput=false;
    if (Hafizaenteratla) {
      A_fonksiyon();
    }
    //  parseCommand("h1=101,h2=303,h3=505");
// ESP.restart();
    // Stopmotor();
    }else if (press == 'W') {
     digitalWrite(ENABLE_PIN,LOW);
startMillis=millis();
minutes=0;
waitingForinput=false;
    stepPosition -= 0.50;  // Update position
    stepper.moveTo(stepPosition* DEGER_ORANTI); 

    while (stepper.distanceToGo() != 0) {  // Ensure the motor completes movement
        stepper.run();
    }
     updateLCD_Olcu();
   
}else if (press == 'Q') {
 digitalWrite(ENABLE_PIN,LOW);
startMillis=millis();
minutes=0;
waitingForinput=false;
    stepPosition += 0.50;  // Update position
  stepper.moveTo(stepPosition* DEGER_ORANTI); 
 
    while (stepper.distanceToGo() != 0) {  // Ensure the motor completes movement
        stepper.run();
    }
     updateLCD_Olcu();
    
    }else if (press == 'S') {
   int num = currentInput.toInt();
    float hedefPozisyon = (stepPosition - num) ;

    if (hedefPozisyon <= siperBaslangic) {
       
        lcd.setCursor(0, 0);
        lcd.print("HATALI HEDEF   ");
        delay(1000);
        updateLCD_Olcu();
        return;
    }
   stepPosition -= num;  // Update position
    stepper.moveTo(stepPosition* DEGER_ORANTI); 

    while (stepper.distanceToGo() != 0) {  // Ensure the motor completes movement
        stepper.run();
    }
   updateLCD_Olcu();
    }else if (press == 'E') {
    int num = currentInput.toInt();
    float hedefPozisyon = (stepPosition + num) ;

    if (hedefPozisyon >= siperBitis) {
       
        lcd.setCursor(0, 0);
        lcd.print("HATALI HEDEF   ");
        delay(1000);
        updateLCD_Olcu();
        return;
    }

    stepPosition += num;
    stepper.moveTo(stepPosition * DEGER_ORANTI);

    while (stepper.distanceToGo() != 0) {
        stepper.run();
    }

    updateLCD_Olcu();  // Ekranı güncelle
}

  
    else if (press == 'R') {
   digitalWrite(ENABLE_PIN,HIGH);
         lcd.clear();
 
  lcd.setCursor(0, 0);

  
  lcd.print("G");
   lcd.write(byte(2)); // ü
    lcd.write(byte(5)); // ç
   lcd.print(" kapal");
    lcd.write(byte(0)); // ı
        waitingForinput=true;
         lcd.setCursor(0, 1);
  lcd.print("Siper : ");
         lcd.setCursor(8, 1);    // Değeri yeniden yaz
  lcd.print(stepPosition); 
    }
    else if (press == '.') {  // '*' tuşu nokta olarak kullanılmış

      currentInput += '.';  // Noktayı ekle
      updateLCD_Olcu();     // LCD ekranını güncelle
                            // }

    } 
   delay(100);
  }
  if(!waitingForinput){
    if(millis()-startMillis >=interval){
      startMillis=millis();
      minutes++;
     // Serial.print("dakika");
     // Serial.print(minutes);
      if(minutes>=maxMinutes){
        digitalWrite(ENABLE_PIN,HIGH);
         lcd.clear();
 
  lcd.setCursor(0, 0);

  
  lcd.print("G");
   lcd.write(byte(2)); // ü
    lcd.write(byte(5)); // ç
   lcd.print(" kapal");
    lcd.write(byte(0)); // ı
        waitingForinput=true;
         lcd.setCursor(0, 1);
  lcd.print("Siper : ");
         lcd.setCursor(8, 1);    // Değeri yeniden yaz
  lcd.print(stepPosition); 
        } 
      }
    }
      }
void lcdPrintLine(uint8_t line, const String &msg) {
 lcd.setCursor(0, line);
  String out = msg;
while (out.length() < 16) out += ' ';
 lcd.print(out.substring(0, 16));
}
void updateLCD_Olcu() {
 
  lcd.clear();  
     if (result > 0) {
      lcd.setCursor(15, 0);
       lcd.print("H");
     }
  lcd.setCursor(0, 0);
   lcd.write(byte(4)); // ö
   lcd.print("l");
 lcd.write(byte(5)); // ç
   lcd.write(byte(2)); // ü
  lcd.print(" : ");

  // Eski girdiyi temizle
  lcd.setCursor(7, 0);    // "Olcu :" sonrası
  lcd.print("        ");  // Önceki girdiyi sil
  lcd.setCursor(7, 0);    // Girdiyi yeniden yaz
  lcd.print(currentInput);

  // "Siper:" yazısını yazdır
  lcd.setCursor(0, 1);
  lcd.print("Siper : ");

  // Eski siper değerini temizle
  lcd.setCursor(8, 1);    // "Siper:" sonrası
  lcd.print("        ");  // Önceki değeri sil
  lcd.setCursor(8, 1);    // Değeri yeniden yaz
  lcd.print(stepPosition); 

  //hafıza
  lcd.setCursor(0, 2);
  lcd.print("H1:"); lcd.print(hafizaButton0);
  lcd.setCursor(10, 2);
  lcd.print("H2:"); lcd.print(hafizaButton1);

  lcd.setCursor(0, 3);
  lcd.print("H3:"); lcd.print(hafizaButton2);
  lcd.setCursor(10, 3);
  lcd.print("H4:"); lcd.print(hafizaButton3);
 
}
void clearInput() {
  currentInput = "";
  result = 0;
  inputString = "";
  lcd.setCursor(7, 0);    // Start after "Olcu :"
  lcd.print("        ");  // Clear previous input
  lcd.setCursor(0, 1);
  lcd.print("Siper:         ");  // Clear the second line
  menuIndex = -1;
  updateLCD_Olcu();
}

void A_fonksiyon() {
  int num = currentInput.toInt();

  if (num >= siperBaslangic && num <= siperBitis) {
    stepPosition = num;
    stepper.moveTo(stepPosition * DEGER_ORANTI);
    inputString = "";
    currentInput = "";
    updateLCD_Olcu();
  } else {
    lcd.setCursor(0, 0);
    lcd.print("HATALI HEDEF   ");
    unsigned long startTime = millis();
    while (millis() - startTime < 1000) {
      stepper.run();  // Ensure the motor can still operate
    }
    updateLCD_Olcu();
     
  }
}

// LCD'de hafıza verisini gösteren fonksiyon
void displayMemoryData(int buttonValue, const char* memoryLabel) {
  lcd.clear();
  currentInput = String(buttonValue);  // Integer'ı string'e çevir
  lcd.setCursor(0, 0);
 lcd.write(byte(4)); // ö
   lcd.print("l");
 lcd.write(byte(5)); // ç
   lcd.write(byte(2)); // ü
  lcd.print(" : ");
  lcd.print(currentInput);
  lcd.print(" ");
  lcd.print(memoryLabel);
}
void Stopmotor() {
 
    stepper.stop();
    currentInput = "";
    lcd.clear();
    lcd.setCursor(0, 0);
    lcd.print("Motor Durduruldu");
    lcd.setCursor(0, 1);
    int currentPos = stepper.targetPosition();
    lcd.print("Pozisyon:");
    lcd.print(currentPos / DEGER_ORANTI);
  }