#include <WiFi.h>
#include <HTTPClient.h>
#include <Wire.h>
#include <Adafruit_MPU6050.h>
#include <Adafruit_Sensor.h>

// Configurações do Wi-Fi
const char* ssid = "Wokwi-GUEST";
const char* password = "";

// URL do servidor Django
const char* serverUrl = "https://luanteles.pythonanywhere.com/api/sensor-data/";

// Definições dos pinos
#define SERVO_HORIZONTAL_PIN 25
#define SERVO_VERTICAL_PIN 26
#define LDR_LEFT_PIN 34
#define LDR_RIGHT_PIN 35
#define LED_GREEN 16
#define LED_RED 17
#define LED_BLUE 4
#define BUTTON_SYSTEM_PIN 32
#define BUTTON_NIGHT_MODE_PIN 33

// Objeto para o MPU-6050
Adafruit_MPU6050 mpu;

// Variáveis de estado
bool isNightMode = false;
bool isError = false;
bool systemActive = true;

// Variáveis do PID
float kp = 0.5;
float ki = 0.1;
float kd = 0.05;
float previousError = 0.0;
float integral = 0.0;

// Função para movimentar o servo diretamente para o ângulo desejado
void moveServoDirect(int servoPin, int targetAngle) {
  int pulseWidth = map(targetAngle, 0, 180, 600, 2400); // Ajuste calibrado
  digitalWrite(servoPin, HIGH);
  delayMicroseconds(pulseWidth);
  digitalWrite(servoPin, LOW);
  delay(10);
}

// Função para calcular o nível de iluminância (lux) diretamente do valor analógico
float calculateLux(int analogValue) {
  return map(analogValue, 4095, 0, 0, 1000);
}

// Função para calibrar o servo
void calibrateServo(int servoPin) {
  Serial.println("Iniciando calibração do servo...");
  for (int pulseWidth = 500; pulseWidth <= 2500; pulseWidth += 100) {
    Serial.print("Pulso: ");
    Serial.println(pulseWidth);
    digitalWrite(servoPin, HIGH);
    delayMicroseconds(pulseWidth);
    digitalWrite(servoPin, LOW);
    delay(1000); // Aguarde para observar o movimento do servo
  }
  Serial.println("Calibração concluída. Ajuste os valores no código conforme necessário.");
}

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

  pinMode(LED_GREEN, OUTPUT);
  pinMode(LED_RED, OUTPUT);
  pinMode(LED_BLUE, OUTPUT);
  digitalWrite(LED_GREEN, LOW);
  digitalWrite(LED_RED, LOW);
  digitalWrite(LED_BLUE, LOW);

  pinMode(SERVO_HORIZONTAL_PIN, OUTPUT);
  pinMode(SERVO_VERTICAL_PIN, OUTPUT);
  pinMode(LDR_LEFT_PIN, INPUT);
  pinMode(LDR_RIGHT_PIN, INPUT);

  pinMode(BUTTON_SYSTEM_PIN, INPUT_PULLUP);
  pinMode(BUTTON_NIGHT_MODE_PIN, INPUT_PULLUP);

  if (!mpu.begin()) {
    Serial.println("Falha ao inicializar o sensor MPU6050!");
    digitalWrite(LED_RED, HIGH);
    while (1);
  }
  Serial.println("Sensor MPU6050 inicializado com sucesso.");

  WiFi.begin(ssid, password);
  Serial.print("Conectando ao Wi-Fi...");
  while (WiFi.status() != WL_CONNECTED) {
    delay(1000);
    Serial.print(".");
  }
  Serial.println("Conectado ao Wi-Fi!");

  // Calibração dos servos
  calibrateServo(SERVO_HORIZONTAL_PIN);
  calibrateServo(SERVO_VERTICAL_PIN);
}

void loop() {
  static bool previousSystemButtonState = HIGH;
  bool currentSystemButtonState = digitalRead(BUTTON_SYSTEM_PIN);

  if (previousSystemButtonState == HIGH && currentSystemButtonState == LOW) {
    delay(50);
    systemActive = !systemActive;
    Serial.print("Sistema ");
    Serial.println(systemActive ? "Ativado" : "Desativado");
    if (!systemActive) {
      moveServoDirect(SERVO_HORIZONTAL_PIN, 90);
      moveServoDirect(SERVO_VERTICAL_PIN, 90);
      digitalWrite(LED_GREEN, LOW);
      digitalWrite(LED_BLUE, LOW);
      digitalWrite(LED_RED, LOW);
    }
  }
  previousSystemButtonState = currentSystemButtonState;

