#include <Adafruit_Fingerprint.h>
#include <Wire.h>
#include <LiquidCrystal_I2C.h>
#include <Servo.h>

// LCD setup
LiquidCrystal_I2C lcd(0x27, 20, 3);

// Use SoftwareSerial for boards like ATmega328 (e.g., Arduino Uno)
#if (defined(__AVR__) || defined(ESP8266)) && !defined(__AVR_ATmega2560__)
#include <SoftwareSerial.h>
SoftwareSerial mySerial(2, 3);
#else
#define mySerial Serial1
#endif

Adafruit_Fingerprint finger = Adafruit_Fingerprint(&mySerial);

// Pin definitions
const int redledPin = 4;
const int ledPin = 5;
const int buzzerPin = 6; 
const int irSensorPin = 7;
const int servoPin = 9; // Servo motor pin

// Servo setup
Servo servoMotor; 
int currentServoPos = 0; 
int targetServoPos = 0; 
bool isDoorMoving = false;
unsigned long lastServoMoveTime = 0;
const unsigned long servoMoveInterval = 20; 

// Fingerprint variables
uint8_t totalMatches = 0;
uint8_t totalFailures = 0;
bool isMatching = false;
bool doorOpen = false;
unsigned long matchStartTime = 0;
const unsigned long matchTimeout = 30000;
unsigned long doorOpenTime = 0;
const unsigned long autoCloseDelay = 30000; //30 second

// IR sensor debounce
int irSensorState = HIGH;
unsigned long lastIrReadTime = 0;
const unsigned long irDebounceDelay = 50;

void setup() {
  Serial.begin(9600);
  while (!Serial);

  pinMode(ledPin, OUTPUT);
  pinMode(buzzerPin, OUTPUT);
  pinMode(irSensorPin, INPUT);
  pinMode(redledPin, OUTPUT);
  
  //lcd.begin();
  lcd.init();
  lcd.backlight();
  lcdshow("Fingerprint Ready");

  servoMotor.attach(servoPin);
  servoMotor.write(0); // Door starts closed

  finger.begin(57600);
  if (finger.verifyPassword()) {
    lcdshow("Fingerprint sensor found.");
  } else {
    lcdshow("Fingerprint sensor error!");
    // while (1); // Halt if sensor not found
  }

  displayMenu();
  lcdshow("Welcome Face&Finger Based Door Sys."); 
  buzzer();
}

void displayMenu() {
  Serial.println("\n=== Fingerprint Menu ===");
  Serial.println("127. Empty Database");
  Serial.println("2. Enroll Fingerprint");
  Serial.println("3. Start Matching");
  Serial.println("Enter choice:");
}

void loop() {
  if (Serial.available()) {
    int choice = Serial.parseInt(); // Read user input
    switch (choice) {
      case 127:
        emptyDatabase();
        buzzer();
        break;
      case 2:
        buzzer();
        enrollFingerprint();
        break;
      case 3:
       
        lcdshow("Fingerprint matching mode activated.");
		    buzzer();
        isMatching = true;
        matchStartTime = millis();
        break;
      default:
        Serial.println("Invalid choice.");
        break;
    }
    displayMenu();  // Display menu after each valid choice
  }

  if (isMatching) handleFingerprintMatching();
  
  // Close door if it has been open too long or IR sensor detects inactivity
  if (doorOpen && (millis() - doorOpenTime >= autoCloseDelay || readIRSensor())) {
    closeDoor();
  }

  // Handle non-blocking servo movement
  if (isDoorMoving && (millis() - lastServoMoveTime >= servoMoveInterval)) {
    moveServo();
    lastServoMoveTime = millis();
  }
}


void handleFingerprintMatching() {
  static unsigned long lastCheck = 0;
  unsigned long currentMillis = millis();

  // Check for timeout
  if (isMatching && (currentMillis - matchStartTime >= matchTimeout)) {
    lcdshow("Matching timed out.");
    isMatching = false;  // Reset matching state
    totalFailures++;  // Increment failure count
    buzzer();  // Alert the user
    return;  // Exit the function
  }

