#include <Wire.h>
#include <WiFi.h>
#include <BlynkSimpleEsp32.h>
#include <DHT.h>
#include <Servo.h>
#include <Adafruit_MPU6050.h>
#include <Adafruit_Sensor.h>

// Blynk Authentication token (generated from the Blynk app)
char auth[] = "Your-Blynk-Auth-Token";

// WiFi credentials
char ssid[] = "Your-WiFi-SSID";
char pass[] = "Your-WiFi-Password";

// Define the pins for sensors
#define DHTPIN 35
#define DHTTYPE DHT22
DHT dht(DHTPIN, DHTTYPE);  // Initialize DHT sensor

// Servo Pin
#define SERVO_PIN 13  // Pin to control the servo motor

// Ultrasonic sensor pins
#define TRIG_PIN 14  // Trigger pin for Ultrasonic sensor
#define ECHO_PIN 12  // Echo pin for Ultrasonic sensor

// Set up the servo motor
Servo healingServo;

// Set up the Ultrasonic Sensor
long duration;
int distance;
int crackThreshold = 50;  // Adjust this threshold value to determine crack size

// Initialize the MPU6050 (Gyroscope + Accelerometer)
Adafruit_MPU6050 mpu;
int xAccel, yAccel, zAccel;  // Accelerometer data
int xGyro, yGyro, zGyro;     // Gyroscope data

int temperature = 0;
int humidity = 0;

void setup() {
  Serial.begin(115200);

  // Connect to Wi-Fi
  WiFi.begin(ssid, pass);
  while (WiFi.status() != WL_CONNECTED) {
    delay(1000);
    Serial.println("Connecting to WiFi...");
  }
  Serial.println("Connected to WiFi");

  // Initialize Blynk
  Blynk.begin(auth, ssid, pass);

  // Initialize DHT sensor
  dht.begin();

  // Initialize servo motor
  healingServo.attach(SERVO_PIN);
  healingServo.write(0);  // Start with the valve closed

  // Initialize ultrasonic sensor pins
  pinMode(TRIG_PIN, OUTPUT);
  pinMode(ECHO_PIN, INPUT);

  // Initialize MPU6050 sensor
  if (!mpu.begin()) {
    Serial.println("MPU6050 not detected!");
    while (1);
  }

  // Set up MPU6050 sensor range (optional)
  mpu.setAccelerometerRange(MPU6050_RANGE_8G);
  mpu.setGyroRange(MPU6050_RANGE_500_DEG);
}

void loop() {
  Blynk.run();

  // Read temperature and humidity data
  temperature = dht.readTemperature();
  humidity = dht.readHumidity();

  // Send temperature and humidity data to Blynk app
  Blynk.virtualWrite(V1, temperature);  // Temperature in virtual pin V1
  Blynk.virtualWrite(V2, humidity);     // Humidity in virtual pin V2

  // Measure distance using the ultrasonic sensor
  distance = measureDistance();

  // Send distance data to Blynk app for monitoring
  Blynk.virtualWrite(V3, distance);  // Distance from ultrasonic sensor (V3)

  // Read accelerometer and gyroscope data
  sensors_event_t a, g, temp;
  mpu.getEvent(&a, &g, &temp);
  xAccel = a.acceleration.x;
  yAccel = a.acceleration.y;
  zAccel = a.acceleration.z;
  xGyro = g.gyro.x;
  yGyro = g.gyro.y;
  zGyro = g.gyro.z;

  // Send accelerometer and gyroscope data to Blynk app
  Blynk.virtualWrite(V4, xAccel);  // Accelerometer X-axis (V4)
  Blynk.virtualWrite(V5, yAccel);  // Accelerometer Y-axis (V5)
  Blynk.virtualWrite(V6, zAccel);  // Accelerometer Z-axis (V6)
  Blynk.virtualWrite(V7, xGyro);   // Gyroscope X-axis (V7)
  Blynk.virtualWrite(V8, yGyro);   // Gyroscope Y-axis (V8)
  Blynk.virtualWrite(V9, zGyro);   // Gyroscope Z-axis (V9)

  // Check if the distance indicates a crack (change in material structure)
  if (distance < crackThreshold) {
    // Check for abnormal movement in accelerometer or gyroscope (e.g., tilt or vibrations)
    if (abs(xAccel) > 5 || abs(yAccel) > 5 || abs(zAccel) > 5 || abs(xGyro) > 100 || abs(yGyro) > 100 || abs(zGyro) > 100) {
      Blynk.notify("Crack detected and abnormal movement/vibration detected! Initiating repair process...");
      triggerHealingProcess();
    }
  }

  delay(1000);  // Update readings every 1 second
}

long measureDistance() {
  // Send pulse to trigger pin
  digitalWrite(TRIG_PIN, LOW);
  delayMicroseconds(2);
  digitalWrite(TRIG_PIN, HIGH);
  delayMicroseconds(10);
  digitalWrite(TRIG_PIN, LOW);

  // Read the echo pin
  duration = pulseIn(ECHO_PIN, HIGH);

  // Calculate the distance in cm
  return duration * 0.034 / 2;
}

void triggerHealingProcess() {
  Serial.println("Initiating self-healing process...");

  // Open the valve by rotating the servo motor
  healingServo.write(90);  // Move the servo to open the valve (90 degrees)

  // Wait for the healing proce