#include <Fuzzy.h>
#include <FuzzyComposition.h>
#include <FuzzyInput.h>
#include <FuzzyIO.h>
#include <FuzzyOutput.h>
#include <FuzzyRule.h>
#include <FuzzyRuleAntecedent.h>
#include <FuzzyRuleConsequent.h>
#include <FuzzySet.h>
#include <Wire.h>
#include <LiquidCrystal_I2C.h>

// Inisialisasi LCD dengan alamat I2C 0x27 dan ukuran 16x2
LiquidCrystal_I2C lcd(0x27, 16, 2);

// Mendefinisikan pin untuk sensor dan LED
#define LDR A0
#define TRIGGER 4
#define ECHO 3
#define LED1 A1

// Membuat objek fuzzy untuk sistem inferensi fuzzy
Fuzzy *fuzzy = new Fuzzy();

void setup() {
  // Memulai komunikasi serial dengan kecepatan 9600 bps
  Serial.begin(9600);
  // Mengatur mode pin
  pinMode(LDR, INPUT);
  pinMode(TRIGGER, OUTPUT);
  pinMode(ECHO, INPUT);
  // Inisialisasi LCD
  lcd.init();

  // Membuat fuzzy set untuk input jarak
  FuzzySet *small = new FuzzySet(0, 0, 0, 120);
  FuzzySet *mid = new FuzzySet(60, 120, 120, 180);
  FuzzySet *big = new FuzzySet(120, 180, 180, 240);
  FuzzySet *verybig = new FuzzySet(180, 240, 400, 400);
  
  // Membuat fuzzy set untuk input nilai LDR
  FuzzySet *lowldr = new FuzzySet(0, 0, 0, 100);
  FuzzySet *midldr = new FuzzySet(60, 200, 500, 700);
  FuzzySet *highldr = new FuzzySet(400 ,700, 1023, 1023);
  
  // Membuat fuzzy set untuk output kecerahan LED
  FuzzySet *off = new FuzzySet(155, 230, 255, 255);
  FuzzySet *lowb = new FuzzySet(55, 100, 155, 200);
  FuzzySet *midb = new FuzzySet(0, 0, 25, 100);
  FuzzySet *highb = new FuzzySet(0, 0, 0, 0);

  // Menambahkan fuzzy set untuk input jarak ke dalam sistem fuzzy
  FuzzyInput *distance = new FuzzyInput(1);
  distance->addFuzzySet(small);
  distance->addFuzzySet(mid);
  distance->addFuzzySet(big);
  fuzzy->addFuzzyInput(distance);

  // Menambahkan fuzzy set untuk input nilai LDR ke dalam sistem fuzzy
  FuzzyInput *ldr = new FuzzyInput(2);
  ldr->addFuzzySet(lowldr);
  ldr->addFuzzySet(midldr);
  ldr->addFuzzySet(highldr);
  fuzzy->addFuzzyInput(ldr); 

  // Menambahkan fuzzy set untuk output kecerahan LED ke dalam sistem fuzzy
  FuzzyOutput *brightness = new FuzzyOutput(1);
  brightness->addFuzzySet(off);
  brightness->addFuzzySet(lowb);
  brightness->addFuzzySet(midb);
  brightness->addFuzzySet(highb);
  fuzzy->addFuzzyOutput(brightness);

  // Menyusun aturan fuzzy
  // Jika jarak kecil dan LDR rendah, maka kecerahan LED tinggi
  FuzzyRuleAntecedent *ifDistanceSmallAndLdrIsLow = new FuzzyRuleAntecedent();
  ifDistanceSmallAndLdrIsLow->joinWithAND(small, lowldr);
  FuzzyRuleConsequent *thenBrightnessHigh = new FuzzyRuleConsequent();
  thenBrightnessHigh->addOutput(highb);
  FuzzyRule *fuzzyRule1 = new FuzzyRule(1, ifDistanceSmallAndLdrIsLow, thenBrightnessHigh);
  fuzzy->addFuzzyRule(fuzzyRule1);
  