  // Check for a valid fingerprint every 500 ms
  if (currentMillis - lastCheck >= 500) {
    lastCheck = currentMillis;

    if (getFingerprintID() != FINGERPRINT_OK) {
      lcdshow("Match! Opening door.");
      openDoor();
      totalMatches++;
      updateLCD();
      isMatching = false;  // Reset matching state
    } else {
    
      lcdshow("Awaiting fingerprint... " );
      buzzer();
    }
  }
}

 
uint8_t getFingerprintID() {
  uint8_t p = finger.getImage();
  if (p != FINGERPRINT_OK) return p;
  
  p = finger.image2Tz();
  if (p != FINGERPRINT_OK) return p;

  p = finger.fingerSearch();
  if (p == FINGERPRINT_OK) {
    digitalWrite(ledPin, HIGH);
    digitalWrite(buzzerPin, LOW);
  } else {
    digitalWrite(ledPin, LOW);
    digitalWrite(buzzerPin, HIGH);
    delay(500);
    digitalWrite(buzzerPin, LOW);
  }
  return p;
}

void openDoor() {
  targetServoPos = 80;
  isDoorMoving = true;
  doorOpen = true;
  doorOpenTime = millis();
}
void buzzer()
{
 digitalWrite(buzzerPin, HIGH); 
 delay(50);
 digitalWrite(buzzerPin, LOW); 
}
void closeDoor() {
  targetServoPos = 0;
  isDoorMoving = true;
  doorOpen = false;
  lcdshow("Door Closed");

}

void moveServo() {
  if (currentServoPos < targetServoPos) {
    currentServoPos++;
  } else if (currentServoPos > targetServoPos) {
    currentServoPos--;
  }
  servoMotor.write(currentServoPos);
  if (currentServoPos == targetServoPos) isDoorMoving = false;
}

bool readIRSensor() {
  if (millis() - lastIrReadTime > irDebounceDelay) {
    lastIrReadTime = millis();
    int currentState = digitalRead(irSensorPin);
    if (currentState != irSensorState) {
      irSensorState = currentState;
      return currentState == LOW;
    }
  }
  return false;
}

void emptyDatabase() {
  lcdshow("Emptying database...");
  finger.emptyDatabase();
  lcdshow("Database cleared.");
}

void enrollFingerprint() {
  uint8_t id;
  lcdshow("Enter ID (1-127)");
  id = readNumber();
  if (id == 0) {
    lcdshow("Invalid ID");
    return;
  }

  while (getFingerprintEnroll(id) != FINGERPRINT_OK) {
    lcdshow("Enroll failed, retrying...");
  }

  lcdshow("Enroll success");
}

uint8_t getFingerprintEnroll(uint8_t id) {
  int p = finger.getImage();
  if (p != FINGERPRINT_OK) return p;
  p = finger.image2Tz(1);
  if (p != FINGERPRINT_OK) return p;

  lcdshow("Remove finger...");
  delay(2000);

  while (finger.getImage() != FINGERPRINT_NOFINGER);
  lcdshow("Place finger again...");

  p = finger.getImage();
  if (p != FINGERPRINT_OK) return p;

  p = finger.image2Tz(2);
  if (p != FINGERPRINT_OK) return p;

  p = finger.createModel();
  if (p != FINGERPRINT_OK) return p;

  p = finger.storeModel(id);
  return (p == FINGERPRINT_OK) ? FINGERPRINT_OK : p;
}

void lcdshow(const char* message) {
  lcd.clear();
  updateLCD();
  lcd.setCursor(0, 1);
  lcd.print(message);
}

void updateLCD() {
  lcd.setCursor(0, 0);
  lcd.print("Matches:");
  lcd.print(totalMatches);     
  lcd.setCursor(11, 0);
  lcd.print("Faild:");
  lcd.print(totalFailures);
}

int readNumber() {
  while (Serial.available() == 0);  // Wait for input
  return Serial.parseInt();  // Read the number once available
}