  if (!systemActive) {
    delay(100);
    return;
  }

  static bool previousNightButtonState = HIGH;
  bool currentNightButtonState = digitalRead(BUTTON_NIGHT_MODE_PIN);

  if (previousNightButtonState == HIGH && currentNightButtonState == LOW) {
    delay(50);
    isNightMode = !isNightMode;
    Serial.print("Modo Noturno ");
    Serial.println(isNightMode ? "Ativado" : "Desativado");

    if (isNightMode) {
      moveServoDirect(SERVO_HORIZONTAL_PIN, 90);
      moveServoDirect(SERVO_VERTICAL_PIN, 90);
      digitalWrite(LED_BLUE, HIGH);
      digitalWrite(LED_GREEN, LOW);
      digitalWrite(LED_RED, LOW);
    } else {
      digitalWrite(LED_BLUE, LOW);
      digitalWrite(LED_GREEN, HIGH);
    }
  }
  previousNightButtonState = currentNightButtonState;

  if (isNightMode) {
    delay(100);
    return;
  }

  int ldrLeftValue = analogRead(LDR_LEFT_PIN);
  int ldrRightValue = analogRead(LDR_RIGHT_PIN);
  float ldrLeftLux = calculateLux(ldrLeftValue);
  float ldrRightLux = calculateLux(ldrRightValue);

  if (ldrLeftLux >= 900 && ldrRightLux >= 900) {
    Serial.println("Erro detectado: Luminosidade extrema nos dois sensores!");
    digitalWrite(LED_RED, HIGH);
    digitalWrite(LED_GREEN, LOW);
    digitalWrite(LED_BLUE, LOW);
    isError = true;
    delay(2000);
    return;
  }

  if (isError) {
    Serial.println("Saindo do estado de erro.");
    isError = false;
    integral = 0;
    previousError = 0;
    digitalWrite(LED_RED, LOW);
  }

  if (ldrLeftLux < 10 && ldrRightLux < 10) {
    if (!isNightMode) {
      Serial.println("Entrando no modo noturno automático.");
      moveServoDirect(SERVO_HORIZONTAL_PIN, 90);
      moveServoDirect(SERVO_VERTICAL_PIN, 90);
      digitalWrite(LED_BLUE, HIGH);
      digitalWrite(LED_GREEN, LOW);
      isNightMode = true;
    }
    return;
  }

  if (isNightMode) {
    Serial.println("Saindo do modo noturno automático.");
    digitalWrite(LED_BLUE, LOW);
    isNightMode = false;
  }

  digitalWrite(LED_GREEN, HIGH);

  float error = ldrLeftLux - ldrRightLux;
  integral += error;
  float derivative = error - previousError;
  previousError = error;

  float pidOutput = (kp * error) + (ki * integral) + (kd * derivative);
  int targetAngleHorizontal = constrain(90 + pidOutput, 0, 180);
  moveServoDirect(SERVO_HORIZONTAL_PIN, targetAngleHorizontal);

  sensors_event_t a, g, temp;
  mpu.getEvent(&a, &g, &temp);

  int targetAngleVertical = map(a.acceleration.x, -9.8, 9.8, 0, 180);
  targetAngleVertical = constrain(targetAngleVertical, 0, 180);
  moveServoDirect(SERVO_VERTICAL_PIN, targetAngleVertical);

  Serial.print("LDR Esquerdo (Lux): ");
  Serial.print(ldrLeftLux);
  Serial.print(" | LDR Direito (Lux): ");
  Serial.print(ldrRightLux);
  Serial.print(" | Ângulo Horizontal: ");
  Serial.print(targetAngleHorizontal);
  Serial.print(" | Ângulo Vertical: ");
  Serial.println(targetAngleVertical);

  if (WiFi.status() == WL_CONNECTED) {
    HTTPClient http;
    http.begin(serverUrl);
    http.addHeader("Content-Type", "application/json");

    String jsonData = "{";
    jsonData += "\"ldr_left\": " + String(ldrLeftLux) + ",";
    jsonData += "\"ldr_right\": " + String(ldrRightLux) + ",";
    jsonData += "\"angle_horizontal\": " + String(targetAngleHorizontal) + ",";
    jsonData += "\"angle_vertical\": " + String(targetAngleVertical);
    jsonData += "}";

    int httpResponseCode = http.POST(jsonData);

    if (httpResponseCode > 0) {
      String response = http.getString();
      Serial.println("Resposta do servidor: " + response);
    } else {
      Serial.println("Erro ao enviar dados: " + String(httpResponseCode));
    }

    http.end();
  } else {
    Serial.println("Wi-Fi desconectado!");
  }

  delay(500);
}