#include <WiFi.h>
#include <Stepper.h>
#include <Wire.h>
#include <Adafruit_Sensor.h>
#include <DHT.h>
#include <DHT_U.h>
#include <MPU6050.h>

// WiFi credentials
const char* ssid = "Virus";
const char* password = "Zxcvbnmlp";

// Azure IoT Hub credentials
const char* connectionString = "HostName=TransportationPro.azure-devices.net;DeviceId=esp32;SharedAccessKey=3zdRQiFBdr2K2w+QnKykCGjx0Q9pXBOjoAIoTNy0bkY=";

// Constants for the ultrasonic sensor
const int trigPin = 12;    // Pin for triggering the ultrasonic pulse
const int echoPin = 14;    // Pin for receiving the echo pulse

// Constants for the LEDs
const int greenLEDPin = 25;
const int redLEDPin = 26;

// Constants for the stepper motor
const int stepsPerRevolution = 200; // Number of steps per revolution of your stepper motor
Stepper myStepper(stepsPerRevolution, 32, 33, 26, 27);

// Constants for the DHT sensor
#define DHTPIN 13        // Pin connected to the DHT sensor
#define DHTTYPE DHT11    // Change to DHT22 if using the DHT22 sensor
DHT dht(DHTPIN, DHTTYPE);

// Create an instance of the MPU6050 class
MPU6050 mpu;

// Threshold distance in centimeters
const int thresholdDistance = 20; // Distance at which the motor stops and the red LED turns on

void setup() {
    // Initialize serial communication
    Serial.begin(115200);

    // Connect to WiFi (simulation)
    connectToWiFi();

    // Set up the pins for the ultrasonic sensor
    pinMode(trigPin, OUTPUT);
    pinMode(echoPin, INPUT);

    // Set up the pins for the LEDs
    pinMode(greenLEDPin, OUTPUT);
    pinMode(redLEDPin, OUTPUT);

    // Initialize the DHT sensor
    dht.begin();

    // Initialize the MPU6050 sensor
    Wire.begin();
    mpu.initialize();
    if (!mpu.testConnection()) {
        Serial.println("MPU6050 connection failed!");
        while (1);
    }

    // Start with the green LED on and red LED off
    digitalWrite(greenLEDPin, HIGH);
    digitalWrite(redLEDPin, LOW);
}

void loop() {
    // Measure the distance using the ultrasonic sensor
    long duration;
    int distance;

    // Trigger the ultrasonic pulse
    digitalWrite(trigPin, LOW);
    delayMicroseconds(2);
    digitalWrite(trigPin, HIGH);
    delayMicroseconds(10);
    digitalWrite(trigPin, LOW);

    // Read the echo pulse duration
    duration = pulseIn(echoPin, HIGH);

    // Calculate the distance in centimeters
    distance = duration * 0.034 / 2;

    // Print the distance to the Serial Monitor
    Serial.print("Distance: ");
    Serial.print(distance);
    Serial.println(" cm");

    // Measure the temperature using the DHT sensor
    float temperature = dht.readTemperature();
    if (isnan(temperature)) {
        Serial.println("Failed to read temperature from DHT sensor!");
    } else {
        Serial.print("Temperature: ");
        Serial.print(temperature);
        Serial.println(" *C");
    }

    // Measure the orientation using the MPU6050 sensor
    int16_t ax, ay, az, gx, gy, gz;
    mpu.getMotion6(&ax, &ay, &az, &gx, &gy, &gz);

    // Print the gyroscope data to the Serial Monitor
    Serial.print("Gyroscope: X=");
    Serial.print(gx);
    Serial.print(" Y=");
    Serial.print(gy);
    Serial.print(" Z=");
    Serial.println(gz);

    // Perform specific actions based on gyroscope data
    if (abs(gx) > 10000 || abs(gy) > 10000 || abs(gz) > 10000) {
        Serial.println("Sudden movement detected! Possible traffic incident.");
    }

    // Check the distance and control the stepper motor and LEDs
    if (distance < thresholdDistance) {
        // If the object is too close, stop the motor and turn on the red LED
        myStepper.step(0); // Stop the motor
        digitalWrite(greenLEDPin, LOW);
        digitalWrite(redLEDPin, HIGH);
        Serial.println("Object too close! Stopping motor and turning on red LED.");
    } else {
        // If the distance is safe, rotate the motor and keep the green LED on
        myStepper.step(stepsPerRevolution / 100); // Adjust the speed as needed
        digitalWrite(greenLEDPin, HIGH);
        digitalWrite(redLEDPin, LOW);
        Serial.println("Safe distance. Motor running and green LED on.");
    }

    // Simulated JSON message for Azure IoT Hub
    char message[256];
    snprintf(message, sizeof(message), "{\"distance\": %d, \"temperature\": %.2f, \"gyroscope\": {\"x\": %d, \"y\": %d, \"z\": %d}}", distance, temperature, gx, gy, gz);

    // Print the message that would be sent to Azure
    Serial.print("Simulated Azure Message: ");
    Serial.println(message);

    // Add a delay to stabilize the sensor readings
    delay(1000);
}

// Simulate WiFi connection
void connectToWiFi() {
    Serial.println("Simulating WiFi Connection...");
    Serial.print("Connecting to WiFi: ");
    Serial.print(ssid);
    Serial.println("...Connected.");
}