  // Jika jarak kecil dan LDR tinggi, maka kecerahan LED mati
  FuzzyRuleAntecedent *ifDistanceSmallAndLdrIsHigh = new FuzzyRuleAntecedent();
  ifDistanceSmallAndLdrIsHigh->joinWithAND(small, highldr);
  FuzzyRuleConsequent *thenBrightnessOff = new FuzzyRuleConsequent();
  thenBrightnessOff->addOutput(off);
  FuzzyRule *fuzzyRule2 = new FuzzyRule(2, ifDistanceSmallAndLdrIsHigh, thenBrightnessOff);
  fuzzy->addFuzzyRule(fuzzyRule2);

  // Jika jarak sedang, maka kecerahan LED sedang
  FuzzyRuleAntecedent *ifDistanceMid = new FuzzyRuleAntecedent();
  ifDistanceMid->joinSingle(mid);
  FuzzyRuleConsequent *thenBrightnessMidb = new FuzzyRuleConsequent();
  thenBrightnessMidb->addOutput(midb);
  FuzzyRule *fuzzyRule3 = new FuzzyRule(3, ifDistanceMid, thenBrightnessMidb);
  fuzzy->addFuzzyRule(fuzzyRule3);
 
  // Jika jarak besar, maka kecerahan LED rendah
  FuzzyRuleAntecedent *ifDistanceBig = new FuzzyRuleAntecedent();
  ifDistanceBig->joinSingle(big);
  FuzzyRuleConsequent *thenBrightnessLow = new FuzzyRuleConsequent();
  thenBrightnessLow->addOutput(lowb);
  FuzzyRule* fuzzyRule4 = new FuzzyRule(4, ifDistanceBig, thenBrightnessLow);
  fuzzy->addFuzzyRule(fuzzyRule4);
  
  // Jika jarak sangat besar, maka kecerahan LED mati
  FuzzyRuleAntecedent *ifDistanceVeryBig = new FuzzyRuleAntecedent();
  ifDistanceVeryBig->joinSingle(verybig);
  FuzzyRule* fuzzyRule5 = new FuzzyRule(5, ifDistanceVeryBig, thenBrightnessOff);
  fuzzy->addFuzzyRule(fuzzyRule5);
}

// Fungsi untuk menghitung jarak menggunakan sensor ultrasonik
int distance() {
  digitalWrite(TRIGGER, LOW);
  delayMicroseconds(5);
  digitalWrite(TRIGGER, HIGH);
  delayMicroseconds(10);
  digitalWrite(TRIGGER, LOW);
  long pulse = pulseIn(ECHO, HIGH) / 2;
  return pulse * 10 / 292;
}

// Fungsi untuk membaca nilai LDR
int brightness() {
  return analogRead(LDR);
}

void loop() {
  int Dis = distance(); // Menghitung jarak
  int Bri = brightness(); // Membaca nilai LDR

  // Memasukkan nilai jarak dan LDR ke sistem fuzzy
  fuzzy->setInput(1, Dis);
  fuzzy->setInput(2, Bri);
  fuzzy->fuzzify(); // Melakukan fuzzifikasi

  // Melakukan defuzzifikasi dan mendapatkan output kecerahan LED
  int output = fuzzy->defuzzify(1);
  Bri = (Bri*-1)+1015;
  analogWrite(LED1, output); // Mengatur kecerahan LED
  Serial.print(" Dis:");
  Serial.print(Dis);
  Serial.print(" Bri:");
  Serial.print(Bri);
  Serial.print(" LED:");
  Serial.print(output);
  Serial.println();

  // Menampilkan hasil pada LCD
  lcd.setCursor(0, 0);
  lcd.print("Dis:");
  lcd.print(Dis);
  lcd.print(" ");
  lcd.print("Bri:");
  lcd.print(Bri);
  lcd.print("  ");
  lcd.setCursor(0, 1);
  lcd.print("LED St:");
  if (output > 130){
    lcd.print("ON (");
    lcd.print(output);
    lcd.print(") ");
  }
  else {
    lcd.print("OFF (");
    lcd.print(output);
    lcd.print(") ");
  }

  // Menunggu 100 ms sebelum mengulang loop
  delay(100);
}