#include <DHT.h>
#include <Servo.h>

// DHT22のDATAピンはデジタルピン7に接続
#define DHTPIN 28
// 接続するセンサの型番
#define DHTTYPE DHT22
#define RIGHT_LDR_PIN 26
#define LEFT_LDR_PIN 27
#define SERVO_PIN 22

// センサーの初期化
DHT dht(DHTPIN, DHTTYPE);

// 測定結果の統計データを保存するための構造体
struct {
  uint32_t total;
  uint32_t ok;
  uint32_t crc_error;
  uint32_t time_out;
  uint32_t connect;
  uint32_t ack_l;
  uint32_t ack_h;
  uint32_t unknown;
} stat = { 0, 0, 0, 0, 0, 0, 0, 0};

// LDR Characteristics
const float GAMMA = 0.7;
const float RL10 = 50;

Servo myservo;
int pos = 90;

void setup()
{
    Serial1.begin(115200);
    dht.begin();
    myservo.attach(SERVO_PIN);
    myservo.write(pos);
    Serial1.println("Start Raspberry Pi Pico DHT22 Photoresistor Test!");
    Serial1.println("Type,\tstatus,\tHumidity (%),\tTemperature (C)\tTime (us)");
}

void loop()
{
    delay(100);

    handleHumidityAndTemperatureData();
    handlePhotoresistorData();

    if (stat.total % 10 == 0)
    {
      printStatistics();
    }
}

void handlePhotoresistorData()
{
    int leftAnalogValue = analogRead(LEFT_LDR_PIN);
    int rightAnalogValue = analogRead(RIGHT_LDR_PIN);

    float leftVoltage = leftAnalogValue / 1024. * 5;
    float rightVoltage = rightAnalogValue / 1024. * 5;

    float leftResistance = 2000 * leftVoltage / (1 - leftVoltage / 5);
    float rightResistance = 2000 * rightVoltage / (1 - rightVoltage / 5);

    float leftLux = pow(RL10 * 1e3 * pow(10, GAMMA) / leftResistance, (1 / GAMMA));
    float rightLux = pow(RL10 * 1e3 * pow(10, GAMMA) / rightResistance, (1 / GAMMA));
    Serial1.print(" Left: ");
    Serial1.print(leftLux);
    Serial1.print(", Right: ");
    Serial1.print(rightLux);
    Serial1.println();

    if (leftLux > rightLux) {
        pos -= 10;
        if (pos < 0) pos = 0;
    } else if (rightLux > leftLux) {
        pos += 10;
        if (pos > 180) pos = 180;
    }

    myservo.write(pos);
}

void handleHumidityAndTemperatureData()
{
    Serial1.print("DHT22, \t");

    uint32_t start = micros();
    float h = dht.readHumidity();
    float t = dht.readTemperature();
    uint32_t stop = micros();

    stat.total++;

    if (isnan(h) || isnan(t))
    {
        Serial1.print("Failed to read from DHT sensor!\t");
        stat.unknown++;
    }
    else
    {
        stat.ok++;
        Serial1.print("OK,\t");
        Serial1.print(h, 1);
        Serial1.print(",\t");
        Serial1.print(t, 1);
        Serial1.print(",\t");
        Serial1.print(stop - start);
        Serial1.print(",\t");
        // Serial1.println();
    }
}

void printStatistics()
{
    Serial1.println("\nTOT\tOK\tCRC\tTO\tCON\tACK_L\tACK_H\tUNK");
    Serial1.print(stat.total);
    Serial1.print("\t");
    Serial1.print(stat.ok);
    Serial1.print("\t");
    Serial1.print(stat.crc_error);
    Serial1.print("\t");
    Serial1.print(stat.time_out);
    Serial1.print("\t");
    Serial1.print(stat.connect);
    Serial1.print("\t");
    Serial1.print(stat.ack_l);
    Serial1.print("\t");
    Serial1.print(stat.ack_h);
    Serial1.print("\t");
    Serial1.print(stat.unknown);
    Serial1.println("\n");
    Serial1.println("Type,\tstatus,\tHumidity (%),\tTemperature (C)\tTime (us)");
}