/**
 * fuzzy_controller.ino
 **/

// 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>

// pins
#define LDR A0
#define TRIGGER 4
#define ECHO 5
#define LED 6

// object library
Fuzzy *fuzzy = new Fuzzy();

void setup() {
  // set console and pins
  Serial.begin(9600);
  pinMode(LDR, INPUT);
  pinMode(TRIGGER, OUTPUT);
  pinMode(ECHO, INPUT);
  pinMode(LED, OUTPUT);

  // fuzzy sets
  // input1 temp
  FuzzySet *cool = new FuzzySet(0, 0, 15, 25); //trapizoid MF (a,b,c,d)
  FuzzySet *midt = new FuzzySet(15, 25, 25, 32);
  FuzzySet *hot = new FuzzySet(25, 32, 50, 50);
  
  // lnput2 pop
  // ldr (0-100000 lux=> 1015-8 resistance value in wokwi)
  FuzzySet *low = new FuzzySet(0, 0, 15, 25);
  FuzzySet *mid = new FuzzySet(15, 25, 25, 35);
  FuzzySet *high = new FuzzySet(25 ,35, 50, 50);
  
  // output1 air comp
  FuzzySet *off = new FuzzySet(0, 0, 0, 0);
  FuzzySet *lowb = new FuzzySet(0, 0, 25, 40);
  FuzzySet *midb = new FuzzySet(25, 40, 60, 75);
  FuzzySet *highb = new FuzzySet(62, 75, 100, 100);

  // variables
  // add input1 to fuzzy input1
  FuzzyInput *temp = new FuzzyInput(1);
  temp->addFuzzySet(cool);
  temp->addFuzzySet(midt);
  temp->addFuzzySet(high);
  fuzzy->addFuzzyInput(temp);

  // add input2 to fuzzy input2
  FuzzyInput *pop = new FuzzyInput(2);
  pop->addFuzzySet(low);
  pop->addFuzzySet(mid);
  pop->addFuzzySet(hot);
  fuzzy->addFuzzyInput(pop); 

  // add output1 to fuzzy output1
  FuzzyOutput *airCom = new FuzzyOutput(1);
  airCom->addFuzzySet(off);
  airCom->addFuzzySet(lowb);
  airCom->addFuzzySet(midb);
  airCom->addFuzzySet(highb);
  fuzzy->addFuzzyOutput(airCom);

  // Rules 1
  // if temp is cool and pop is low then aircom is off
  FuzzyRuleAntecedent *ifTempIsCoolAndPopIsLow = new FuzzyRuleAntecedent();
  ifTempIsCoolAndPopIsLow->joinWithAND(cool, low); //for Potentiometer highldr , for actual ldr => lowldr
  FuzzyRuleConsequent *thenAirComOff = new FuzzyRuleConsequent();
  thenAirComOff->addOutput(off); ////for Potentiometer lowb , for actual ldr => highb
  FuzzyRule *fuzzyRule1 = new FuzzyRule(1, ifTempIsCoolAndPopIsLow, thenAirComOff);
  fuzzy->addFuzzyRule(fuzzyRule1);
  
  // Rules 2
  // if temp is cool and pop is mid then aircom is mid
  FuzzyRuleAntecedent *ifTempIsCoolAndPopIsMid = new FuzzyRuleAntecedent();
  ifTempIsCoolAndPopIsMid->joinWithAND(cool, mid);
  FuzzyRuleConsequent *thenAirComMid = new FuzzyRuleConsequent();
  thenAirComMid->addOutput(mid);
  FuzzyRule *fuzzyRule2 = new FuzzyRule(2, ifTempIsCoolAndPopIsMid, thenAirComMid);
  fuzzy->addFuzzyRule(fuzzyRule2);
  
  // Rules 3
  // if temp is cool and pop is high then aircom is high
  FuzzyRuleAntecedent *ifTempIsCoolAndPopIsHigh = new FuzzyRuleAntecedent();
  ifTempIsCoolAndPopIsHigh->joinWithAND(cool, high);
  FuzzyRuleConsequent *thenAirComHigh = new FuzzyRuleConsequent();
  thenAirComHigh->addOutput(high);
  FuzzyRule *fuzzyRule3 = new FuzzyRule(3, ifTempIsCoolAndPopIsHigh, thenAirComHigh);
  fuzzy->addFuzzyRule(fuzzyRule3);
  
