// four state FSM version
// the posted vesrion is in a tab over there -->

// https://wokwi.com/projects/400042875593055233
// now https://wokwi.com/projects/400052399351512065 with doorDoor
// and now https://wokwi.com/projects/400141987251449857 with FSM loop

// https://forum.arduino.cc/t/one-if-statement-overwriting-another-if-statement/1269008

// now replacing the loop

# include "doorSim.h"

const int upsensPin = 4;      // UP SENSOR tells door is open
const int downsensPin = 5;    // DOWN SENSOR tells door is down

const int buttonPin = 6;      // CONTROL SWITCH

const int powerrelayPin = 9;  // green power relay energize
const int uprelayPin = 10;    // blue up relay energize
const int downrelayPin = 11;  // orange down relay energize

// not used yet.
# define ENERGIZED = HIGH;    // one stop shop for changining relay sense
# define OFF = LOW;    // one stop shop for changining relay sense

int buttonState;
int previousButtonState;

enum State {UP, MOVING_DOWN, DOWN, MOVING_UP, NONE} state = DOWN;
char *sTags[] =  {"UP", "going DOWN", "DOWN", "going UP", "NONE"};

void setup() {
  Serial.begin(9600);
  Serial.println("\nFSM door control world!\n");
  
  pinMode(buttonPin, INPUT_PULLUP);
  pinMode(upsensPin, INPUT_PULLUP);  //... because switches
  pinMode(downsensPin, INPUT_PULLUP);  //... because switches

  previousButtonState = digitalRead(buttonPin) == LOW; // read so we don't get spurious activity

  pinMode(powerrelayPin, OUTPUT);
  pinMode(uprelayPin, OUTPUT);
  pinMode(downrelayPin, OUTPUT);

  allStop();

// here's where the limit swtiches coulr be checked to acquire the current door position
// and set the appropriate state (and direction if in between)

  setupSimulation();
}

unsigned long now;    // millis for the entire not-blocked loop

void loop() {
//... housekeeping
  now = millis();
  advanceSimulation();

  static State lastState = NONE;
  if (lastState != state) {
    lastState = state;
    Serial.print("state is "); Serial.println(sTags[state]);
  }

// INPUT  
  bool doorAtBottom = digitalRead(downsensPin) == LOW;
  bool doorAtTop = digitalRead(upsensPin) == LOW;
  
  if (doorAtBottom && doorAtTop) Serial.println("IMPOSSIBLE ERROR!");

  bool buttonPress = false;
  buttonState = digitalRead(buttonPin) == LOW;  // true pressed
  if (buttonState != previousButtonState) {
    previousButtonState = buttonState;
    if (buttonState) {
      buttonPress = buttonState;
      Serial.println("                             button got pressed!");
    }
  }

// PROCESS
  switch (state) {
  case UP :
    if (buttonPress) state = MOVING_DOWN;
    break;
  
  case MOVING_DOWN :
    if (doorAtBottom) state = DOWN;
    if (buttonPress) state = MOVING_UP;
    break;
  
  case DOWN :
    if (buttonPress) state = MOVING_UP;
    break;
  
  case MOVING_UP :
    if (doorAtTop) state = UP;
    if (buttonPress) state = UP;
    break;

  case NONE :
  default :
    Serial.println("whose default is this!");
    break;
  }

// OUTPUT
  if (state == MOVING_DOWN) {
    doorGoDown();
  }
  else if (state == MOVING_UP) {
    doorGoUp();
  }
  else {
    allStop();
  }
  
  delay(20);  // poor man's debounce, who cares?
}

// talk to the door motors, yeah?
void doorGoUp() 
{
//  Serial.println("turn on and go UP");
  digitalWrite(downrelayPin, HIGH);
  digitalWrite(uprelayPin, LOW);
  digitalWrite(powerrelayPin, LOW);
}

void doorGoDown()
{
//  Serial.println("turn on and go DOWN");
  digitalWrite(uprelayPin, HIGH);
  digitalWrite(downrelayPin, LOW);
  digitalWrite(powerrelayPin, LOW);
}

void allStop()
{
//  Serial.println("turn off");
  digitalWrite(powerrelayPin, HIGH);
  digitalWrite(uprelayPin, HIGH);
  digitalWrite(downrelayPin, HIGH);
}

/* no, it's in tabs now */

# if 0
// below this line are functions to produce a simulation of the physical process
// it places the sensor output on the processOutput pin, which
// can be fed directly to the processInput pin for measurement and monitoring

// initiate the process with the goose button
// control the speed for testing with the slide fader at processSpeedControl

# include <Adafruit_NeoPixel.h>
# define PIN 7          // the pin
# define NPIXELS 16     // number of LEDs on strip
# define UPA    A0      // make it go up manually
# define DOWNA  A3      // make it go down manually

# define upLED    A2  // on (LOW) when door is at extreme
# define downLED  A1  // on (LOW) when door is at other extreme

# define PRESST LOW
Adafruit_NeoPixel doorStrip(NPIXELS, PIN, NEO_GRB + NEO_KHZ800);

static int doorPostition;    // pixel number for door traveler

void setupSimulation()
{
  doorStrip.begin();
  doorStrip.fill(0x606060, 0, NPIXELS);
  doorStrip.setPixelColor(1, 0xff00ff);
  doorStrip.show();
  delay(500);
  doorStrip.fill(0x606060, 0, NPIXELS);
  doorStrip.show();
  delay(500);

  pinMode(UPA, INPUT_PULLUP);
  pinMode(DOWNA, INPUT_PULLUP);

  pinMode(upLED, OUTPUT);
  pinMode(downLED, OUTPUT);

  doorPostition = 0;
  doorStrip.setPixelColor(doorPostition, 0xff0000);
  doorStrip.show();    
}

// if the up motor is powered, move the door up
// if the down motor is powered, move the door down

# define SPEED 200  // milliseconds per step

# define ON   LOW
# define OFF  HIGH

void advanceSimulation()
{
  static unsigned long timer;

  if (timer && (now - timer < SPEED)) return;
  timer = now;

// later the real outputs will hook into the buttons for automatic control
  bool goUp = digitalRead(UPA) == PRESST;
  bool goDown = digitalRead(DOWNA) == PRESST;

// plausible request?
  if (goUp && goDown) {
    Serial.println("up and down at once impossible.");
    goUp= false;
    goDown = false;
  }

// do it one step closer
  if (goUp) {
    doorStrip.setPixelColor(doorPostition, 0x606060);
    doorPostition++;
    if (doorPostition >= NPIXELS) {
      doorPostition = NPIXELS - 1;  // door fully opened
    }
    doorStrip.setPixelColor(doorPostition, 0xff0000);    
  }

  if (goDown) {
    doorStrip.setPixelColor(doorPostition, 0x606060);
    doorPostition--;
    if (doorPostition < 0) {
      doorPostition = 0;  // door fully closed
    }
    doorStrip.setPixelColor(doorPostition, 0xff0000);    
  }

// update limit switches output
  if (doorPostition == 0) {
    digitalWrite(downLED, ON);
    digitalWrite(upLED, OFF);
  }
  else if (doorPostition == NPIXELS - 1) {
    digitalWrite(upLED, ON);
    digitalWrite(downLED, OFF);
  }
  else {
    digitalWrite(upLED, OFF);
    digitalWrite(downLED, OFF);
  }

  doorStrip.show();
}

# endif