// eFLL includes
#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 <LiquidCrystal.h> // Include LCD library

// Pin definitions
#define LDR A0          // Light sensor pin
#define TRIGGER 4       // Ultrasonic sensor trigger pin
#define ECHO 5          // Ultrasonic sensor echo pin
#define LED 6           // LED pin
#define BUZZER 7        // Buzzer pin
#define RS 8            // LCD RS pin
#define EN 9            // LCD EN pin
#define D4 10           // LCD D4 pin
#define D5 11           // LCD D5 pin
#define D6 12           // LCD D6 pin
#define D7 13           // LCD D7 pin

// Object library
Fuzzy *fuzzy = new Fuzzy();
LiquidCrystal lcd(RS, EN, D4, D5, D6, D7); // Initialize LCD

void setup() {
  // Set up console and pins
  Serial.begin(9600);
  pinMode(LDR, INPUT);
  pinMode(TRIGGER, OUTPUT);
  pinMode(ECHO, INPUT);
  pinMode(LED, OUTPUT);
  pinMode(BUZZER, OUTPUT); // Set buzzer pin as output

  lcd.begin(16, 2); // Initialize LCD 16x2
  lcd.print("Sistem Siap"); // Display initial message
  delay(2000); // Wait for 2 seconds
  lcd.clear(); // Clear the display

  // Fuzzy sets for distance (0-400 cm)
  FuzzySet *small = new FuzzySet(0, 0, 0, 120); // Trapezoid MF (a, b, c, d)
  FuzzySet *mid = new FuzzySet(60, 120, 120, 180);
  FuzzySet *big = new FuzzySet(120, 180, 180, 240);
  FuzzySet *verybig = new FuzzySet(180, 240, 400, 400);

  // Fuzzy sets for light sensor (0-1023)
  FuzzySet *lowldr = new FuzzySet(0, 0, 0, 100);
  FuzzySet *midldr = new FuzzySet(60, 200, 500, 700);
  FuzzySet *highldr = new FuzzySet(400, 700, 1015, 1015);

  // Fuzzy sets for brightness output (0-255)
  FuzzySet *off = new FuzzySet(0, 0, 0, 0);
  FuzzySet *lowb = new FuzzySet(0, 0, 25, 100);
  FuzzySet *midb = new FuzzySet(55, 100, 155, 200);
  FuzzySet *highb = new FuzzySet(155, 230, 255, 255);

  // Variables
  // Fuzzy input for distance
  FuzzyInput *distanceInput = new FuzzyInput(1);
  distanceInput->addFuzzySet(small);
  distanceInput->addFuzzySet(mid);
  distanceInput->addFuzzySet(big);
  fuzzy->addFuzzyInput(distanceInput);

  // Fuzzy input for light sensor
  FuzzyInput *ldrInput = new FuzzyInput(2);
  ldrInput->addFuzzySet(lowldr);
  ldrInput->addFuzzySet(midldr);
  ldrInput->addFuzzySet(highldr);
  fuzzy->addFuzzyInput(ldrInput); 

  // Fuzzy output for brightness
  FuzzyOutput *brightnessOutput = new FuzzyOutput(1);
  brightnessOutput->addFuzzySet(off);
  brightnessOutput->addFuzzySet(lowb);
  brightnessOutput->addFuzzySet(midb);
  brightnessOutput->addFuzzySet(highb);
  fuzzy->addFuzzyOutput(brightnessOutput);

  // Initialize fuzzy rules (rules omitted here for brevity)
  // ...
}

// Returns the distance measured by the ultrasonic sensor
int getDistance() {
  digitalWrite(TRIGGER, LOW);
  delayMicroseconds(5);
  digitalWrite(TRIGGER, HIGH);
  delayMicroseconds(10);
  digitalWrite(TRIGGER, LOW);
  long pulse = pulseIn(ECHO, HIGH) / 2;
  return pulse * 10 / 292; // Convert to centimeters
}

// Returns the brightness measured by the LDR
int getBrightness() {
  return analogRead(LDR);
}

// Main loop
void loop() {
  // Get distance and light readings
  int dist = getDistance();
  int light = getBrightness();

  // Validate readings
  if (dist < 0 || dist > 400 || light > 1023) return;

  // Fuzzification
  fuzzy->setInput(1, dist); // Distance as fuzzy input 1
  fuzzy->setInput(2, light); // Light as fuzzy input 2
  fuzzy->fuzzify();

  // Defuzzification
  int output = fuzzy->defuzzify(1); // Defuzzify brightness output

  // Set LED brightness
  analogWrite(LED, output);

  // Activate buzzer if LED is on (output > 0)
  if (output > 0) {
    digitalWrite(BUZZER, HIGH); // Turn on buzzer
    lcd.clear();
    lcd.print("Alarm Menyala!"); // Display alarm message
  } else {
    digitalWrite(BUZZER, LOW); // Turn off buzzer
    lcd.clear();
    lcd.print("Lampu Mati"); // Display light off message
  }

  // Display LED status
  if (output > 0) {
    lcd.setCursor(0, 1); // Set cursor to second row
    lcd.print("Lampu Menyala"); // Display LED status
  }

  // Print readings to Serial Monitor
  Serial.print("distance: ");
  Serial.print(dist);
  Serial.print(" light: ");
  Serial.print(light);
  Serial.print(" => output: ");
  Serial.print(output);
  Serial.println();

  delay(100); // Delay for stability
}