#include <Arduino.h>
#include <WiFi.h>
#include "PubSubClient.h"
#include "ESP32Servo.h"

// WiFi dan MQTT
const char* ssid = "Wokwi-GUEST";
const char* password = "";
const char* mqttServer = "broker.emqx.io";
int port = 1883;
String stMac;
char mac[50];
char clientId[50];
WiFiClient espClient;
PubSubClient client(espClient);

// Servo
Servo servo1, servo2, servo3, servo4, servo5;
const int pinServo1 = 25;
const int pinServo2 = 26;
const int pinServo3 = 27;
const int pinServo4 = 14;
const int pinServo5 = 12;

unsigned long previousMillis = 0;
const long interval = 5000;

// Deklarasi fungsi sebelum digunakan
void wifiConnect();
void callback(char* topic, byte* message, unsigned int length);
void mqttReconnect();

void setup() {
  Serial.begin(115200);
  randomSeed(analogRead(0));

  Serial.println();
  Serial.print("Connecting to ");
  Serial.println(ssid);

  wifiConnect();

  Serial.println("");
  Serial.println("WiFi connected");
  Serial.println("IP address: ");
  Serial.println(WiFi.localIP());
  Serial.println(WiFi.macAddress());
  stMac = WiFi.macAddress();
  stMac.replace(":", "_");
  Serial.println(stMac);

  client.setServer(mqttServer, port);
  client.setCallback(callback);

  // Hubungkan servo ke pin yang benar
  servo1.attach(pinServo1);
  servo2.attach(pinServo2);
  servo3.attach(pinServo3);
  servo4.attach(pinServo4);
  servo5.attach(pinServo5);

  // Set posisi awal servo ke 90 derajat
  servo1.write(90);
  servo2.write(90);
  servo3.write(90);
  servo4.write(90);
  servo5.write(90);
}

void wifiConnect() {
  WiFi.mode(WIFI_STA);
  WiFi.begin(ssid, password);
  while (WiFi.status() != WL_CONNECTED) {
    unsigned long currentMillis = millis();
    if (currentMillis - previousMillis >= 500) {
      previousMillis = currentMillis;
      Serial.print(".");
    }
  }
}

void mqttReconnect() {
  while (!client.connected()) {
    Serial.print("Attempting MQTT connection...");
    long r = random(1000);
    sprintf(clientId, "clientId-%ld", r);
    if (client.connect(clientId)) {
      Serial.print(clientId);
      Serial.println(" connected");
      client.subscribe("OpenCV-IoT6601");
    } else {
      Serial.print("failed, rc=");
      Serial.print(client.state());
      Serial.println(" try again in 5 seconds");
      unsigned long currentMillis = millis();
      while (millis() - currentMillis < 5000) {
        client.loop();
      }
    }
  }
}

void callback(char* topic, byte* message, unsigned int length) {
  Serial.print("\n--- MQTT MESSAGE RECEIVED ---\n");
  Serial.print("Topic: ");
  Serial.println(topic);
  Serial.print("Message: ");

  String receivedMessage = "";
  for (unsigned int i = 0; i < length; i++) {
    Serial.print((char)message[i]);
    receivedMessage += (char)message[i];
  }
  Serial.println("\n----------------------------");

  if (length >= 5) {
    // Jika '1', putar servo ke 180 derajat, jika '0' putar ke 90 derajat
    servo1.write((receivedMessage[0] == '1') ? 180 : 90);
    servo2.write((receivedMessage[1] == '1') ? 180 : 90);
    servo3.write((receivedMessage[2] == '1') ? 180 : 90);
    servo4.write((receivedMessage[3] == '1') ? 180 : 90);
    servo5.write((receivedMessage[4] == '1') ? 180 : 90);
  }
}

void loop() {
  unsigned long currentMillis = millis();
  if (!client.connected()) {
    mqttReconnect();
  }
  client.loop();
}