#include <Arduino.h>
#include <WiFi.h>
#include <AsyncTCP.h>
#include <ESPAsyncWebServer.h>
#include <Adafruit_MPU6050.h>
#include <Adafruit_Sensor.h>
#include <Arduino_JSON.h>
#include "LittleFS.h"  // <-- Usar LittleFS

// Credenciales WiFi
const char* ssid = "";
const char* password = "";

// Servidor
AsyncWebServer server(80);
AsyncEventSource events("/events");

// Variables JSON y temporizadores
JSONVar readings;
unsigned long lastTime = 0;  
unsigned long lastTimeTemperature = 0;
unsigned long lastTimeAcc = 0;
unsigned long gyroDelay = 10;
unsigned long temperatureDelay = 1000;
unsigned long accelerometerDelay = 200;

// Sensor MPU6050
Adafruit_MPU6050 mpu;
sensors_event_t a, g, temp;

float gyroX, gyroY, gyroZ;
float accX, accY, accZ;
float temperature;

float gyroXerror = 0.07;
float gyroYerror = 0.03;
float gyroZerror = 0.01;

void initMPU() {
  if (!mpu.begin()) {
    Serial.println("No se encontró el chip MPU6050");
    while (1) delay(10);
  }
  Serial.println("MPU6050 encontrado");
}

void initLittleFS() {
  if (!LittleFS.begin()) {
    Serial.println("Error al montar LittleFS");
  } else {
    Serial.println("LittleFS montado correctamente");
  }
}

void initWiFi() {
  WiFi.mode(WIFI_STA);
  WiFi.begin(ssid, password);
  Serial.print("Conectando a WiFi");
  while (WiFi.status() != WL_CONNECTED) {
    delay(1000);
    Serial.print(".");
  }
  Serial.println("");
  Serial.print("Conectado. IP: ");
  Serial.println(WiFi.localIP());
}

String getGyroReadings() {
  mpu.getEvent(&a, &g, &temp);

  float gx = g.gyro.x;
  if (abs(gx) > gyroXerror) gyroX += gx / 50.0;

  float gy = g.gyro.y;
  if (abs(gy) > gyroYerror) gyroY += gy / 70.0;

  float gz = g.gyro.z;
  if (abs(gz) > gyroZerror) gyroZ += gz / 90.0;

  readings["gyroX"] = String(gyroX);
  readings["gyroY"] = String(gyroY);
  readings["gyroZ"] = String(gyroZ);

  return JSON.stringify(readings);
}

String getAccReadings() {
  mpu.getEvent(&a, &g, &temp);
  accX = a.acceleration.x;
  accY = a.acceleration.y;
  accZ = a.acceleration.z;

  readings["accX"] = String(accX);
  readings["accY"] = String(accY);
  readings["accZ"] = String(accZ);

  return JSON.stringify(readings);
}

String getTemperature() {
  mpu.getEvent(&a, &g, &temp);
  temperature = temp.temperature;
  return String(temperature);
}

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

  initWiFi();
  initLittleFS();
  initMPU();

  // Ruta principal
  server.on("/", HTTP_GET, [](AsyncWebServerRequest *request){
    request->send(LittleFS, "/index.html", "text/html");
  });

  // Servir archivos estáticos desde LittleFS
  server.serveStatic("/", LittleFS, "/");

  // Rutas para resetear giroscopio
  server.on("/reset", HTTP_GET, [](AsyncWebServerRequest *request){
    gyroX = gyroY = gyroZ = 0;
    request->send(200, "text/plain", "OK");
  });
  server.on("/resetX", HTTP_GET, [](AsyncWebServerRequest *request){
    gyroX = 0;
    request->send(200, "text/plain", "OK");
  });
  server.on("/resetY", HTTP_GET, [](AsyncWebServerRequest *request){
    gyroY = 0;
    request->send(200, "text/plain", "OK");
  });
  server.on("/resetZ", HTTP_GET, [](AsyncWebServerRequest *request){
    gyroZ = 0;
    request->send(200, "text/plain", "OK");
  });

  // Eventos SSE
  events.onConnect([](AsyncEventSourceClient *client){
    if(client->lastId()) {
      Serial.printf("Cliente reconectado! Último ID: %u\n", client->lastId());
    }
    client->send("hello!", NULL, millis(), 10000);
  });
  server.addHandler(&events);

  Serial.println("Iniciando servidor...");
  server.begin();
  Serial.println("Servidor iniciado.");
}

void loop() {
  if ((millis() - lastTime) > gyroDelay) {
    events.send(getGyroReadings().c_str(), "gyro_readings", millis());
    lastTime = millis();
  }
  if ((millis() - lastTimeAcc) > accelerometerDelay) {
    events.send(getAccReadings().c_str(), "accelerometer_readings", millis());
    lastTimeAcc = millis();
  }
  if ((millis() - lastTimeTemperature) > temperatureDelay) {
    events.send(getTemperature().c_str(), "temperature_reading", millis());
    lastTimeTemperature = millis();
  }
}