  // Rules 4
  // if temp is mid and pop is low then aircom is low
  FuzzyRuleAntecedent *ifTempIsMidAndPopIsLow = new FuzzyRuleAntecedent();
  ifTempIsMidAndPopIsLow->joinSingle(mid, low);
  FuzzyRuleConsequent *thenAirComLow = new FuzzyRuleConsequent();
  thenAirComLow->addOutput(low);
  FuzzyRule* fuzzyRule4 = new FuzzyRule(4, ifTempIsMidAndPopIsLow, thenAirComLow);
  fuzzy->addFuzzyRule(fuzzyRule4);
  
  // Rules 5
  // if temp is mid and pop is mid then aircom is mid
  FuzzyRuleAntecedent *ifTempIsMIdAndPopIsMid = new FuzzyRuleAntecedent();
  ifTempIsMIdAndPopIsMid->joinSingle(mid, mid);
  FuzzyRule* fuzzyRule5 = new FuzzyRule(5, ifTempIsMIdAndPopIsMid, thenAirComMid);
  fuzzy->addFuzzyRule(fuzzyRule5);

  // Rules 6
  // if temp is mid and pop is high then aircom is high
  FuzzyRuleAntecedent *ifTempIsMidAndPopIsHigh = new FuzzyRuleAntecedent();
  ifTempIsMidAndPopIsHigh->joinSingle(mid, high);
  FuzzyRule* fuzzyRule6 = new FuzzyRule(6, ifTempIsMidAndPopIsHigh, thenAirComHigh);
  fuzzy->addFuzzyRule(fuzzyRule6);

  // Rules 7
  // if temp is hot and pop is low then aircom is mid
  FuzzyRuleAntecedent *ifTempIsHotAndPopIsLow = new FuzzyRuleAntecedent();
  ifTempIsHotAndPopIsLow->joinSingle(hot, low);
  FuzzyRule* fuzzyRule7 = new FuzzyRule(7, ifTempIsHotAndPopIsLow, thenAirComMid);
  fuzzy->addFuzzyRule(fuzzyRule7);

  // Rules 8
  // if temp is hot and pop is mid then aircom is high
  FuzzyRuleAntecedent *ifTempIsHotAndPopIsMid = new FuzzyRuleAntecedent();
  ifTempIsHotAndPopIsMid->joinSingle(hot, mid);
  FuzzyRule* fuzzyRule8 = new FuzzyRule(8, ifTempIsHotAndPopIsMid, thenAirComHigh);
  fuzzy->addFuzzyRule(fuzzyRule8);

  // Rules 9
  // if temp is hot and pop is high then aircom is high
  FuzzyRuleAntecedent *ifTempIsHotAndPopIsHigh = new FuzzyRuleAntecedent();
  ifTempIsHotAndPopIsHigh->joinSingle(hot, high);
  FuzzyRule* fuzzyRule9 = new FuzzyRule(9, ifTempIsHotAndPopIsHigh, thenAirComHigh);
  fuzzy->addFuzzyRule(fuzzyRule9);

}

// returns the distance
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;
}

// returns the brightness
int brightness() {
  return analogRead(LDR);
}
/*
// prints in serial monitor
void print(int dist, int light, int output) {
  Serial.print("distance: ");
  Serial.print(dist);
  Serial.print(" light: ");
  Serial.print(light);
  Serial.print(" => output: ");
  Serial.print(output);
  Serial.println();
}
*/
// main method
void loop() {
  // get distance and light
  int dist = distance();
  int light = brightness();

  // if the inputs are weird, ignore them Miximum value
  if (dist < 0 || dist > 400 || light > 1023) return;

  // fuzzyfication
  fuzzy->setInput(1, dist); // dist as fuzzy input 1 (distance)
  fuzzy->setInput(2, light); // light as fuzzy input 2 (ldr)
  fuzzy->fuzzify();

  // defuzzyfication
  int output = fuzzy->defuzzify(1); // defuzzify fuzzy output 1 (brightness)
  
  analogWrite(LED, output);
  //void print(int dist, int light, int output) {
  Serial.print("distance: ");
  Serial.print(dist);
  Serial.print(" light: ");
  Serial.print(light);
  Serial.print(" => output: ");
  Serial.print(output);
  Serial.println();
  delay(100);
  
}